/**************************************************************************/
/* test_navigation_server_3d.h */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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#ifndef TEST_NAVIGATION_SERVER_3D_H
#define TEST_NAVIGATION_SERVER_3D_H
#include "modules/navigation/nav_utils.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/resources/3d/primitive_meshes.h"
#include "servers/navigation_server_3d.h"
namespace TestNavigationServer3D {
// 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("[Navigation]") {
TEST_CASE("[NavigationServer3D] Server should be empty when initialized") {
NavigationServer3D *navigation_server = NavigationServer3D::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(NavigationServer3D::INFO_ACTIVE_MAPS), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_POLYGON_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_MERGE_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_CONNECTION_COUNT), 0);
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_FREE_COUNT), 0);
}
}
TEST_CASE("[NavigationServer3D] Server should manage agent properly") {
NavigationServer3D *navigation_server = NavigationServer3D::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(NavigationServer3D::INFO_AGENT_COUNT), 0);
}
SUBCASE("Setters/getters should work") {
bool initial_use_3d_avoidance = navigation_server->agent_get_use_3d_avoidance(agent);
navigation_server->agent_set_use_3d_avoidance(agent, !initial_use_3d_avoidance);
navigation_server->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->agent_get_use_3d_avoidance(agent), !initial_use_3d_avoidance);
// 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->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 1);
navigation_server->agent_set_map(agent, RID());
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
}
navigation_server->free(agent);
}
TEST_CASE("[NavigationServer3D] Server should manage map properly") {
NavigationServer3D *navigation_server = NavigationServer3D::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, Vector3(7, 7, 7)), Vector3());
CHECK_EQ(navigation_server->map_get_closest_point_normal(map, Vector3(7, 7, 7)), Vector3());
CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector3(7, 7, 7)).is_valid());
CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true), Vector3());
CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false), Vector3());
CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true).size(), 0);
CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false).size(), 0);
Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
query_parameters->set_map(map);
query_parameters->set_start_position(Vector3(7, 7, 7));
query_parameters->set_target_position(Vector3(8, 8, 8));
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);
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(NavigationServer3D::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);
navigation_server->map_set_up(map, Vector3(1, 0, 0));
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->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_up(map), Vector3(1, 0, 0));
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->process(0.0); // Give server some cycles to commit.
CHECK(navigation_server->map_is_active(map));
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 1);
navigation_server->map_set_active(map, false);
navigation_server->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::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->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->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->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->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->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->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->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->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->process(0.0); // Give server some cycles to commit.
ERR_PRINT_OFF;
CHECK_EQ(navigation_server->map_get_closest_point(map, Vector3(7, 7, 7)), Vector3());
CHECK_EQ(navigation_server->map_get_closest_point_normal(map, Vector3(7, 7, 7)), Vector3());
CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector3(7, 7, 7)).is_valid());
CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true), Vector3());
CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false), Vector3());
CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true).size(), 0);
CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false).size(), 0);
Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
query_parameters->set_map(map);
query_parameters->set_start_position(Vector3(7, 7, 7));
query_parameters->set_target_position(Vector3(8, 8, 8));
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);
ERR_PRINT_ON;
navigation_server->map_set_active(map, false);
navigation_server->process(0.0); // Give server some cycles to commit.
}
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to actually remove map.
CHECK_EQ(navigation_server->get_maps().size(), 0);
}
TEST_CASE("[NavigationServer3D] Server should manage link properly") {
NavigationServer3D *navigation_server = NavigationServer3D::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(NavigationServer3D::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, Vector3(7, 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, Vector3(8, 8, 8));
navigation_server->link_set_travel_cost(link, 0.66);
navigation_server->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), Vector3(7, 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), Vector3(8, 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->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 1);
navigation_server->link_set_map(link, RID());
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0);
}
navigation_server->free(link);
}
TEST_CASE("[NavigationServer3D] Server should manage obstacles properly") {
NavigationServer3D *navigation_server = NavigationServer3D::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("[NavigationServer3D] Server should manage regions properly") {
NavigationServer3D *navigation_server = NavigationServer3D::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(NavigationServer3D::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->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->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 1);
navigation_server->region_set_map(region, RID());
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::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), Vector3());
CHECK_EQ(navigation_server->region_get_connection_pathway_start(region, 55), Vector3());
ERR_PRINT_ON;
}
navigation_server->free(region);
}
// This test case does not check precise values on purpose - to not be too sensitivte.
