automated-tests/src/dali-scene3d/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-scene3d/public-api/algorithm/navigation-mesh.h"
  19 #include "dali-scene3d/public-api/algorithm/path-finder.h"
  20 #include "dali-scene3d/public-api/loader/navigation-mesh-factory.h"
  21 #include <dali-test-suite-utils.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<uint32_t>& nodes, const WayPointList& waypoints )
  28 {
  29   if(nodes.size() != waypoints.size())
  30   {
  31     return false;
  32   }
  33   for(auto i = 0u; i < nodes.size(); ++i )
  34   {
  35     if(nodes[i] != waypoints[i].GetNavigationMeshFaceIndex())
  36     {
  37       return false;
  38     }
  39   }
  40   return true;
  41 }
  42
  43 int UtcDaliPathFinderNewP(void)
  44 {
  45   auto navmesh = NavigationMeshFactory::CreateFromFile( "resources/navmesh-test.bin");
  46
  47   auto pathfinder = PathFinder::New( *navmesh, PathFinderAlgorithm::DEFAULT );
  48
  49   DALI_TEST_CHECK(navmesh);
  50   DALI_TEST_CHECK(pathfinder);
  51
  52   END_TEST;
  53 }
  54
  55 int UtcDaliPathFinderNewFail(void)
  56 {
  57   auto navmesh = NavigationMeshFactory::CreateFromFile( "resources/navmesh-test.bin");
  58
  59   auto pathfinder = PathFinder::New( *navmesh, static_cast<PathFinderAlgorithm>(-1) );
  60
  61   DALI_TEST_CHECK(navmesh);
  62   DALI_TEST_CHECK(!pathfinder);
  63
  64   END_TEST;
  65 }
  66
  67 void printWaypointForPython( WayPointList& waypoints)
  68 {
  69   tet_printf( "size: %d\n", waypoints.size());
  70   tet_printf( "[");
  71   for(auto& wp : waypoints)
  72   {
  73     auto index = wp.GetNavigationMeshFaceIndex();
  74     tet_printf("%d, ", index);
  75   }
  76   tet_printf( "]");
  77 }
  78
  79 int UtcDaliPathFinderDjikstraFindPath0(void)
  80 {
  81   auto navmesh = NavigationMeshFactory::CreateFromFile( "resources/navmesh-test.bin");
  82
  83   auto pathfinder = PathFinder::New( *navmesh, PathFinderAlgorithm::DJIKSTRA_SHORTEST_PATH );
  84
  85   DALI_TEST_CHECK(navmesh);
  86   DALI_TEST_CHECK(pathfinder);
  87
  88   {
  89     auto waypoints = pathfinder->FindPath(18, 139);
  90     DALI_TEST_NOT_EQUALS(int(waypoints.size()), 0, 0, TEST_LOCATION);
  91
  92     // Results are verified in the Blender
  93     std::vector<uint32_t> expectedResults =
  94       {18, 97, 106, 82, 50, 139};
  95
  96     DALI_TEST_EQUALS(CompareResults(expectedResults, waypoints), true, TEST_LOCATION);
  97   }
  98   //printWaypointForPython(waypoints);
  99
 100   {
 101     // Top floor middle to the tree
 102
 103     auto waypoints = pathfinder->FindPath(18, 157);
 104     DALI_TEST_NOT_EQUALS(int(waypoints.size()), 0, 0, TEST_LOCATION);
 105
 106     //printWaypointForPython(waypoints);
 107
 108     // Results are verified in the Blender
 109     std::vector<uint32_t> expectedResults =
 110       {18, 97, 106, 82, 50, 6, 89, 33, 157};
 111
 112     DALI_TEST_EQUALS(CompareResults(expectedResults, waypoints), true, TEST_LOCATION);
 113
 114   }
 115
 116   END_TEST;
 117 }
 118
 119 int UtcDaliPathFinderDjikstraFindPath1(void)
 120 {
 121   auto navmesh = NavigationMeshFactory::CreateFromFile( "resources/navmesh-test.bin");
 122   // All coordinates in navmesh local space
 123   navmesh->SetSceneTransform( Matrix(Matrix::IDENTITY));
 124
 125   auto pathfinder = PathFinder::New( *navmesh, PathFinderAlgorithm::DJIKSTRA_SHORTEST_PATH );
 126
 127   DALI_TEST_CHECK(navmesh);
 128   DALI_TEST_CHECK(pathfinder);
 129
 130   {
 131     Vector3 from(-6.0767, -1.7268, 0.1438); // ground floor
 132     Vector3 to(-6.0767, -1.7268, 4.287); // first floor
 133
 134     auto waypoints = pathfinder->FindPath(from, to);
 135     DALI_TEST_NOT_EQUALS(int(waypoints.size()), 0, 0, TEST_LOCATION);
 136
 137     // Results are verified in the Blender
 138     std::vector<uint32_t> expectedResults =
 139      {154, 58, 85, 106, 128, 132, 137};
 140
 141     DALI_TEST_EQUALS(CompareResults(expectedResults, waypoints), true, TEST_LOCATION);
 142
 143     // Verify last and first points by finding floor points
 144     {
 145       Vector3  verifyPos = Vector3::ZERO;
 146       uint32_t verifyIndex  = NavigationMesh::NULL_FACE;
 147       auto     result = navmesh->FindFloor(from, verifyPos, verifyIndex);
 148
 149       DALI_TEST_EQUALS(result, true, TEST_LOCATION);
 150       DALI_TEST_EQUALS(verifyPos, waypoints[0].GetScenePosition(), TEST_LOCATION);
 151       DALI_TEST_EQUALS(verifyIndex, waypoints[0].GetNavigationMeshFaceIndex(), TEST_LOCATION);
 152
 153       // Verified with Blender
 154       Vector2 local(1.064201f, -0.273200f);
 155       DALI_TEST_EQUALS(local, waypoints[0].GetFaceLocalSpacePosition(), TEST_LOCATION);
 156     }
 157
 158     {
 159       Vector3  verifyPos = Vector3::ZERO;
 160       uint32_t verifyIndex  = NavigationMesh::NULL_FACE;
 161       auto     result = navmesh->FindFloor(to, verifyPos, verifyIndex);
 162
 163       DALI_TEST_EQUALS(result, true, TEST_LOCATION);
 164       DALI_TEST_EQUALS(verifyPos, waypoints.back().GetScenePosition(), TEST_LOCATION);
 165       DALI_TEST_EQUALS(verifyIndex, waypoints.back().GetNavigationMeshFaceIndex(), TEST_LOCATION);
 166
 167       // Verified with Blender
 168       Vector2 local(0.165907f, 0.142597f);
 169       DALI_TEST_EQUALS(local, waypoints.back().GetFaceLocalSpacePosition(), TEST_LOCATION);
 170     }
 171   }
 172
 173   END_TEST;
 174 }