utc-Dali-PathFinding.cpp

   1 /*
   2  * Copyright (c) 2023 Samsung Electronics Co., Ltd.
   3  *
   4  * Licensed under the Apache License, Version 2.0 (the "License");
   5  * you may not use this file except in compliance with the License.
   6  * You may obtain a copy of the License at
   7  *
   8  * http://www.apache.org/licenses/LICENSE-2.0
   9  *
  10  * Unless required by applicable law or agreed to in writing, software
  11  * distributed under the License is distributed on an "AS IS" BASIS,
  12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  13  * See the License for the specific language governing permissions and
  14  * limitations under the License.
  15  *
  16  */
  17
  18 #include <dali-test-suite-utils.h>
  19 #include "dali-scene3d/public-api/algorithm/navigation-mesh.h"
  20 #include "dali-scene3d/public-api/algorithm/path-finder.h"
  21 #include "dali-scene3d/public-api/loader/navigation-mesh-factory.h"
  22
  23 using namespace Dali;
  24 using namespace Dali::Scene3D::Algorithm;
  25 using namespace Dali::Scene3D::Loader;
  26
  27 bool CompareResults(const std::vector<FaceIndex>& nodes, const WayPointList& waypoints)
  28 {
  29   if(nodes.size() != waypoints.size())
  30   {
  31     std::ostringstream oss;
  32     oss << "expect indexs : [";
  33     for(const auto& index : nodes)
  34     {
  35       oss << index << ", ";
  36     }
  37     oss << "]\n";
  38     oss << "your indexs : [";
  39     for(const auto& waypoint : waypoints)
  40     {
  41       oss << waypoint.GetNavigationMeshFaceIndex() << ", ";
  42     }
  43     oss << "]\n";
  44     tet_printf("%s\n", oss.str().c_str());
  45     return false;
  46   }
  47   for(auto i = 0u; i < nodes.size(); ++i)
  48   {
  49     if(nodes[i] != waypoints[i].GetNavigationMeshFaceIndex())
  50     {
  51       std::ostringstream oss;
  52       oss << "expect indexs : [";
  53       for(const auto& index : nodes)
  54       {
  55         oss << index << ", ";
  56       }
  57       oss << "]\n";
  58       oss << "your indexs : [";
  59       for(const auto& waypoint : waypoints)
  60       {
  61         oss << waypoint.GetNavigationMeshFaceIndex() << ", ";
  62       }
  63       oss << "]\n";
  64       tet_printf("%s\n", oss.str().c_str());
  65       return false;
  66     }
  67   }
  68   return true;
  69 }
  70
  71 int UtcDaliPathFinderNewP(void)
  72 {
  73   auto navmesh = NavigationMeshFactory::CreateFromFile("resources/navmesh-test.bin");
  74
  75   auto pathfinder = PathFinder::New(*navmesh, PathFinderAlgorithm::DEFAULT);
  76
  77   DALI_TEST_CHECK(navmesh);
  78   DALI_TEST_CHECK(pathfinder);
  79
  80   END_TEST;
  81 }
  82
  83 int UtcDaliPathFinderNewFail(void)
  84 {
  85   auto navmesh = NavigationMeshFactory::CreateFromFile("resources/navmesh-test.bin");
  86
  87   auto pathfinder = PathFinder::New(*navmesh, static_cast<PathFinderAlgorithm>(-1));
  88
  89   DALI_TEST_CHECK(navmesh);
  90   DALI_TEST_CHECK(!pathfinder);
  91
  92   END_TEST;
  93 }
  94
  95 void printWaypointForPython(WayPointList& waypoints)
  96 {
  97   tet_printf("size: %d\n", waypoints.size());
  98   tet_printf("[");
  99   for(auto& wp : waypoints)
 100   {
 101     auto index = wp.GetNavigationMeshFaceIndex();
 102     tet_printf("%d, ", index);
 103   }
 104   tet_printf("]");
 105 }
 106
 107 int UtcDaliPathFinderFindShortestPath0(void)
 108 {
 109   auto navmesh = NavigationMeshFactory::CreateFromFile("resources/navmesh-test.bin");
 110
 111   std::vector<PathFinderAlgorithm> testAlgorithms = {
 112     PathFinderAlgorithm::DJIKSTRA_SHORTEST_PATH,
 113     PathFinderAlgorithm::SPFA,
 114   };
 115
 116   for(const auto& algorithm : testAlgorithms)
 117   {
 118     tet_printf("Test algorithm type : %d\n", static_cast<int>(algorithm));
 119     auto pathfinder = PathFinder::New(*navmesh, algorithm);
 120
 121     DALI_TEST_CHECK(navmesh);
