768 lines
37 KiB
C++
768 lines
37 KiB
C++
/**************************************************************************/
|
|
/* test_navigation_server_2d.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "modules/navigation_2d/nav_utils_2d.h"
|
|
#include "servers/navigation_server_2d.h"
|
|
|
|
#include "scene/2d/polygon_2d.h"
|
|
|
|
#include "tests/test_macros.h"
|
|
|
|
namespace TestNavigationServer2D {
|
|
|
|
// TODO: Find a more generic way to create `Callable` mocks.
|
|
class CallableMock : public Object {
|
|
GDCLASS(CallableMock, Object);
|
|
|
|
public:
|
|
void function1(Variant arg0) {
|
|
function1_calls++;
|
|
function1_latest_arg0 = arg0;
|
|
}
|
|
|
|
unsigned function1_calls{ 0 };
|
|
Variant function1_latest_arg0;
|
|
};
|
|
|
|
static inline Array build_array() {
|
|
return Array();
|
|
}
|
|
template <typename... Targs>
|
|
static inline Array build_array(Variant item, Targs... Fargs) {
|
|
Array a = build_array(Fargs...);
|
|
a.push_front(item);
|
|
return a;
|
|
}
|
|
|
|
struct GreaterThan {
|
|
bool operator()(int p_a, int p_b) const { return p_a > p_b; }
|
|
};
|
|
|
|
struct CompareArrayValues {
|
|
const int *array;
|
|
|
|
CompareArrayValues(const int *p_array) :
|
|
array(p_array) {}
|
|
|
|
bool operator()(uint32_t p_index_a, uint32_t p_index_b) const {
|
|
return array[p_index_a] < array[p_index_b];
|
|
}
|
|
};
|
|
|
|
struct RegisterHeapIndexes {
|
|
uint32_t *indexes;
|
|
|
|
RegisterHeapIndexes(uint32_t *p_indexes) :
|
|
indexes(p_indexes) {}
|
|
|
|
void operator()(uint32_t p_vector_index, uint32_t p_heap_index) {
|
|
indexes[p_vector_index] = p_heap_index;
|
|
}
|
|
};
|
|
|
|
TEST_SUITE("[Navigation2D]") {
|
|
TEST_CASE("[NavigationServer2D] Server should be empty when initialized") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
CHECK_EQ(navigation_server->get_maps().size(), 0);
|
|
|
|
SUBCASE("'ProcessInfo' should report all counters empty as well") {
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_ACTIVE_MAPS), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_REGION_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_AGENT_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_LINK_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_POLYGON_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_EDGE_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_EDGE_MERGE_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_EDGE_CONNECTION_COUNT), 0);
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_EDGE_FREE_COUNT), 0);
|
|
}
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should manage agent properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
RID agent = navigation_server->agent_create();
|
|
CHECK(agent.is_valid());
|
|
|
|
SUBCASE("'ProcessInfo' should not report dangling agent") {
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_AGENT_COUNT), 0);
|
|
}
|
|
|
|
SUBCASE("Setters/getters should work") {
|
|
bool initial_avoidance_enabled = navigation_server->agent_get_avoidance_enabled(agent);
|
|
navigation_server->agent_set_avoidance_enabled(agent, !initial_avoidance_enabled);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_server->agent_get_avoidance_enabled(agent), !initial_avoidance_enabled);
|
|
// TODO: Add remaining setters/getters once the missing getters are added.
