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726 lines
36 KiB
C++
726 lines
36 KiB
C++
/**************************************************************************/
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/* test_navigation_server_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef TEST_NAVIGATION_SERVER_3D_H
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#define TEST_NAVIGATION_SERVER_3D_H
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#include "scene/3d/mesh_instance_3d.h"
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#include "scene/resources/primitive_meshes.h"
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#include "servers/navigation_server_3d.h"
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#include "tests/test_macros.h"
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namespace TestNavigationServer3D {
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// TODO: Find a more generic way to create `Callable` mocks.
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class CallableMock : public Object {
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GDCLASS(CallableMock, Object);
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public:
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void function1(Variant arg0) {
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function1_calls++;
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function1_latest_arg0 = arg0;
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}
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unsigned function1_calls{ 0 };
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Variant function1_latest_arg0{};
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};
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static inline Array build_array() {
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return Array();
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}
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template <typename... Targs>
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static inline Array build_array(Variant item, Targs... Fargs) {
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Array a = build_array(Fargs...);
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a.push_front(item);
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return a;
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}
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TEST_SUITE("[Navigation]") {
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TEST_CASE("[NavigationServer3D] Server should be empty when initialized") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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CHECK_EQ(navigation_server->get_maps().size(), 0);
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SUBCASE("'ProcessInfo' should report all counters empty as well") {
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_POLYGON_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_MERGE_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_CONNECTION_COUNT), 0);
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_FREE_COUNT), 0);
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}
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}
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TEST_CASE("[NavigationServer3D] Server should manage agent properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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RID agent = navigation_server->agent_create();
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CHECK(agent.is_valid());
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SUBCASE("'ProcessInfo' should not report dangling agent") {
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
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}
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SUBCASE("Setters/getters should work") {
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bool initial_use_3d_avoidance = navigation_server->agent_get_use_3d_avoidance(agent);
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navigation_server->agent_set_use_3d_avoidance(agent, !initial_use_3d_avoidance);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->agent_get_use_3d_avoidance(agent), !initial_use_3d_avoidance);
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// TODO: Add remaining setters/getters once the missing getters are added.
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}
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SUBCASE("'ProcessInfo' should report agent with active map") {
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RID map = navigation_server->map_create();
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CHECK(map.is_valid());
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navigation_server->map_set_active(map, true);
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navigation_server->agent_set_map(agent, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 1);
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navigation_server->agent_set_map(agent, RID());
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navigation_server->free(map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
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}
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navigation_server->free(agent);
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}
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TEST_CASE("[NavigationServer3D] Server should manage map properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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RID map;
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CHECK_FALSE(map.is_valid());
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SUBCASE("Queries against invalid map should return empty or invalid values") {
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ERR_PRINT_OFF;
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CHECK_EQ(navigation_server->map_get_closest_point(map, Vector3(7, 7, 7)), Vector3());
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CHECK_EQ(navigation_server->map_get_closest_point_normal(map, Vector3(7, 7, 7)), Vector3());
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CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector3(7, 7, 7)).is_valid());
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CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true), Vector3());
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CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false), Vector3());
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CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true).size(), 0);
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CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false).size(), 0);
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Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
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query_parameters->set_map(map);
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query_parameters->set_start_position(Vector3(7, 7, 7));
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query_parameters->set_target_position(Vector3(8, 8, 8));
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Ref<NavigationPathQueryResult3D> query_result = memnew(NavigationPathQueryResult3D);
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navigation_server->query_path(query_parameters, query_result);
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CHECK_EQ(query_result->get_path().size(), 0);
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CHECK_EQ(query_result->get_path_types().size(), 0);
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CHECK_EQ(query_result->get_path_rids().size(), 0);
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CHECK_EQ(query_result->get_path_owner_ids().size(), 0);
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ERR_PRINT_ON;
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}
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map = navigation_server->map_create();
