forked from mirror/DotRecast
86 lines
3.4 KiB
C#
86 lines
3.4 KiB
C#
using System.Collections.Generic;
|
|
using System.IO;
|
|
using System.Threading.Tasks;
|
|
using DotRecast.Core;
|
|
using DotRecast.Detour.Dynamic.Colliders;
|
|
using DotRecast.Detour.Dynamic.Io;
|
|
using DotRecast.Detour.QueryResults;
|
|
using NUnit.Framework;
|
|
|
|
namespace DotRecast.Detour.Dynamic.Test;
|
|
|
|
[Parallelizable]
|
|
public class DynamicNavMeshTest
|
|
{
|
|
private static readonly RcVec3f START_POS = RcVec3f.Of(70.87453f, 0.0010070801f, 86.69021f);
|
|
private static readonly RcVec3f END_POS = RcVec3f.Of(-50.22061f, 0.0010070801f, -70.761444f);
|
|
private static readonly RcVec3f EXTENT = RcVec3f.Of(0.1f, 0.1f, 0.1f);
|
|
private static readonly RcVec3f SPHERE_POS = RcVec3f.Of(45.381645f, 0.0010070801f, 52.68981f);
|
|
|
|
|
|
[Test]
|
|
public void E2eTest()
|
|
{
|
|
byte[] bytes = Loader.ToBytes("test_tiles.voxels");
|
|
using var ms = new MemoryStream(bytes);
|
|
using var bis = new BinaryReader(ms);
|
|
|
|
// load voxels from file
|
|
VoxelFileReader reader = new VoxelFileReader();
|
|
VoxelFile f = reader.Read(bis);
|
|
// create dynamic navmesh
|
|
DynamicNavMesh mesh = new DynamicNavMesh(f);
|
|
// build navmesh asynchronously using multiple threads
|
|
Task<bool> future = mesh.Build(Task.Factory);
|
|
// wait for build to complete
|
|
bool _ = future.Result;
|
|
|
|
// create new query
|
|
DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
|
|
IDtQueryFilter filter = new DtQueryDefaultFilter();
|
|
|
|
// find path
|
|
query.FindNearestPoly(START_POS, EXTENT, filter, out var startRef, out var startPt, out var _);
|
|
query.FindNearestPoly(END_POS, EXTENT, filter, out var endRef, out var endPt, out var _);
|
|
|
|
var path = new List<long>();
|
|
query.FindPath(startRef, endRef, startPt, endPt, filter, ref path, DtFindPathOption.AnyAngle);
|
|
// check path length without any obstacles
|
|
Assert.That(path.Count, Is.EqualTo(16));
|
|
|
|
// place obstacle
|
|
ICollider colldier = new SphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
|
|
long colliderId = mesh.AddCollider(colldier);
|
|
|
|
// update navmesh asynchronously
|
|
future = mesh.Update(Task.Factory);
|
|
// wait for update to complete
|
|
_ = future.Result;
|
|
// create new query
|
|
query = new DtNavMeshQuery(mesh.NavMesh());
|
|
|
|
// find path again
|
|
query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _);
|
|
query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _);
|
|
query.FindPath(startRef, endRef, startPt, endPt, filter, ref path, DtFindPathOption.AnyAngle);
|
|
|
|
// check path length with obstacles
|
|
Assert.That(path.Count, Is.EqualTo(19));
|
|
// remove obstacle
|
|
mesh.RemoveCollider(colliderId);
|
|
// update navmesh asynchronously
|
|
future = mesh.Update(Task.Factory);
|
|
// wait for update to complete
|
|
_ = future.Result;
|
|
// create new query
|
|
query = new DtNavMeshQuery(mesh.NavMesh());
|
|
|
|
// find path one more time
|
|
query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _);
|
|
query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _);
|
|
query.FindPath(startRef, endRef, startPt, endPt, filter, ref path, DtFindPathOption.AnyAngle);
|
|
|
|
// path length should be back to the initial value
|
|
Assert.That(path.Count, Is.EqualTo(16));
|
|
}
|
|
} |