|
|
}
|
|
|
|
SUBCASE("'ProcessInfo' should report agent with active map") {
|
|
RID map = navigation_server->map_create();
|
|
CHECK(map.is_valid());
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->agent_set_map(agent, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_AGENT_COUNT), 1);
|
|
navigation_server->agent_set_map(agent, RID());
|
|
navigation_server->free(map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_AGENT_COUNT), 0);
|
|
}
|
|
|
|
navigation_server->free(agent);
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should manage map properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
RID map;
|
|
CHECK_FALSE(map.is_valid());
|
|
|
|
SUBCASE("Queries against invalid map should return empty or invalid values") {
|
|
ERR_PRINT_OFF;
|
|
CHECK_EQ(navigation_server->map_get_closest_point(map, Vector2(7, 7)), Vector2());
|
|
CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector2(7, 7)).is_valid());
|
|
CHECK_EQ(navigation_server->map_get_path(map, Vector2(7, 7), Vector2(8, 8), true).size(), 0);
|
|
CHECK_EQ(navigation_server->map_get_path(map, Vector2(7, 7), Vector2(8, 8), false).size(), 0);
|
|
|
|
Ref<NavigationPathQueryParameters2D> query_parameters;
|
|
query_parameters.instantiate();
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector2(7, 7));
|
|
query_parameters->set_target_position(Vector2(8, 8));
|
|
Ref<NavigationPathQueryResult2D> query_result;
|
|
query_result.instantiate();
|
|
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);
|
|
ERR_PRINT_ON;
|
|
}
|
|
|
|
map = navigation_server->map_create();
|
|
CHECK(map.is_valid());
|
|
CHECK_EQ(navigation_server->get_maps().size(), 1);
|
|
|
|
SUBCASE("'ProcessInfo' should not report inactive map") {
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_ACTIVE_MAPS), 0);
|
|
}
|
|
|
|
SUBCASE("Setters/getters should work") {
|
|
navigation_server->map_set_cell_size(map, 0.55);
|
|
navigation_server->map_set_edge_connection_margin(map, 0.66);
|
|
navigation_server->map_set_link_connection_radius(map, 0.77);
|
|
bool initial_use_edge_connections = navigation_server->map_get_use_edge_connections(map);
|
|
navigation_server->map_set_use_edge_connections(map, !initial_use_edge_connections);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_server->map_get_cell_size(map), doctest::Approx(0.55));
|
|
CHECK_EQ(navigation_server->map_get_edge_connection_margin(map), doctest::Approx(0.66));
|
|
CHECK_EQ(navigation_server->map_get_link_connection_radius(map), doctest::Approx(0.77));
|
|
CHECK_EQ(navigation_server->map_get_use_edge_connections(map), !initial_use_edge_connections);
|
|
}
|
|
|
|
SUBCASE("'ProcessInfo' should report map iff active") {
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK(navigation_server->map_is_active(map));
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_ACTIVE_MAPS), 1);
|
|
navigation_server->map_set_active(map, false);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_ACTIVE_MAPS), 0);
|
|
}
|
|
|
|
SUBCASE("Number of agents should be reported properly") {
|
|
RID agent = navigation_server->agent_create();
|
|
CHECK(agent.is_valid());
|
|
navigation_server->agent_set_map(agent, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_agents(map).size(), 1);
|
|
navigation_server->free(agent);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_agents(map).size(), 0);
|
|
}
|
|
|
|
SUBCASE("Number of links should be reported properly") {
|
|
RID link = navigation_server->link_create();
|
|
CHECK(link.is_valid());
|
|
navigation_server->link_set_map(link, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_links(map).size(), 1);
|
|
navigation_server->free(link);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_links(map).size(), 0);
|
|
}
|
|
|
|
SUBCASE("Number of obstacles should be reported properly") {
|
|
RID obstacle = navigation_server->obstacle_create();
|
|
CHECK(obstacle.is_valid());
|
|
navigation_server->obstacle_set_map(obstacle, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 1);
|
|
navigation_server->free(obstacle);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 0);
|
|
}
|
|
|
|
SUBCASE("Number of regions should be reported properly") {
|
|
RID region = navigation_server->region_create();
|
|
CHECK(region.is_valid());
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_regions(map).size(), 1);
|
|
navigation_server->free(region);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->map_get_regions(map).size(), 0);
|
|
}
|
|
|
|
SUBCASE("Queries against empty map should return empty or invalid values") {
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
ERR_PRINT_OFF;
|
|
CHECK_EQ(navigation_server->map_get_closest_point(map, Vector2(7, 7)), Vector2());
|
|
CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector2(7, 7)).is_valid());
|
|
CHECK_EQ(navigation_server->map_get_path(map, Vector2(7, 7), Vector2(8, 8), true).size(), 0);
|
|
CHECK_EQ(navigation_server->map_get_path(map, Vector2(7, 7), Vector2(8, 8), false).size(), 0);
|
|
|
|
Ref<NavigationPathQueryParameters2D> query_parameters;
|
|
query_parameters.instantiate();
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector2(7, 7));
|
|
query_parameters->set_target_position(Vector2(8, 8));
|
|
Ref<NavigationPathQueryResult2D> query_result;
|
|
query_result.instantiate();
|
|
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);
|
|
ERR_PRINT_ON;
|
|
|
|
navigation_server->map_set_active(map, false);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
}
|
|
|
|
navigation_server->free(map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to actually remove map.