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CHECK(map.is_valid());
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CHECK_EQ(navigation_server->get_maps().size(), 1);
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SUBCASE("'ProcessInfo' should not report inactive map") {
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0);
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}
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SUBCASE("Setters/getters should work") {
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navigation_server->map_set_cell_size(map, 0.55);
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navigation_server->map_set_edge_connection_margin(map, 0.66);
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navigation_server->map_set_link_connection_radius(map, 0.77);
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navigation_server->map_set_up(map, Vector3(1, 0, 0));
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bool initial_use_edge_connections = navigation_server->map_get_use_edge_connections(map);
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navigation_server->map_set_use_edge_connections(map, !initial_use_edge_connections);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_cell_size(map), doctest::Approx(0.55));
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CHECK_EQ(navigation_server->map_get_edge_connection_margin(map), doctest::Approx(0.66));
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CHECK_EQ(navigation_server->map_get_link_connection_radius(map), doctest::Approx(0.77));
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CHECK_EQ(navigation_server->map_get_up(map), Vector3(1, 0, 0));
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CHECK_EQ(navigation_server->map_get_use_edge_connections(map), !initial_use_edge_connections);
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}
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SUBCASE("'ProcessInfo' should report map iff active") {
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navigation_server->map_set_active(map, true);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK(navigation_server->map_is_active(map));
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 1);
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navigation_server->map_set_active(map, false);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0);
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}
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SUBCASE("Number of agents should be reported properly") {
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RID agent = navigation_server->agent_create();
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CHECK(agent.is_valid());
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navigation_server->agent_set_map(agent, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_agents(map).size(), 1);
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navigation_server->free(agent);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_agents(map).size(), 0);
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}
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SUBCASE("Number of links should be reported properly") {
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RID link = navigation_server->link_create();
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CHECK(link.is_valid());
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navigation_server->link_set_map(link, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_links(map).size(), 1);
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navigation_server->free(link);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_links(map).size(), 0);
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}
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SUBCASE("Number of obstacles should be reported properly") {
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RID obstacle = navigation_server->obstacle_create();
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CHECK(obstacle.is_valid());
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navigation_server->obstacle_set_map(obstacle, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 1);
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navigation_server->free(obstacle);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 0);
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}
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SUBCASE("Number of regions should be reported properly") {
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RID region = navigation_server->region_create();
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CHECK(region.is_valid());
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navigation_server->region_set_map(region, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_regions(map).size(), 1);
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navigation_server->free(region);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->map_get_regions(map).size(), 0);
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}
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SUBCASE("Queries against empty map should return empty or invalid values") {
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navigation_server->map_set_active(map, true);
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navigation_server->process(0.0); // Give server some cycles to commit.
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ERR_PRINT_OFF;
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CHECK_EQ(navigation_server->map_get_closest_point(map, Vector3(7, 7, 7)), Vector3());
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CHECK_EQ(navigation_server->map_get_closest_point_normal(map, Vector3(7, 7, 7)), Vector3());
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CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector3(7, 7, 7)).is_valid());
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CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true), Vector3());
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CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false), Vector3());
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CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true).size(), 0);
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CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false).size(), 0);
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Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
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query_parameters->set_map(map);
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query_parameters->set_start_position(Vector3(7, 7, 7));
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query_parameters->set_target_position(Vector3(8, 8, 8));
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Ref<NavigationPathQueryResult3D> query_result = memnew(NavigationPathQueryResult3D);
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navigation_server->query_path(query_parameters, query_result);
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CHECK_EQ(query_result->get_path().size(), 0);
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CHECK_EQ(query_result->get_path_types().size(), 0);
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CHECK_EQ(query_result->get_path_rids().size(), 0);
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CHECK_EQ(query_result->get_path_owner_ids().size(), 0);
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ERR_PRINT_ON;
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navigation_server->map_set_active(map, false);
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navigation_server->process(0.0); // Give server some cycles to commit.
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}
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navigation_server->free(map);
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navigation_server->process(0.0); // Give server some cycles to actually remove map.
