From 16124668039245977c59170d2442e00c0f189762 Mon Sep 17 00:00:00 2001 From: Pawel Lampe Date: Sun, 25 Jun 2023 12:47:02 +0200 Subject: [PATCH] Add advanced 'NavigationServer3D' tests --- tests/servers/test_navigation_server_3d.h | 281 ++++++++++++++++++++++ 1 file changed, 281 insertions(+) diff --git a/tests/servers/test_navigation_server_3d.h b/tests/servers/test_navigation_server_3d.h index 0bb89871d86..8ea69ec67c0 100644 --- a/tests/servers/test_navigation_server_3d.h +++ b/tests/servers/test_navigation_server_3d.h @@ -31,11 +31,38 @@ #ifndef TEST_NAVIGATION_SERVER_3D_H #define TEST_NAVIGATION_SERVER_3D_H +#include "scene/3d/mesh_instance_3d.h" +#include "scene/resources/primitive_meshes.h" #include "servers/navigation_server_3d.h" #include "tests/test_macros.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 +static inline Array build_array(Variant item, Targs... Fargs) { + Array a = build_array(Fargs...); + a.push_front(item); + return a; +} + TEST_SUITE("[Navigation]") { TEST_CASE("[NavigationServer3D] Server should be empty when initialized") { NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); @@ -330,6 +357,260 @@ TEST_SUITE("[Navigation]") { 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); + } + + // 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 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 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); + + navigation_server->region_bake_navigation_mesh(navigation_mesh, node_3d); + // 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 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 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 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 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 navigation_mesh = memnew(NavigationMesh); + Ref source_geometry = memnew(NavigationMeshSourceGeometryData3D); + + Array arr; + arr.resize(RS::ARRAY_MAX); + BoxMesh::create_mesh_array(arr, Vector3(10.0, 0.001, 10.0)); + source_geometry->add_mesh_array(arr, Transform3D()); + navigation_server->bake_from_source_geometry_data(navigation_mesh, source_geometry, Callable()); + CHECK_NE(navigation_mesh->get_polygon_count(), 0); + CHECK_NE(navigation_mesh->get_vertices().size(), 0); + + RID map = navigation_server->map_create(); + RID region = navigation_server->region_create(); + navigation_server->map_set_active(map, true); + navigation_server->region_set_map(region, map); + navigation_server->region_set_navigation_mesh(region, navigation_mesh); + navigation_server->process(0.0); // Give server some cycles to commit. + + SUBCASE("Simple queries should return non-default values") { + CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0)); + CHECK_NE(navigation_server->map_get_closest_point_normal(map, Vector3(0, 0, 0)), Vector3()); + CHECK(navigation_server->map_get_closest_point_owner(map, Vector3(0, 0, 0)).is_valid()); + // TODO: Test map_get_closest_point_to_segment() with p_use_collision=true as well. + CHECK_NE(navigation_server->map_get_closest_point_to_segment(map, Vector3(0, 0, 0), Vector3(1, 1, 1), false), Vector3()); + CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), true).size(), 0); + CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), false).size(), 0); + } + + SUBCASE("Elaborate query with 'CORRIDORFUNNEL' post-processing should yield non-empty result") { + Ref 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 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 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 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 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 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 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 query_result = memnew(NavigationPathQueryResult3D); + navigation_server->query_path(query_parameters, query_result); + CHECK_NE(query_result->get_path().size(), 0); + CHECK_EQ(query_result->get_path_types().size(), 0); + CHECK_EQ(query_result->get_path_rids().size(), 0); + CHECK_EQ(query_result->get_path_owner_ids().size(), 0); + } + + navigation_server->free(region); + navigation_server->free(map); + navigation_server->process(0.0); // Give server some cycles to commit. + } } } //namespace TestNavigationServer3D