|
|
CHECK_EQ(navigation_server->get_maps().size(), 0);
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should manage link properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
RID link = navigation_server->link_create();
|
|
CHECK(link.is_valid());
|
|
|
|
SUBCASE("'ProcessInfo' should not report dangling link") {
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_LINK_COUNT), 0);
|
|
}
|
|
|
|
SUBCASE("Setters/getters should work") {
|
|
bool initial_bidirectional = navigation_server->link_is_bidirectional(link);
|
|
navigation_server->link_set_bidirectional(link, !initial_bidirectional);
|
|
navigation_server->link_set_end_position(link, Vector2(7, 7));
|
|
navigation_server->link_set_enter_cost(link, 0.55);
|
|
navigation_server->link_set_navigation_layers(link, 6);
|
|
navigation_server->link_set_owner_id(link, ObjectID((int64_t)7));
|
|
navigation_server->link_set_start_position(link, Vector2(8, 8));
|
|
navigation_server->link_set_travel_cost(link, 0.66);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_server->link_is_bidirectional(link), !initial_bidirectional);
|
|
CHECK_EQ(navigation_server->link_get_end_position(link), Vector2(7, 7));
|
|
CHECK_EQ(navigation_server->link_get_enter_cost(link), doctest::Approx(0.55));
|
|
CHECK_EQ(navigation_server->link_get_navigation_layers(link), 6);
|
|
CHECK_EQ(navigation_server->link_get_owner_id(link), ObjectID((int64_t)7));
|
|
CHECK_EQ(navigation_server->link_get_start_position(link), Vector2(8, 8));
|
|
CHECK_EQ(navigation_server->link_get_travel_cost(link), doctest::Approx(0.66));
|
|
}
|
|
|
|
SUBCASE("'ProcessInfo' should report link with active map") {
|
|
RID map = navigation_server->map_create();
|
|
CHECK(map.is_valid());
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->link_set_map(link, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_LINK_COUNT), 1);
|
|
navigation_server->link_set_map(link, RID());
|
|
navigation_server->free(map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_LINK_COUNT), 0);
|
|
}
|
|
|
|
navigation_server->free(link);
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should manage obstacles properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
RID obstacle = navigation_server->obstacle_create();
|
|
CHECK(obstacle.is_valid());
|
|
|
|
// TODO: Add tests for setters/getters once getters are added.