TEST_CASE("[NavigationServer3D] Server should move agent properly") {
NavigationServer3D *navigation_server = NavigationServer3D::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, Vector3(1, 0, 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->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
TEST_CASE("[NavigationServer3D][SceneTree] Server should be able to parse geometry") {
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);
Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
Ref<NavigationMeshSourceGeometryData3D> source_geometry = memnew(NavigationMeshSourceGeometryData3D);
CHECK_EQ(source_geometry->get_vertices().size(), 0);
CHECK_EQ(source_geometry->get_indices().size(), 0);
navigation_server->parse_source_geometry_data(navigation_mesh, source_geometry, mesh_instance);
CHECK_EQ(source_geometry->get_vertices().size(), 12);
CHECK_EQ(source_geometry->get_indices().size(), 6);
SUBCASE("By default, parsing should remove any data that was parsed before") {
navigation_server->parse_source_geometry_data(navigation_mesh, source_geometry, mesh_instance);
CHECK_EQ(source_geometry->get_vertices().size(), 12);
CHECK_EQ(source_geometry->get_indices().size(), 6);
}
SUBCASE("Parsed geometry should be extendible with other geometry") {
source_geometry->merge(source_geometry); // Merging with itself.
const Vector<float> vertices = source_geometry->get_vertices();
const Vector<int> indices = source_geometry->get_indices();
REQUIRE_EQ(vertices.size(), 24);
REQUIRE_EQ(indices.size(), 12);
// Check if first newly added vertex is the same as first vertex.
CHECK_EQ(vertices[0], vertices[12]);
CHECK_EQ(vertices[1], vertices[13]);
CHECK_EQ(vertices[2], vertices[14]);
// Check if first newly added index is the same as first index.
CHECK_EQ(indices[0] + 4, indices[6]);
}
memdelete(mesh_instance);
memdelete(node_3d);
}
// 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());
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_closest_point_to_segment(map, Vector3(0, 0, 0), Vector3(1, 1, 1), true), 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("'map_get_closest_point_to_segment' with 'use_collision' should return default if segment doesn't intersect map") {
CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(1, 2, 1), Vector3(1, 1, 1), true), Vector3());
}
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.
}
// FIXME: The race condition mentioned below is actually a problem and fails on CI (GH-90613).
/*
TEST_CASE("[NavigationServer3D] Server should be able to bake asynchronously") {
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());
// Race condition is present below, but baking should take many orders of magnitude
// longer than basic checks on the main thread, so it's fine.
navigation_server->bake_from_source_geometry_data_async(navigation_mesh, source_geometry, Callable());
CHECK(navigation_server->is_baking_navigation_mesh(navigation_mesh));
CHECK_EQ(navigation_mesh->get_polygon_count(), 0);
CHECK_EQ(navigation_mesh->get_vertices().size(), 0);
}
*/
TEST_CASE("[NavigationServer3D] Server should simplify path properly") {
real_t simplify_epsilon = 0.2;
Vector<Vector3> source_path;
source_path.resize(7);
source_path.write[0] = Vector3(0.0, 0.0, 0.0);
source_path.write[1] = Vector3(0.0, 0.0, 1.0); // This point needs to go.
source_path.write[2] = Vector3(0.0, 0.0, 2.0); // This point needs to go.
source_path.write[3] = Vector3(0.0, 0.0, 2.0);
source_path.write[4] = Vector3(2.0, 1.0, 3.0);
source_path.write[5] = Vector3(2.0, 1.5, 4.0); // This point needs to go.