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CHECK_EQ(navigation_server->get_maps().size(), 0);
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}
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TEST_CASE("[NavigationServer3D] Server should manage link properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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RID link = navigation_server->link_create();
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CHECK(link.is_valid());
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SUBCASE("'ProcessInfo' should not report dangling link") {
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0);
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}
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SUBCASE("Setters/getters should work") {
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bool initial_bidirectional = navigation_server->link_is_bidirectional(link);
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navigation_server->link_set_bidirectional(link, !initial_bidirectional);
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navigation_server->link_set_end_position(link, Vector3(7, 7, 7));
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navigation_server->link_set_enter_cost(link, 0.55);
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navigation_server->link_set_navigation_layers(link, 6);
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navigation_server->link_set_owner_id(link, ObjectID((int64_t)7));
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navigation_server->link_set_start_position(link, Vector3(8, 8, 8));
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navigation_server->link_set_travel_cost(link, 0.66);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->link_is_bidirectional(link), !initial_bidirectional);
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CHECK_EQ(navigation_server->link_get_end_position(link), Vector3(7, 7, 7));
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CHECK_EQ(navigation_server->link_get_enter_cost(link), doctest::Approx(0.55));
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CHECK_EQ(navigation_server->link_get_navigation_layers(link), 6);
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CHECK_EQ(navigation_server->link_get_owner_id(link), ObjectID((int64_t)7));
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CHECK_EQ(navigation_server->link_get_start_position(link), Vector3(8, 8, 8));
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CHECK_EQ(navigation_server->link_get_travel_cost(link), doctest::Approx(0.66));
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}
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SUBCASE("'ProcessInfo' should report link with active map") {
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RID map = navigation_server->map_create();
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CHECK(map.is_valid());
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navigation_server->map_set_active(map, true);
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navigation_server->link_set_map(link, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 1);
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navigation_server->link_set_map(link, RID());
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navigation_server->free(map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0);
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}
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navigation_server->free(link);
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}
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TEST_CASE("[NavigationServer3D] Server should manage obstacles properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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RID obstacle = navigation_server->obstacle_create();
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CHECK(obstacle.is_valid());
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// TODO: Add tests for setters/getters once getters are added.
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navigation_server->free(obstacle);
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}
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TEST_CASE("[NavigationServer3D] Server should manage regions properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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RID region = navigation_server->region_create();
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CHECK(region.is_valid());
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SUBCASE("'ProcessInfo' should not report dangling region") {
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0);
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}
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SUBCASE("Setters/getters should work") {
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bool initial_use_edge_connections = navigation_server->region_get_use_edge_connections(region);
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navigation_server->region_set_enter_cost(region, 0.55);
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navigation_server->region_set_navigation_layers(region, 5);
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navigation_server->region_set_owner_id(region, ObjectID((int64_t)7));
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navigation_server->region_set_travel_cost(region, 0.66);
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navigation_server->region_set_use_edge_connections(region, !initial_use_edge_connections);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->region_get_enter_cost(region), doctest::Approx(0.55));
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CHECK_EQ(navigation_server->region_get_navigation_layers(region), 5);
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CHECK_EQ(navigation_server->region_get_owner_id(region), ObjectID((int64_t)7));
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CHECK_EQ(navigation_server->region_get_travel_cost(region), doctest::Approx(0.66));
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CHECK_EQ(navigation_server->region_get_use_edge_connections(region), !initial_use_edge_connections);
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}
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SUBCASE("'ProcessInfo' should report region with active map") {
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RID map = navigation_server->map_create();
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CHECK(map.is_valid());
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navigation_server->map_set_active(map, true);
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navigation_server->region_set_map(region, map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 1);
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navigation_server->region_set_map(region, RID());
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navigation_server->free(map);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0);
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}
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SUBCASE("Queries against empty region should return empty or invalid values") {
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ERR_PRINT_OFF;
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CHECK_EQ(navigation_server->region_get_connections_count(region), 0);
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CHECK_EQ(navigation_server->region_get_connection_pathway_end(region, 55), Vector3());
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CHECK_EQ(navigation_server->region_get_connection_pathway_start(region, 55), Vector3());
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ERR_PRINT_ON;
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}
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navigation_server->free(region);
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}
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// This test case does not check precise values on purpose - to not be too sensitivte.
