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