forked from mirror/DotRecast
113 lines
3.9 KiB
C#
113 lines
3.9 KiB
C#
/*
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recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
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DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
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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;
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using System.IO;
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using System.Threading.Tasks;
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using System.Collections.Generic;
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using DotRecast.Core;
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using DotRecast.Core.Numerics;
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using System.Numerics;
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using DotRecast.Detour.Dynamic.Io;
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using DotRecast.Detour.Dynamic.Test.Io;
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using DotRecast.Recast;
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using Moq;
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using NUnit.Framework;
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namespace DotRecast.Detour.Dynamic.Test;
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[Parallelizable]
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public class VoxelQueryTest
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{
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private const int TILE_WIDTH = 100;
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private const int TILE_DEPTH = 90;
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private static readonly Vector3 ORIGIN = new Vector3(50, 10, 40);
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[Test]
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public void ShouldTraverseTiles()
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{
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var hfProvider = new Mock<Func<int, int, RcHeightfield>>();
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// Given
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List<int> captorX = new();
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List<int> captorZ = new();
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hfProvider
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.Setup(e => e.Invoke(It.IsAny<int>(), It.IsAny<int>()))
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.Returns((RcHeightfield)null)
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.Callback<int, int>((x, z) =>
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{
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captorX.Add(x);
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captorZ.Add(z);
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});
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DtVoxelQuery query = new DtVoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object);
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Vector3 start = new Vector3(120, 10, 365);
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Vector3 end = new Vector3(320, 10, 57);
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// When
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query.Raycast(start, end, out var hit);
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// Then
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hfProvider.Verify(mock => mock.Invoke(It.IsAny<int>(), It.IsAny<int>()), Times.Exactly(6));
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Assert.That(captorX, Is.EqualTo(new[] { 0, 1, 1, 1, 2, 2 }));
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Assert.That(captorZ, Is.EqualTo(new[] { 3, 3, 2, 1, 1, 0 }));
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}
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[Test]
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public void ShouldHandleRaycastWithoutObstacles()
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{
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DtDynamicNavMesh mesh = CreateDynaMesh();
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DtVoxelQuery query = mesh.VoxelQuery();
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Vector3 start = new Vector3(7.4f, 0.5f, -64.8f);
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Vector3 end = new Vector3(31.2f, 0.5f, -75.3f);
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bool isHit = query.Raycast(start, end, out var hit);
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Assert.That(isHit, Is.EqualTo(false));
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}
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[Test]
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public void ShouldHandleRaycastWithObstacles()
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{
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DtDynamicNavMesh mesh = CreateDynaMesh();
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DtVoxelQuery query = mesh.VoxelQuery();
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Vector3 start = new Vector3(32.3f, 0.5f, 47.9f);
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Vector3 end = new Vector3(-31.2f, 0.5f, -29.8f);
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bool isHit = query.Raycast(start, end, out var hit);
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Assert.That(isHit, Is.EqualTo(true));
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Assert.That(hit, Is.EqualTo(0.5263836f).Within(1e-7f));
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}
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private DtDynamicNavMesh CreateDynaMesh()
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{
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var bytes = RcResources.Load("test_tiles.voxels");
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using var ms = new MemoryStream(bytes);
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using var br = new BinaryReader(ms);
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// load voxels from file
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DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
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DtVoxelFile f = reader.Read(br);
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// create dynamic navmesh
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var mesh = new DtDynamicNavMesh(f);
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// build navmesh asynchronously using multiple threads
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Task<bool> future = mesh.Build(Task.Factory);
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// wait for build to complete
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var _ = future.Result;
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return mesh;
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}
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} |