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TEST_CASE("[NavigationServer3D] Server should move agent properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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RID map = navigation_server->map_create();
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RID agent = navigation_server->agent_create();
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navigation_server->map_set_active(map, true);
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navigation_server->agent_set_map(agent, map);
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navigation_server->agent_set_avoidance_enabled(agent, true);
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navigation_server->agent_set_velocity(agent, Vector3(1, 0, 1));
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CallableMock agent_avoidance_callback_mock;
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navigation_server->agent_set_avoidance_callback(agent, callable_mp(&agent_avoidance_callback_mock, &CallableMock::function1));
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CHECK_EQ(agent_avoidance_callback_mock.function1_calls, 0);
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navigation_server->process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(agent_avoidance_callback_mock.function1_calls, 1);
|
|
CHECK_NE(agent_avoidance_callback_mock.function1_latest_arg0, Vector3(0, 0, 0));
|
|
|
|
navigation_server->free(agent);
|
|
navigation_server->free(map);
|
|
}
|
|
|
|
// This test case does not check precise values on purpose - to not be too sensitivte.
|
|
TEST_CASE("[NavigationServer3D] Server should make agents avoid each other when avoidance enabled") {
|
|
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
|
|
|
|
RID map = navigation_server->map_create();
|
|
RID agent_1 = navigation_server->agent_create();
|
|
RID agent_2 = navigation_server->agent_create();
|
|
|
|
navigation_server->map_set_active(map, true);
|
|
|
|
navigation_server->agent_set_map(agent_1, map);
|
|
navigation_server->agent_set_avoidance_enabled(agent_1, true);
|
|
navigation_server->agent_set_position(agent_1, Vector3(0, 0, 0));
|
|
navigation_server->agent_set_radius(agent_1, 1);
|
|
navigation_server->agent_set_velocity(agent_1, Vector3(1, 0, 0));
|
|
CallableMock agent_1_avoidance_callback_mock;
|
|
navigation_server->agent_set_avoidance_callback(agent_1, callable_mp(&agent_1_avoidance_callback_mock, &CallableMock::function1));
|
|
|
|
navigation_server->agent_set_map(agent_2, map);
|
|
navigation_server->agent_set_avoidance_enabled(agent_2, true);
|
|
navigation_server->agent_set_position(agent_2, Vector3(2.5, 0, 0.5));
|
|
navigation_server->agent_set_radius(agent_2, 1);
|
|
navigation_server->agent_set_velocity(agent_2, Vector3(-1, 0, 0));
|
|
CallableMock agent_2_avoidance_callback_mock;
|
|
navigation_server->agent_set_avoidance_callback(agent_2, callable_mp(&agent_2_avoidance_callback_mock, &CallableMock::function1));
|
|
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
|
|
CHECK_EQ(agent_2_avoidance_callback_mock.function1_calls, 0);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 1);
|
|
CHECK_EQ(agent_2_avoidance_callback_mock.function1_calls, 1);
|
|
Vector3 agent_1_safe_velocity = agent_1_avoidance_callback_mock.function1_latest_arg0;
|
|
Vector3 agent_2_safe_velocity = agent_2_avoidance_callback_mock.function1_latest_arg0;
