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Merge pull request #78667 from Scony/add-advanced-navserver-tests
Add advanced `NavigationServer3D` tests
This commit is contained in:
Yuri Sizov
commit
8ac00453d9
@ -31,11 +31,38 @@
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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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@ -330,6 +357,260 @@ TEST_SUITE("[Navigation]") {
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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.
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CHECK_EQ(agent_avoidance_callback_mock.function1_calls, 1);
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CHECK_NE(agent_avoidance_callback_mock.function1_latest_arg0, Vector3(0, 0, 0));
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navigation_server->free(agent);
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navigation_server->free(map);
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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 make agents avoid each other when avoidance enabled") {
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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_1 = navigation_server->agent_create();
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RID agent_2 = 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_1, map);
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navigation_server->agent_set_avoidance_enabled(agent_1, true);
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navigation_server->agent_set_position(agent_1, Vector3(0, 0, 0));
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navigation_server->agent_set_radius(agent_1, 1);
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navigation_server->agent_set_velocity(agent_1, Vector3(1, 0, 0));
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CallableMock agent_1_avoidance_callback_mock;
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navigation_server->agent_set_avoidance_callback(agent_1, callable_mp(&agent_1_avoidance_callback_mock, &CallableMock::function1));
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navigation_server->agent_set_map(agent_2, map);
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navigation_server->agent_set_avoidance_enabled(agent_2, true);
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navigation_server->agent_set_position(agent_2, Vector3(2.5, 0, 0.5));
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navigation_server->agent_set_radius(agent_2, 1);
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navigation_server->agent_set_velocity(agent_2, Vector3(-1, 0, 0));
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CallableMock agent_2_avoidance_callback_mock;
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navigation_server->agent_set_avoidance_callback(agent_2, callable_mp(&agent_2_avoidance_callback_mock, &CallableMock::function1));
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CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
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CHECK_EQ(agent_2_avoidance_callback_mock.function1_calls, 0);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 1);
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CHECK_EQ(agent_2_avoidance_callback_mock.function1_calls, 1);
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Vector3 agent_1_safe_velocity = agent_1_avoidance_callback_mock.function1_latest_arg0;
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Vector3 agent_2_safe_velocity = agent_2_avoidance_callback_mock.function1_latest_arg0;
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CHECK_MESSAGE(agent_1_safe_velocity.x > 0, "agent 1 should move a bit along desired velocity (+X)");
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CHECK_MESSAGE(agent_2_safe_velocity.x < 0, "agent 2 should move a bit along desired velocity (-X)");
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CHECK_MESSAGE(agent_1_safe_velocity.z < 0, "agent 1 should move a bit to the side so that it avoids agent 2");
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CHECK_MESSAGE(agent_2_safe_velocity.z > 0, "agent 2 should move a bit to the side so that it avoids agent 1");
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navigation_server->free(agent_2);
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navigation_server->free(agent_1);
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navigation_server->free(map);
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}
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// This test case uses only public APIs on purpose - other test cases use simplified baking.
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// FIXME: Remove once deprecated `region_bake_navigation_mesh()` is removed.
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TEST_CASE("[NavigationServer3D][SceneTree][DEPRECATED] Server should be able to bake map correctly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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// Prepare scene tree with simple mesh to serve as an input geometry.
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Node3D *node_3d = memnew(Node3D);
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SceneTree::get_singleton()->get_root()->add_child(node_3d);
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Ref<PlaneMesh> plane_mesh = memnew(PlaneMesh);
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plane_mesh->set_size(Size2(10.0, 10.0));
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MeshInstance3D *mesh_instance = memnew(MeshInstance3D);
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mesh_instance->set_mesh(plane_mesh);
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node_3d->add_child(mesh_instance);
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// Prepare anything necessary to bake navigation mesh.
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RID map = navigation_server->map_create();
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RID region = navigation_server->region_create();
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Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
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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->region_set_navigation_mesh(region, navigation_mesh);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_mesh->get_polygon_count(), 0);
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CHECK_EQ(navigation_mesh->get_vertices().size(), 0);
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navigation_server->region_bake_navigation_mesh(navigation_mesh, node_3d);
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// FIXME: The above line should trigger the update (line below) under the hood.
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navigation_server->region_set_navigation_mesh(region, navigation_mesh); // Force update.
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CHECK_EQ(navigation_mesh->get_polygon_count(), 2);
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CHECK_EQ(navigation_mesh->get_vertices().size(), 4);
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SUBCASE("Map should emit signal and take newly baked navigation mesh into account") {
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SIGNAL_WATCH(navigation_server, "map_changed");
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SIGNAL_CHECK_FALSE("map_changed");
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navigation_server->process(0.0); // Give server some cycles to commit.
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SIGNAL_CHECK("map_changed", build_array(build_array(map)));
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SIGNAL_UNWATCH(navigation_server, "map_changed");
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CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
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}
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navigation_server->free(region);
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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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memdelete(mesh_instance);
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memdelete(node_3d);
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}
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// This test case uses only public APIs on purpose - other test cases use simplified baking.
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TEST_CASE("[NavigationServer3D][SceneTree] Server should be able to bake map correctly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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// Prepare scene tree with simple mesh to serve as an input geometry.