|
|
|
|
navigation_server->free(obstacle);
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should manage regions properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
RID region = navigation_server->region_create();
|
|
CHECK(region.is_valid());
|
|
|
|
SUBCASE("'ProcessInfo' should not report dangling region") {
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_REGION_COUNT), 0);
|
|
}
|
|
|
|
SUBCASE("Setters/getters should work") {
|
|
bool initial_use_edge_connections = navigation_server->region_get_use_edge_connections(region);
|
|
navigation_server->region_set_enter_cost(region, 0.55);
|
|
navigation_server->region_set_navigation_layers(region, 5);
|
|
navigation_server->region_set_owner_id(region, ObjectID((int64_t)7));
|
|
navigation_server->region_set_travel_cost(region, 0.66);
|
|
navigation_server->region_set_use_edge_connections(region, !initial_use_edge_connections);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_server->region_get_enter_cost(region), doctest::Approx(0.55));
|
|
CHECK_EQ(navigation_server->region_get_navigation_layers(region), 5);
|
|
CHECK_EQ(navigation_server->region_get_owner_id(region), ObjectID((int64_t)7));
|
|
CHECK_EQ(navigation_server->region_get_travel_cost(region), doctest::Approx(0.66));
|
|
CHECK_EQ(navigation_server->region_get_use_edge_connections(region), !initial_use_edge_connections);
|
|
}
|
|
|
|
SUBCASE("'ProcessInfo' should report region with active map") {
|
|
RID map = navigation_server->map_create();
|
|
CHECK(map.is_valid());
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_REGION_COUNT), 1);
|
|
navigation_server->region_set_map(region, RID());
|
|
navigation_server->free(map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_REGION_COUNT), 0);
|
|
}
|
|
|
|
SUBCASE("Queries against empty region should return empty or invalid values") {
|
|
ERR_PRINT_OFF;
|
|
CHECK_EQ(navigation_server->region_get_connections_count(region), 0);
|
|
CHECK_EQ(navigation_server->region_get_connection_pathway_end(region, 55), Vector2());
|
|
CHECK_EQ(navigation_server->region_get_connection_pathway_start(region, 55), Vector2());
|
|
ERR_PRINT_ON;
|
|
}
|
|
|
|
navigation_server->free(region);
|
|
}
|
|
|
|
// This test case does not check precise values on purpose - to not be too sensitivte.
|
|
TEST_CASE("[NavigationServer2D] Server should move agent properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
RID map = navigation_server->map_create();
|
|
RID agent = navigation_server->agent_create();
|
|
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->agent_set_map(agent, map);
|
|
navigation_server->agent_set_avoidance_enabled(agent, true);
|
|
navigation_server->agent_set_velocity(agent, Vector2(1, 1));
|
|
CallableMock agent_avoidance_callback_mock;
|
|
navigation_server->agent_set_avoidance_callback(agent, callable_mp(&agent_avoidance_callback_mock, &CallableMock::function1));
|
|
CHECK_EQ(agent_avoidance_callback_mock.function1_calls, 0);
|
|
navigation_server->physics_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("[NavigationServer2D] Server should make agents avoid each other when avoidance enabled") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::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, Vector2(0, 0));
|
|
navigation_server->agent_set_radius(agent_1, 1);
|
|
navigation_server->agent_set_velocity(agent_1, Vector2(1, 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, Vector2(2.5, 0.5));
|
|
navigation_server->agent_set_radius(agent_2, 1);
|
|
navigation_server->agent_set_velocity(agent_2, Vector2(-1, 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->physics_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("[NavigationServer2D] Server should make agents avoid dynamic obstacles when avoidance enabled") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::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, Vector2(0, 0));
|
|
navigation_server->agent_set_radius(agent_1, 1);
|
|
navigation_server->agent_set_velocity(agent_1, Vector2(1, 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, Vector2(2.5, 0.5));
|
|
navigation_server->obstacle_set_radius(obstacle_1, 1);
|
|
|
|
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
|
|
navigation_server->physics_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->physics_process(0.0); // Give server some cycles to commit.
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should make agents avoid static obstacles when avoidance enabled") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::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, Vector2(1, 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, Vector2(1, 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);
|
|
PackedVector2Array obstacle_1_vertices;
|
|
|
|
SUBCASE("Static obstacles should work on ground level") {
|
|
navigation_server->agent_set_position(agent_1, Vector2(0, 0));
|
|
navigation_server->agent_set_position(agent_2, Vector2(0, 5));
|
|
obstacle_1_vertices.push_back(Vector2(1.5, 0.5));
|
|
obstacle_1_vertices.push_back(Vector2(1.5, 4.5));
|
|
}
|
|
|
|
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->physics_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->physics_process(0.0); // Give server some cycles to commit.