|
|
CHECK_MESSAGE(agent_1_safe_velocity.x > 0, "agent 1 should move a bit along desired velocity (+X)");
|
|
CHECK_MESSAGE(agent_2_safe_velocity.x < 0, "agent 2 should move a bit along desired velocity (-X)");
|
|
CHECK_MESSAGE(agent_1_safe_velocity.z < 0, "agent 1 should move a bit to the side so that it avoids agent 2");
|
|
CHECK_MESSAGE(agent_2_safe_velocity.z > 0, "agent 2 should move a bit to the side so that it avoids agent 1");
|
|
|
|
navigation_server->free(agent_2);
|
|
navigation_server->free(agent_1);
|
|
navigation_server->free(map);
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer3D] Server should make agents avoid dynamic obstacles when avoidance enabled") {
|
|
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
|
|
|
|
RID map = navigation_server->map_create();
|
|
RID agent_1 = navigation_server->agent_create();
|
|
RID obstacle_1 = navigation_server->obstacle_create();
|
|
|
|
navigation_server->map_set_active(map, true);
|
|
|
|
navigation_server->agent_set_map(agent_1, map);
|
|
navigation_server->agent_set_avoidance_enabled(agent_1, true);
|
|
navigation_server->agent_set_position(agent_1, Vector3(0, 0, 0));
|
|
navigation_server->agent_set_radius(agent_1, 1);
|
|
navigation_server->agent_set_velocity(agent_1, Vector3(1, 0, 0));
|
|
CallableMock agent_1_avoidance_callback_mock;
|
|
navigation_server->agent_set_avoidance_callback(agent_1, callable_mp(&agent_1_avoidance_callback_mock, &CallableMock::function1));
|
|
|
|
navigation_server->obstacle_set_map(obstacle_1, map);
|
|
navigation_server->obstacle_set_avoidance_enabled(obstacle_1, true);
|
|
navigation_server->obstacle_set_position(obstacle_1, Vector3(2.5, 0, 0.5));
|
|
navigation_server->obstacle_set_radius(obstacle_1, 1);
|
|
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 1);
|
|
Vector3 agent_1_safe_velocity = agent_1_avoidance_callback_mock.function1_latest_arg0;
|
|
CHECK_MESSAGE(agent_1_safe_velocity.x > 0, "Agent 1 should move a bit along desired velocity (+X).");
|
|
CHECK_MESSAGE(agent_1_safe_velocity.z < 0, "Agent 1 should move a bit to the side so that it avoids obstacle.");
|
|
|
|
navigation_server->free(obstacle_1);
|
|
navigation_server->free(agent_1);
|
|
navigation_server->free(map);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer3D] Server should make agents avoid static obstacles when avoidance enabled") {
|
|
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
|
|
|
|
RID map = navigation_server->map_create();
|
|
RID agent_1 = navigation_server->agent_create();
|
|
RID agent_2 = navigation_server->agent_create();
|
|
RID obstacle_1 = navigation_server->obstacle_create();
|
|
|
|
navigation_server->map_set_active(map, true);
|
|
|
|
navigation_server->agent_set_map(agent_1, map);
|
|
navigation_server->agent_set_avoidance_enabled(agent_1, true);
|
|
navigation_server->agent_set_radius(agent_1, 1.6); // Have hit the obstacle already.
|
|
navigation_server->agent_set_velocity(agent_1, Vector3(1, 0, 0));
|
|
CallableMock agent_1_avoidance_callback_mock;
|
|
navigation_server->agent_set_avoidance_callback(agent_1, callable_mp(&agent_1_avoidance_callback_mock, &CallableMock::function1));
|
|
|
|
navigation_server->agent_set_map(agent_2, map);
|
|
navigation_server->agent_set_avoidance_enabled(agent_2, true);
|
|
navigation_server->agent_set_radius(agent_2, 1.4); // Haven't hit the obstacle yet.
