/* recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ using System.Collections.Generic; using NUnit.Framework; namespace DotRecast.Detour.Test; public class FindPathTest : AbstractDetourTest { private static readonly Status[] STATUSES = { Status.SUCCSESS, Status.PARTIAL_RESULT, Status.SUCCSESS, Status.SUCCSESS, Status.SUCCSESS }; private static readonly long[][] RESULTS = { new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L, 281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L, 281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L }, new[] { 281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L, 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L, 281474976710729L, 281474976710717L, 281474976710724L, 281474976710728L, 281474976710737L, 281474976710738L, 281474976710736L, 281474976710733L, 281474976710735L, 281474976710742L, 281474976710740L, 281474976710746L, 281474976710745L, 281474976710744L }, new[] { 281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L, 281474976710697L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L, 281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L, 281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L, 281474976710772L, 281474976710773L, 281474976710770L, 281474976710757L, 281474976710761L, 281474976710758L }, new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L }, new[] { 281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L, 281474976710724L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L, 281474976710772L } }; private static readonly StraightPathItem[][] STRAIGHT_PATHS = { new[] { new StraightPathItem(new float[] { 22.606520f, 10.197294f, -45.918674f }, 1, 281474976710696L), new StraightPathItem(new float[] { 3.484785f, 10.197294f, -34.241272f }, 0, 281474976710713L), new StraightPathItem(new float[] { 1.984785f, 10.197294f, -31.241272f }, 0, 281474976710712L), new StraightPathItem(new float[] { 1.984785f, 10.197294f, -29.741272f }, 0, 281474976710727L), new StraightPathItem(new float[] { 2.584784f, 10.197294f, -27.941273f }, 0, 281474976710730L), new StraightPathItem(new float[] { 6.457663f, 10.197294f, -18.334061f }, 2, 0L) }, new[] { new StraightPathItem(new float[] { 22.331268f, 10.197294f, -1.040187f }, 1, 281474976710773L), new StraightPathItem(new float[] { 9.784786f, 10.197294f, -2.141273f }, 0, 281474976710755L), new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710753L), new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710752L), new StraightPathItem(new float[] { -4.315216f, 10.197294f, -15.341270f }, 0, 281474976710724L), new StraightPathItem(new float[] { -8.215216f, 10.197294f, -17.441269f }, 0, 281474976710728L), new StraightPathItem(new float[] { -10.015216f, 10.197294f, -17.741272f }, 0, 281474976710738L), new StraightPathItem(new float[] { -11.815216f, 9.997294f, -17.441269f }, 0, 281474976710736L), new StraightPathItem(new float[] { -17.815216f, 5.197294f, -11.441269f }, 0, 281474976710735L), new StraightPathItem(new float[] { -17.815216f, 5.197294f, -8.441269f }, 0, 281474976710746L), new StraightPathItem(new float[] { -11.815216f, 0.197294f, 3.008419f }, 2, 0L) }, new[] { new StraightPathItem(new float[] { 18.694363f, 15.803535f, -73.090416f }, 1, 281474976710680L), new StraightPathItem(new float[] { 17.584785f, 10.197294f, -49.841274f }, 0, 281474976710697L), new StraightPathItem(new float[] { 17.284786f, 10.197294f, -48.041275f }, 0, 281474976710695L), new StraightPathItem(new float[] { 16.084785f, 10.197294f, -45.341274f }, 0, 281474976710694L), new StraightPathItem(new float[] { 3.484785f, 10.197294f, -34.241272f }, 0, 281474976710713L), new StraightPathItem(new float[] { 1.984785f, 10.197294f, -31.241272f }, 0, 281474976710712L), new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710753L), new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710755L), new StraightPathItem(new float[] { 9.784786f, 10.197294f, -2.141273f }, 0, 281474976710768L), new StraightPathItem(new float[] { 38.423977f, 10.197294f, -0.116067f }, 2, 0L) }, new[] { new StraightPathItem(new float[] { 0.745335f, 10.197294f, -5.940050f }, 1, 281474976710753L), new StraightPathItem(new float[] { 0.863553f, 10.197294f, -10.310320f }, 2, 0L) }, new[] { new StraightPathItem(new float[] { -20.651257f, 5.904126f, -13.712508f }, 1, 281474976710733L), new StraightPathItem(new float[] { -11.815216f, 9.997294f, -17.441269f }, 0, 281474976710738L), new StraightPathItem(new float[] { -10.015216f, 10.197294f, -17.741272f }, 0, 281474976710728L), new StraightPathItem(new float[] { -8.215216f, 10.197294f, -17.441269f }, 0, 281474976710724L), new StraightPathItem(new float[] { -4.315216f, 10.197294f, -15.341270f }, 0, 281474976710729L), new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710753L), new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710755L), new StraightPathItem(new float[] { 18.784092f, 10.197294f, 3.054368f }, 2, 0L) } }; [Test] public void testFindPath() { QueryFilter filter = new DefaultQueryFilter(); for (int i = 0; i < startRefs.Length; i++) { long startRef = startRefs[i]; long endRef = endRefs[i]; float[] startPos = startPoss[i]; float[] endPos = endPoss[i]; Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); Assert.That(path.status, Is.EqualTo(STATUSES[i])); Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); for (int j = 0; j < RESULTS[i].Length; j++) { Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j])); } } } [Test] public void testFindPathSliced() { QueryFilter filter = new DefaultQueryFilter(); for (int i = 0; i < startRefs.Length; i++) { long startRef = startRefs[i]; long endRef = endRefs[i]; float[] startPos = startPoss[i]; float[] endPos = endPoss[i]; query.initSlicedFindPath(startRef, endRef, startPos, endPos, filter, NavMeshQuery.DT_FINDPATH_ANY_ANGLE); Status status = Status.IN_PROGRESS; while (status == Status.IN_PROGRESS) { Result res = query.updateSlicedFindPath(10); status = res.status; } Result> path = query.finalizeSlicedFindPath(); Assert.That(path.status, Is.EqualTo(STATUSES[i])); Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); for (int j = 0; j < RESULTS[i].Length; j++) { Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j])); } } } [Test] public void testFindPathStraight() { QueryFilter filter = new DefaultQueryFilter(); for (int i = 0; i < STRAIGHT_PATHS.Length; i++) {// startRefs.Length; i++) { long startRef = startRefs[i]; long endRef = endRefs[i]; float[] startPos = startPoss[i]; float[] endPos = endPoss[i]; Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); Result> result = query.findStraightPath(startPos, endPos, path.result, int.MaxValue, 0); List straightPath = result.result; Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length)); for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++) { Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs)); for (int v = 0; v < 3; v++) { Assert.That(straightPath[j].pos[v], Is.EqualTo(STRAIGHT_PATHS[i][j].pos[v]).Within(0.01f)); } Assert.That(straightPath[j].flags, Is.EqualTo(STRAIGHT_PATHS[i][j].flags)); } } } }