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D][SceneTree] Server should be able to parse geometry") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
// Prepare scene tree with simple mesh to serve as an input geometry.
|
|
Node2D *node_2d = memnew(Node2D);
|
|
SceneTree::get_singleton()->get_root()->add_child(node_2d);
|
|
Polygon2D *polygon = memnew(Polygon2D);
|
|
polygon->set_polygon(PackedVector2Array({ Vector2(200.0, 200.0), Vector2(400.0, 200.0), Vector2(400.0, 400.0), Vector2(200.0, 400.0) }));
|
|
node_2d->add_child(polygon);
|
|
|
|
// TODO: Use MeshInstance2D as well?
|
|
|
|
Ref<NavigationPolygon> navigation_polygon;
|
|
navigation_polygon.instantiate();
|
|
Ref<NavigationMeshSourceGeometryData2D> source_geometry;
|
|
source_geometry.instantiate();
|
|
CHECK_EQ(source_geometry->get_traversable_outlines().size(), 0);
|
|
CHECK_EQ(source_geometry->get_obstruction_outlines().size(), 0);
|
|
|
|
navigation_server->parse_source_geometry_data(navigation_polygon, source_geometry, polygon);
|
|
CHECK_EQ(source_geometry->get_traversable_outlines().size(), 0);
|
|
REQUIRE_EQ(source_geometry->get_obstruction_outlines().size(), 1);
|
|
CHECK_EQ(((PackedVector2Array)source_geometry->get_obstruction_outlines()[0]).size(), 4);
|
|
|
|
SUBCASE("By default, parsing should remove any data that was parsed before") {
|
|
navigation_server->parse_source_geometry_data(navigation_polygon, source_geometry, polygon);
|
|
CHECK_EQ(source_geometry->get_traversable_outlines().size(), 0);
|
|
REQUIRE_EQ(source_geometry->get_obstruction_outlines().size(), 1);
|
|
CHECK_EQ(((PackedVector2Array)source_geometry->get_obstruction_outlines()[0]).size(), 4);
|
|
}
|
|
|
|
SUBCASE("Parsed geometry should be extendible with other geometry") {
|
|
source_geometry->merge(source_geometry); // Merging with itself.
|
|
CHECK_EQ(source_geometry->get_traversable_outlines().size(), 0);
|
|
REQUIRE_EQ(source_geometry->get_obstruction_outlines().size(), 2);
|
|
const PackedVector2Array obstruction_outline_1 = source_geometry->get_obstruction_outlines()[0];
|
|
const PackedVector2Array obstruction_outline_2 = source_geometry->get_obstruction_outlines()[1];
|
|
REQUIRE_EQ(obstruction_outline_1.size(), 4);
|
|
REQUIRE_EQ(obstruction_outline_2.size(), 4);
|
|
CHECK_EQ(obstruction_outline_1[0], obstruction_outline_2[0]);
|
|
CHECK_EQ(obstruction_outline_1[1], obstruction_outline_2[1]);
|
|
CHECK_EQ(obstruction_outline_1[2], obstruction_outline_2[2]);
|
|
CHECK_EQ(obstruction_outline_1[3], obstruction_outline_2[3]);
|
|
}
|
|
|
|
memdelete(polygon);
|
|
memdelete(node_2d);
|
|
}
|
|
|
|
// This test case uses only public APIs on purpose - other test cases use simplified baking.
|
|
TEST_CASE("[NavigationServer2D][SceneTree] Server should be able to bake map correctly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
|
|
// Prepare scene tree with simple mesh to serve as an input geometry.