 122     DALI_TEST_CHECK(pathfinder);
 123
 124     {
 125       auto waypoints = pathfinder->FindPath(18, 139);
 126       DALI_TEST_NOT_EQUALS(int(waypoints.size()), 0, 0, TEST_LOCATION);
 127
 128       // Results are verified in the Blender
 129       std::vector<FaceIndex> expectedResults =
 130         {18, 97, 106, 82, 50, 139};
 131
 132       DALI_TEST_EQUALS(CompareResults(expectedResults, waypoints), true, TEST_LOCATION);
 133     }
 134     //printWaypointForPython(waypoints);
 135
 136     {
 137       // Top floor middle to the tree
 138
 139       auto waypoints = pathfinder->FindPath(18, 157);
 140       DALI_TEST_NOT_EQUALS(int(waypoints.size()), 0, 0, TEST_LOCATION);
 141
 142       //printWaypointForPython(waypoints);
 143
 144       // Results are verified in the Blender
 145       std::vector<FaceIndex> expectedResults =
 146         {18, 97, 106, 82, 50, 6, 89, 33, 157};
 147
 148       DALI_TEST_EQUALS(CompareResults(expectedResults, waypoints), true, TEST_LOCATION);
 149     }
 150   }
 151
 152   END_TEST;
 153 }
 154
 155 int UtcDaliPathFinderFindShortestPath1(void)
 156 {
 157   auto navmesh = NavigationMeshFactory::CreateFromFile("resources/navmesh-test.bin");
 158   // All coordinates in navmesh local space
 159   navmesh->SetSceneTransform(Matrix(Matrix::IDENTITY));
 160
 161   std::vector<PathFinderAlgorithm> testAlgorithms = {
 162     PathFinderAlgorithm::DJIKSTRA_SHORTEST_PATH,
 163     PathFinderAlgorithm::SPFA,
 164     PathFinderAlgorithm::SPFA_DOUBLE_WAY, /* Note : Even this algorithm doesn't found shortest path, UTC will pass. */
 165   };
 166
 167   for(const auto& algorithm : testAlgorithms)
 168   {
 169     tet_printf("Test algorithm type : %d\n", static_cast<int>(algorithm));
 170     auto pathfinder = PathFinder::New(*navmesh, algorithm);
 171
 172     DALI_TEST_CHECK(navmesh);
 173     DALI_TEST_CHECK(pathfinder);
 174
 175     {
 176       Vector3 from(-6.0767, -1.7268, 0.1438); // ground floor
 177       Vector3 to(-6.0767, -1.7268, 4.287);    // first floor
 178
 179       auto waypoints = pathfinder->FindPath(from, to);
 180       DALI_TEST_NOT_EQUALS(int(waypoints.size()), 0, 0, TEST_LOCATION);
 181
 182       // Results are verified in the Blender
 183       std::vector<FaceIndex> expectedResults =
 184         {154, 58, 85, 106, 128, 132, 137};
 185
 186       DALI_TEST_EQUALS(CompareResults(expectedResults, waypoints), true, TEST_LOCATION);
 187
 188       // Verify last and first points by finding floor points
 189       {
 190         Vector3   verifyPos   = Vector3::ZERO;
 191         FaceIndex verifyIndex = NavigationMesh::NULL_FACE;
 192         auto      result      = navmesh->FindFloor(from, verifyPos, verifyIndex);
 193
 194         DALI_TEST_EQUALS(result, true, TEST_LOCATION);
 195         DALI_TEST_EQUALS(verifyPos, waypoints[0].GetScenePosition(), TEST_LOCATION);
 196         DALI_TEST_EQUALS(verifyIndex, waypoints[0].GetNavigationMeshFaceIndex(), TEST_LOCATION);
 197
 198         // Verified with Blender
 199         Vector2 local(1.064201f, -0.273200f);
 200         DALI_TEST_EQUALS(local, waypoints[0].GetFaceLocalSpacePosition(), TEST_LOCATION);
 201       }
 202
 203       {
 204         Vector3   verifyPos   = Vector3::ZERO;
 205         FaceIndex verifyIndex = NavigationMesh::NULL_FACE;
 206         auto      result      = navmesh->FindFloor(to, verifyPos, verifyIndex);
 207
 208         DALI_TEST_EQUALS(result, true, TEST_LOCATION);
 209         DALI_TEST_EQUALS(verifyPos, waypoints.back().GetScenePosition(), TEST_LOCATION);
 210         DALI_TEST_EQUALS(verifyIndex, waypoints.back().GetNavigationMeshFaceIndex(), TEST_LOCATION);
 211
 212         // Verified with Blender
 213         Vector2 local(0.165907f, 0.142597f);
 214         DALI_TEST_EQUALS(local, waypoints.back().GetFaceLocalSpacePosition(), TEST_LOCATION);
 215       }
 216     }
 217   }
 218
 219   END_TEST;
 220 }