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Add more basic tests for NavigationServer3D #78480

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Jul 14, 2023
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Add more basic tests for NavigationServer3D #78480

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200 changes: 193 additions & 7 deletions tests/servers/test_navigation_server_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,6 @@ TEST_SUITE("[Navigation]") {

TEST_CASE("[NavigationServer3D] Server should manage agent properly") {
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
CHECK_EQ(navigation_server->get_maps().size(), 0);

RID agent = navigation_server->agent_create();
CHECK(agent.is_valid());
Expand All @@ -69,6 +68,7 @@ TEST_SUITE("[Navigation]") {
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.
}
Expand All @@ -83,20 +83,40 @@ TEST_SUITE("[Navigation]") {
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);

SUBCASE("'ProcessInfo' should not report removed agent") {
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
}
}

TEST_CASE("[NavigationServer3D] Server should manage map properly") {
NavigationServer3D *navigation_server = NavigationServer3D::get_singleton();
CHECK_EQ(navigation_server->get_maps().size(), 0);

RID map = navigation_server->map_create();
RID map;
CHECK_FALSE(map.is_valid());

SUBCASE("Queries against invalid map should return empty or invalid values") {
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);
}

map = navigation_server->map_create();
CHECK(map.is_valid());
CHECK_EQ(navigation_server->get_maps().size(), 1);

Expand All @@ -112,6 +132,7 @@ TEST_SUITE("[Navigation]") {
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));
Expand Down Expand Up @@ -140,10 +161,175 @@ TEST_SUITE("[Navigation]") {
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.

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);

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") {
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());
}

navigation_server->free(region);
}
}
} //namespace TestNavigationServer3D

Expand Down