|
|
Node2D *node_2d = memnew(Node2D);
|
|
SceneTree::get_singleton()->get_root()->add_child(node_2d);
|
|
Polygon2D *polygon = memnew(Polygon2D);
|
|
polygon->set_polygon(PackedVector2Array({ Vector2(-200.0, -200.0), Vector2(200.0, -200.0), Vector2(200.0, 200.0), Vector2(-200.0, 200.0) }));
|
|
node_2d->add_child(polygon);
|
|
|
|
// TODO: Use MeshInstance2D as well?
|
|
|
|
// Prepare anything necessary to bake navigation polygon.
|
|
RID map = navigation_server->map_create();
|
|
RID region = navigation_server->region_create();
|
|
Ref<NavigationPolygon> navigation_polygon;
|
|
navigation_polygon.instantiate();
|
|
navigation_polygon->add_outline(PackedVector2Array({ Vector2(-1000.0, -1000.0), Vector2(1000.0, -1000.0), Vector2(1000.0, 1000.0), Vector2(-1000.0, 1000.0) }));
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->map_set_use_async_iterations(map, false);
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->region_set_navigation_polygon(region, navigation_polygon);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
CHECK_EQ(navigation_polygon->get_polygon_count(), 0);
|
|
CHECK_EQ(navigation_polygon->get_vertices().size(), 0);
|
|
CHECK_EQ(navigation_polygon->get_outline_count(), 1);
|
|
|
|
Ref<NavigationMeshSourceGeometryData2D> source_geometry;
|
|
source_geometry.instantiate();
|
|
navigation_server->parse_source_geometry_data(navigation_polygon, source_geometry, node_2d);
|
|
navigation_server->bake_from_source_geometry_data(navigation_polygon, source_geometry, Callable());
|
|
// FIXME: The above line should trigger the update (line below) under the hood.
|
|
navigation_server->region_set_navigation_polygon(region, navigation_polygon); // Force update.
|
|
CHECK_EQ(navigation_polygon->get_polygon_count(), 4);
|
|
CHECK_EQ(navigation_polygon->get_vertices().size(), 8);
|
|
CHECK_EQ(navigation_polygon->get_outline_count(), 1);
|
|
|
|
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->physics_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, Vector2(0, 0)), Vector2(0, 0));
|
|
}
|
|
|
|
navigation_server->free(region);
|
|
navigation_server->free(map);
|
|
navigation_server->physics_process(0.0); // Give server some cycles to commit.
|
|
|
|
memdelete(polygon);
|
|
memdelete(node_2d);
|
|
}
|
|
|
|
// This test case does not check precise values on purpose - to not be too sensitivte.
|
|
TEST_CASE("[NavigationServer2D] Server should respond to queries against valid map properly") {
|
|
NavigationServer2D *navigation_server = NavigationServer2D::get_singleton();
|
|
Ref<NavigationPolygon> navigation_polygon;
|
|
navigation_polygon.instantiate();
|
|
Ref<NavigationMeshSourceGeometryData2D> source_geometry;
|
|
source_geometry.instantiate();
|
|
|
|
navigation_polygon->add_outline(PackedVector2Array({ Vector2(-1000.0, -1000.0), Vector2(1000.0, -1000.0), Vector2(1000.0, 1000.0), Vector2(-1000.0, 1000.0) }));
|
|
|
|
// TODO: Other input?