source_path.write[6] = Vector3(2.0, 2.0, 5.0);
Vector<Vector3> simplified_path = NavigationServer3D::get_singleton()->simplify_path(source_path, simplify_epsilon);
CHECK_EQ(simplified_path.size(), 4);
}
TEST_CASE("[Heap] size") {
gd::Heap<int> heap;
CHECK(heap.size() == 0);
heap.push(0);
CHECK(heap.size() == 1);
heap.push(1);
CHECK(heap.size() == 2);
heap.pop();
CHECK(heap.size() == 1);
heap.pop();
CHECK(heap.size() == 0);
}
TEST_CASE("[Heap] is_empty") {
gd::Heap<int> heap;
CHECK(heap.is_empty() == true);
heap.push(0);
CHECK(heap.is_empty() == false);
heap.pop();
CHECK(heap.is_empty() == true);
}
TEST_CASE("[Heap] push/pop") {
SUBCASE("Default comparator") {
gd::Heap<int> heap;
heap.push(2);
heap.push(7);
heap.push(5);
heap.push(3);
heap.push(4);
CHECK(heap.pop() == 7);
CHECK(heap.pop() == 5);
CHECK(heap.pop() == 4);
CHECK(heap.pop() == 3);
CHECK(heap.pop() == 2);
}
SUBCASE("Custom comparator") {
GreaterThan greaterThan;
gd::Heap<int, GreaterThan> heap(greaterThan);
heap.push(2);
heap.push(7);
heap.push(5);
heap.push(3);
heap.push(4);
CHECK(heap.pop() == 2);
CHECK(heap.pop() == 3);
CHECK(heap.pop() == 4);
CHECK(heap.pop() == 5);
CHECK(heap.pop() == 7);
}
SUBCASE("Intermediate pops") {
gd::Heap<int> heap;
heap.push(0);
heap.push(3);
heap.pop();
heap.push(1);
heap.push(2);
CHECK(heap.pop() == 2);
CHECK(heap.pop() == 1);
CHECK(heap.pop() == 0);
}
}
TEST_CASE("[Heap] shift") {
int values[] = { 5, 3, 6, 7, 1 };
uint32_t heap_indexes[] = { 0, 0, 0, 0, 0 };
CompareArrayValues comparator(values);
RegisterHeapIndexes indexer(heap_indexes);
gd::Heap<uint32_t, CompareArrayValues, RegisterHeapIndexes> heap(comparator, indexer);
heap.push(0);
heap.push(1);
heap.push(2);
heap.push(3);
heap.push(4);
// Shift down: 6 -> 2
values[2] = 2;
heap.shift(heap_indexes[2]);
// Shift up: 5 -> 8
values[0] = 8;
heap.shift(heap_indexes[0]);
CHECK(heap.pop() == 0);
CHECK(heap.pop() == 3);
CHECK(heap.pop() == 1);
CHECK(heap.pop() == 2);
CHECK(heap.pop() == 4);
CHECK(heap_indexes[0] == UINT32_MAX);
CHECK(heap_indexes[1] == UINT32_MAX);
CHECK(heap_indexes[2] == UINT32_MAX);
CHECK(heap_indexes[3] == UINT32_MAX);
CHECK(heap_indexes[4] == UINT32_MAX);
}
TEST_CASE("[Heap] clear") {
uint32_t heap_indexes[] = { 0, 0, 0, 0 };
RegisterHeapIndexes indexer(heap_indexes);
gd::Heap<uint32_t, Comparator<uint32_t>, RegisterHeapIndexes> heap(indexer);
heap.push(0);
heap.push(2);
heap.push(1);
heap.push(3);
heap.clear();
CHECK(heap.size() == 0);
CHECK(heap_indexes[0] == UINT32_MAX);
CHECK(heap_indexes[1] == UINT32_MAX);
CHECK(heap_indexes[2] == UINT32_MAX);
CHECK(heap_indexes[3] == UINT32_MAX);
}
}
} //namespace TestNavigationServer3D
#endif // TEST_NAVIGATION_SERVER_3D_H
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