|
|
navigation_server->agent_set_velocity(agent_2, Vector3(1, 0, 0));
|
|
CallableMock agent_2_avoidance_callback_mock;
|
|
navigation_server->agent_set_avoidance_callback(agent_2, callable_mp(&agent_2_avoidance_callback_mock, &CallableMock::function1));
|
|
|
|
navigation_server->obstacle_set_map(obstacle_1, map);
|
|
navigation_server->obstacle_set_avoidance_enabled(obstacle_1, true);
|
|
PackedVector3Array obstacle_1_vertices;
|
|
|
|
SUBCASE("Static obstacles should work on ground level") {
|
|
navigation_server->agent_set_position(agent_1, Vector3(0, 0, 0));
|
|
navigation_server->agent_set_position(agent_2, Vector3(0, 0, 5));
|
|
obstacle_1_vertices.push_back(Vector3(1.5, 0, 0.5));
|
|
obstacle_1_vertices.push_back(Vector3(1.5, 0, 4.5));
|
|
}
|
|
|
|
SUBCASE("Static obstacles should work when elevated") {
|
|
navigation_server->agent_set_position(agent_1, Vector3(0, 5, 0));
|
|
navigation_server->agent_set_position(agent_2, Vector3(0, 5, 5));
|
|
obstacle_1_vertices.push_back(Vector3(1.5, 0, 0.5));
|
|
obstacle_1_vertices.push_back(Vector3(1.5, 0, 4.5));
|
|
navigation_server->obstacle_set_position(obstacle_1, Vector3(0, 5, 0));
|
|
}
|
|
|
|
navigation_server->obstacle_set_vertices(obstacle_1, obstacle_1_vertices);
|
|
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
|
|
CHECK_EQ(agent_2_avoidance_callback_mock.function1_calls, 0);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 1);
|
|
CHECK_EQ(agent_2_avoidance_callback_mock.function1_calls, 1);
|
|
Vector3 agent_1_safe_velocity = agent_1_avoidance_callback_mock.function1_latest_arg0;
|
|
Vector3 agent_2_safe_velocity = agent_2_avoidance_callback_mock.function1_latest_arg0;
|
|
CHECK_MESSAGE(agent_1_safe_velocity.x > 0, "Agent 1 should move a bit along desired velocity (+X).");
|
|
CHECK_MESSAGE(agent_1_safe_velocity.z < 0, "Agent 1 should move a bit to the side so that it avoids obstacle.");
|
|
CHECK_MESSAGE(agent_2_safe_velocity.x > 0, "Agent 2 should move a bit along desired velocity (+X).");
|
|
CHECK_MESSAGE(agent_2_safe_velocity.z == 0, "Agent 2 should not move to the side.");
|
|
|
|
navigation_server->free(obstacle_1);
|
|
navigation_server->free(agent_2);
|
|
navigation_server->free(agent_1);
|
|
navigation_server->free(map);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
}
|
|
|
|
#ifndef DISABLE_DEPRECATED
|
|
// This test case uses only public APIs on purpose - other test cases use simplified baking.
|
|
// FIXME: Remove once deprecated `region_bake_navigation_mesh()` is removed.
|
|
TEST_CASE("[NavigationServer3D][SceneTree][DEPRECATED] Server should be able to bake map correctly") {
|
|
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
|
|
|
|
// Prepare scene tree with simple mesh to serve as an input geometry.
|
|
Node3D *node_3d = memnew(Node3D);
|
|
SceneTree::get_singleton()->get_root()->add_child(node_3d);
|
|
Ref<PlaneMesh> plane_mesh = memnew(PlaneMesh);
|
|
plane_mesh->set_size(Size2(10.0, 10.0));
|
|
MeshInstance3D *mesh_instance = memnew(MeshInstance3D);
|
|
mesh_instance->set_mesh(plane_mesh);
|
|
node_3d->add_child(mesh_instance);
|
|
|
|
// Prepare anything necessary to bake navigation mesh.
|
|
RID map = navigation_server->map_create();
|
|
RID region = navigation_server->region_create();
|
|
Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->region_set_navigation_mesh(region, navigation_mesh);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_mesh->get_polygon_count(), 0);
|
|
CHECK_EQ(navigation_mesh->get_vertices().size(), 0);
|
|
|
|
ERR_PRINT_OFF;
|
|
navigation_server->region_bake_navigation_mesh(navigation_mesh, node_3d);
|
|
ERR_PRINT_ON;
|
|
// FIXME: The above line should trigger the update (line below) under the hood.
|
|
navigation_server->region_set_navigation_mesh(region, navigation_mesh); // Force update.
|
|
CHECK_EQ(navigation_mesh->get_polygon_count(), 2);
|
|
CHECK_EQ(navigation_mesh->get_vertices().size(), 4);
|
|
|
|
SUBCASE("Map should emit signal and take newly baked navigation mesh into account") {
|
|
SIGNAL_WATCH(navigation_server, "map_changed");
|
|
SIGNAL_CHECK_FALSE("map_changed");
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
SIGNAL_CHECK("map_changed", build_array(build_array(map)));
|
|
SIGNAL_UNWATCH(navigation_server, "map_changed");
|
|
CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
|
|
}
|
|
|
|
navigation_server->free(region);
|
|
navigation_server->free(map);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
memdelete(mesh_instance);
|
|
memdelete(node_3d);
|
|
}
|
|
#endif // DISABLE_DEPRECATED
|
|
|
|
// This test case uses only public APIs on purpose - other test cases use simplified baking.