|
|
source_geometry->add_obstruction_outline(PackedVector2Array({ Vector2(-200.0, -200.0), Vector2(200.0, -200.0), Vector2(200.0, 200.0), Vector2(-200.0, 200.0) }));
|
|
|
|
navigation_server->bake_from_source_geometry_data(navigation_polygon, source_geometry, Callable());
|
|
CHECK_NE(navigation_polygon->get_polygon_count(), 0);
|
|
CHECK_NE(navigation_polygon->get_vertices().size(), 0);
|
|
CHECK_NE(navigation_polygon->get_outline_count(), 0);
|
|
|
|
RID map = navigation_server->map_create();
|
|
RID region = navigation_server->region_create();
|
|
navigation_server->map_set_active(map, true);
|
|
navigation_server->map_set_use_async_iterations(map, false);
|
|
navigation_server->region_set_map(region, map);
|
|
navigation_server->region_set_navigation_polygon(region, navigation_polygon);
|
|
navigation_server->physics_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, Vector2(0.0, 0.0)), Vector2(0, 0));
|
|
CHECK(navigation_server->map_get_closest_point_owner(map, Vector2(0.0, 0.0)).is_valid());
|
|
CHECK_NE(navigation_server->map_get_path(map, Vector2(0, 0), Vector2(10, 10), true).size(), 0);
|
|
CHECK_NE(navigation_server->map_get_path(map, Vector2(0, 0), Vector2(10, 10), false).size(), 0);
|
|
}
|
|
|
|
SUBCASE("Elaborate query with 'CORRIDORFUNNEL' post-processing should yield non-empty result") {
|
|
Ref<NavigationPathQueryParameters2D> query_parameters;
|
|
query_parameters.instantiate();
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector2(0, 0));
|
|
query_parameters->set_target_position(Vector2(10, 10));
|
|
query_parameters->set_path_postprocessing(NavigationPathQueryParameters2D::PATH_POSTPROCESSING_CORRIDORFUNNEL);
|
|
Ref<NavigationPathQueryResult2D> query_result;
|
|
query_result.instantiate();
|
|
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<NavigationPathQueryParameters2D> query_parameters;
|
|
query_parameters.instantiate();
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector2(10, 10));
|
|
query_parameters->set_target_position(Vector2(0, 0));
|
|
query_parameters->set_path_postprocessing(NavigationPathQueryParameters2D::PATH_POSTPROCESSING_EDGECENTERED);
|
|
Ref<NavigationPathQueryResult2D> query_result;
|
|
query_result.instantiate();
|
|
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<NavigationPathQueryParameters2D> query_parameters;
|
|
query_parameters.instantiate();
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector2(10, 10));
|
|
query_parameters->set_target_position(Vector2(0, 0));
|
|
query_parameters->set_navigation_layers(2);
|
|
Ref<NavigationPathQueryResult2D> query_result;
|
|
query_result.instantiate();
|
|
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<NavigationPathQueryParameters2D> query_parameters;
|
|
query_parameters.instantiate();
|
|
query_parameters->set_map(map);
|
|
query_parameters->set_start_position(Vector2(10, 10));
|
|
query_parameters->set_target_position(Vector2(0, 0));
|
|
query_parameters->set_metadata_flags(0);
|
|
Ref<NavigationPathQueryResult2D> query_result;
|
|
query_result.instantiate();
|
|
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->physics_process(0.0); // Give server some cycles to commit.
|
|
}
|
|
|
|
TEST_CASE("[NavigationServer2D] Server should simplify path properly") {
|
|
real_t simplify_epsilon = 0.2;
|
|
Vector<Vector2> source_path;
|
|
source_path.resize(7);
|
|
source_path.write[0] = Vector2(0.0, 0.0);
|
|
source_path.write[1] = Vector2(0.0, 1.0); // This point needs to go.
|
|
source_path.write[2] = Vector2(0.0, 2.0); // This point needs to go.
|
|
source_path.write[3] = Vector2(0.0, 2.0);
|
|
source_path.write[4] = Vector2(2.0, 3.0);
|
|
source_path.write[5] = Vector2(2.5, 4.0); // This point needs to go.
|
|
source_path.write[6] = Vector2(3.0, 5.0);
|
|
Vector<Vector2> simplified_path = NavigationServer2D::get_singleton()->simplify_path(source_path, simplify_epsilon);
|
|
CHECK_EQ(simplified_path.size(), 4);
|
|
}
|
|
}
|
|
} //namespace TestNavigationServer2D
|