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Node3D *node_3d = memnew(Node3D);
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SceneTree::get_singleton()->get_root()->add_child(node_3d);
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Ref<PlaneMesh> plane_mesh = memnew(PlaneMesh);
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plane_mesh->set_size(Size2(10.0, 10.0));
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MeshInstance3D *mesh_instance = memnew(MeshInstance3D);
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mesh_instance->set_mesh(plane_mesh);
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node_3d->add_child(mesh_instance);
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// Prepare anything necessary to bake navigation mesh.
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RID map = navigation_server->map_create();
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RID region = navigation_server->region_create();
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Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
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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->region_set_navigation_mesh(region, navigation_mesh);
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navigation_server->process(0.0); // Give server some cycles to commit.
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CHECK_EQ(navigation_mesh->get_polygon_count(), 0);
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CHECK_EQ(navigation_mesh->get_vertices().size(), 0);
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Ref<NavigationMeshSourceGeometryData3D> source_geometry = memnew(NavigationMeshSourceGeometryData3D);
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navigation_server->parse_source_geometry_data(navigation_mesh, source_geometry, node_3d);
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navigation_server->bake_from_source_geometry_data(navigation_mesh, source_geometry, Callable());
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// FIXME: The above line should trigger the update (line below) under the hood.
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navigation_server->region_set_navigation_mesh(region, navigation_mesh); // Force update.
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CHECK_EQ(navigation_mesh->get_polygon_count(), 2);
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CHECK_EQ(navigation_mesh->get_vertices().size(), 4);
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SUBCASE("Map should emit signal and take newly baked navigation mesh into account") {
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SIGNAL_WATCH(navigation_server, "map_changed");
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SIGNAL_CHECK_FALSE("map_changed");
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navigation_server->process(0.0); // Give server some cycles to commit.
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SIGNAL_CHECK("map_changed", build_array(build_array(map)));
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SIGNAL_UNWATCH(navigation_server, "map_changed");
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CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
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}
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navigation_server->free(region);
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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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memdelete(mesh_instance);
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memdelete(node_3d);
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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 respond to queries against valid map properly") {
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NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
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Ref<NavigationMesh> navigation_mesh = memnew(NavigationMesh);
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Ref<NavigationMeshSourceGeometryData3D> source_geometry = memnew(NavigationMeshSourceGeometryData3D);
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Array arr;
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arr.resize(RS::ARRAY_MAX);
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BoxMesh::create_mesh_array(arr, Vector3(10.0, 0.001, 10.0));
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source_geometry->add_mesh_array(arr, Transform3D());
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navigation_server->bake_from_source_geometry_data(navigation_mesh, source_geometry, Callable());
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CHECK_NE(navigation_mesh->get_polygon_count(), 0);
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CHECK_NE(navigation_mesh->get_vertices().size(), 0);
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RID map = navigation_server->map_create();
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RID region = navigation_server->region_create();
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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->region_set_navigation_mesh(region, navigation_mesh);
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navigation_server->process(0.0); // Give server some cycles to commit.
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SUBCASE("Simple queries should return non-default values") {
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CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
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CHECK_NE(navigation_server->map_get_closest_point_normal(map, Vector3(0, 0, 0)), Vector3());
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CHECK(navigation_server->map_get_closest_point_owner(map, Vector3(0, 0, 0)).is_valid());
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// TODO: Test map_get_closest_point_to_segment() with p_use_collision=true as well.
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CHECK_NE(navigation_server->map_get_closest_point_to_segment(map, Vector3(0, 0, 0), Vector3(1, 1, 1), false), Vector3());
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CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), true).size(), 0);
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CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), false).size(), 0);
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}
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SUBCASE("Elaborate query with 'CORRIDORFUNNEL' post-processing should yield non-empty result") {
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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(0, 0, 0));
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query_parameters->set_target_position(Vector3(10, 0, 10));
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query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PATH_POSTPROCESSING_CORRIDORFUNNEL);
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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_NE(query_result->get_path().size(), 0);
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CHECK_NE(query_result->get_path_types().size(), 0);
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CHECK_NE(query_result->get_path_rids().size(), 0);
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CHECK_NE(query_result->get_path_owner_ids().size(), 0);
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}
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SUBCASE("Elaborate query with 'EDGECENTERED' post-processing should yield non-empty result") {
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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(10, 0, 10));
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query_parameters->set_target_position(Vector3(0, 0, 0));
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query_parameters->set_path_postprocessing(NavigationPathQueryParameters3D::PATH_POSTPROCESSING_EDGECENTERED);
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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_NE(query_result->get_path().size(), 0);
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CHECK_NE(query_result->get_path_types().size(), 0);
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CHECK_NE(query_result->get_path_rids().size(), 0);
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CHECK_NE(query_result->get_path_owner_ids().size(), 0);
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}
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SUBCASE("Elaborate query with non-matching navigation layer mask should yield empty result") {
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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(10, 0, 10));
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query_parameters->set_target_position(Vector3(0, 0, 0));
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query_parameters->set_navigation_layers(2);
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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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}
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SUBCASE("Elaborate query without metadata flags should yield path only") {
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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(10, 0, 10));
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query_parameters->set_target_position(Vector3(0, 0, 0));
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query_parameters->set_metadata_flags(0);
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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_NE(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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}
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navigation_server->free(region);
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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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}
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}
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} //namespace TestNavigationServer3D
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