|
|
TEST_CASE("[NavigationServer3D][SceneTree] Server should be able to bake map correctly") {
|
|
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
|
|
|
|
// Prepare scene tree with simple mesh to serve as an input geometry.
|
|
Node3D *node_3d = memnew(Node3D);
|
|
SceneTree::get_singleton()->get_root()->add_child(node_3d);
|
|
Ref<PlaneMesh> plane_mesh = memnew(PlaneMesh);
|
|
plane_mesh->set_size(Size2(10.0, 10.0));
|
|
MeshInstance3D *mesh_instance = memnew(MeshInstance3D);
|
|
mesh_instance->set_mesh(plane_mesh);
|
|
node_3d->add_child(mesh_instance);
|
|
|
|
// Prepare anything necessary to bake navigation mesh.
|
|
RID map = navigation_server->map_create();
|
|
RID region = navigation_server->region_create();
|
|
Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->region_set_navigation_mesh(region, navigation_mesh);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_mesh->get_polygon_count(), 0);
|
|
CHECK_EQ(navigation_mesh->get_vertices().size(), 0);
|
|
|
|
Ref<NavigationMeshSourceGeometryData3D> source_geometry = memnew(NavigationMeshSourceGeometryData3D);
|
|
navigation_server->parse_source_geometry_data(navigation_mesh, source_geometry, node_3d);
|
|
navigation_server->bake_from_source_geometry_data(navigation_mesh, source_geometry, Callable());
|
|
// FIXME: The above line should trigger the update (line below) under the hood.
|
|
navigation_server->region_set_navigation_mesh(region, navigation_mesh); // Force update.
|
|
CHECK_EQ(navigation_mesh->get_polygon_count(), 2);
|
|
CHECK_EQ(navigation_mesh->get_vertices().size(), 4);
|
|
|
|
SUBCASE("Map should emit signal and take newly baked navigation mesh into account") {
|
|
SIGNAL_WATCH(navigation_server, "map_changed");
|
|
SIGNAL_CHECK_FALSE("map_changed");
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
SIGNAL_CHECK("map_changed", build_array(build_array(map)));
|
|
SIGNAL_UNWATCH(navigation_server, "map_changed");
|
|
CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
|
|
}
|
|
|
|
navigation_server->free(region);
|
|
navigation_server->free(map);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
memdelete(mesh_instance);
|
|
memdelete(node_3d);
|
|
}
|
|
|
|
// This test case does not check precise values on purpose - to not be too sensitivte.
|
|
TEST_CASE("[NavigationServer3D] Server should respond to queries against valid map properly") {
|
|
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
|
|
Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
|
|
Ref<NavigationMeshSourceGeometryData3D> source_geometry = memnew(NavigationMeshSourceGeometryData3D);
|
|
|
|
Array arr;
|
|
arr.resize(RS::ARRAY_MAX);
|
|
BoxMesh::create_mesh_array(arr, Vector3(10.0, 0.001, 10.0));
|
|
source_geometry->add_mesh_array(arr, Transform3D());
|
|
navigation_server->bake_from_source_geometry_data(navigation_mesh, source_geometry, Callable());
|
|
CHECK_NE(navigation_mesh->get_polygon_count(), 0);
|
|
CHECK_NE(navigation_mesh->get_vertices().size(), 0);
|
|
|
|
RID map = navigation_server->map_create();
|
|
RID region = navigation_server->region_create();
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->region_set_navigation_mesh(region, navigation_mesh);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
|
|
SUBCASE("Simple queries should return non-default values") {
|
|
CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
|
|
CHECK_NE(navigation_server->map_get_closest_point_normal(map, Vector3(0, 0, 0)), Vector3());
|
|
CHECK(navigation_server->map_get_closest_point_owner(map, Vector3(0, 0, 0)).is_valid());
|
|
// TODO: Test map_get_closest_point_to_segment() with p_use_collision=true as well.
|
|
CHECK_NE(navigation_server->map_get_closest_point_to_segment(map, Vector3(0, 0, 0), Vector3(1, 1, 1), false), Vector3());
|
|
CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), true).size(), 0);
|
|
CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), false).size(), 0);
|
|
}
|
|
|
|
SUBCASE("Elaborate query with 'CORRIDORFUNNEL' post-processing should yield non-empty result") {
|
|
Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector3(0, 0, 0));
|
|
query_parameters->set_target_position(Vector3(10, 0, 10));
|
|
query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PATH_POSTPROCESSING_CORRIDORFUNNEL);
|
|
Ref<NavigationPathQueryResult3D> query_result = memnew(NavigationPathQueryResult3D);
|
|
navigation_server->query_path(query_parameters, query_result);
|
|
CHECK_NE(query_result->get_path().size(), 0);
|
|
CHECK_NE(query_result->get_path_types().size(), 0);
|
|
CHECK_NE(query_result->get_path_rids().size(), 0);
|
|
CHECK_NE(query_result->get_path_owner_ids().size(), 0);
|
|
}
|
|
|
|
SUBCASE("Elaborate query with 'EDGECENTERED' post-processing should yield non-empty result") {
|
|
Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector3(10, 0, 10));
|
|
query_parameters->set_target_position(Vector3(0, 0, 0));
|
|
query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PATH_POSTPROCESSING_EDGECENTERED);
|
|
Ref<NavigationPathQueryResult3D> query_result = memnew(NavigationPathQueryResult3D);
|
|
navigation_server->query_path(query_parameters, query_result);
|
|
CHECK_NE(query_result->get_path().size(), 0);
|
|
CHECK_NE(query_result->get_path_types().size(), 0);
|
|
CHECK_NE(query_result->get_path_rids().size(), 0);
|
|
CHECK_NE(query_result->get_path_owner_ids().size(), 0);
|
|
}
|
|
|
|
SUBCASE("Elaborate query with non-matching navigation layer mask should yield empty result") {
|
|
Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector3(10, 0, 10));
|
|
query_parameters->set_target_position(Vector3(0, 0, 0));
|
|
query_parameters->set_navigation_layers(2);
|
|
Ref<NavigationPathQueryResult3D> query_result = memnew(NavigationPathQueryResult3D);
|
|
navigation_server->query_path(query_parameters, query_result);
|
|
CHECK_EQ(query_result->get_path().size(), 0);
|
|
CHECK_EQ(query_result->get_path_types().size(), 0);
|
|
CHECK_EQ(query_result->get_path_rids().size(), 0);
|
|
CHECK_EQ(query_result->get_path_owner_ids().size(), 0);
|
|
}
|
|
|
|
SUBCASE("Elaborate query without metadata flags should yield path only") {
|
|
Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector3(10, 0, 10));
|
|
query_parameters->set_target_position(Vector3(0, 0, 0));
|
|
query_parameters->set_metadata_flags(0);
|
|
Ref<NavigationPathQueryResult3D> query_result = memnew(NavigationPathQueryResult3D);
|
|
navigation_server->query_path(query_parameters, query_result);
|
|
CHECK_NE(query_result->get_path().size(), 0);
|
|
CHECK_EQ(query_result->get_path_types().size(), 0);
|
|
CHECK_EQ(query_result->get_path_rids().size(), 0);
|
|
CHECK_EQ(query_result->get_path_owner_ids().size(), 0);
|
|
}
|
|
|
|
navigation_server->free(region);
|
|
navigation_server->free(map);
|
|
navigation_server->process(0.0); // Give server some cycles to commit.
|
|
}
|
|
}
|
|
} //namespace TestNavigationServer3D
|
|
|
|
#endif // TEST_NAVIGATION_SERVER_3D_H
|