488 lines
21 KiB
C#
488 lines
21 KiB
C#
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using System;
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using System.Collections.Generic;
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using NUnit.Framework;
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using UnityEngine;
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using UnityEngine.TestTools.Utils;
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using Matrix4x4 = UnityEngine.Matrix4x4;
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using Quaternion = UnityEngine.Quaternion;
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using Vector3 = UnityEngine.Vector3;
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using From = Unity.AI.Navigation.Editor.Tests.NavMeshLinkEditorTests.LinkEndType;
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using To = Unity.AI.Navigation.Editor.Tests.NavMeshLinkEditorTests.LinkEndType;
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// Note: To pause and inspect the state during these editor tests,
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// run them in playmode from the NavMeshLinkEditorTestsInPlaymode class
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// in the Unity.AI.Navigation.Editor.Tests.InPlaymode namespace.
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namespace Unity.AI.Navigation.Editor.Tests
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{
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public class NavMeshLinkEditorTests
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{
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List<UnityEngine.Object> m_TestObjects = new();
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GameObject m_LinkGameObject;
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GameObject m_Start;
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GameObject m_End;
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NavMeshLink m_Link;
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NavMeshLink m_LinkSibling1;
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NavMeshLink m_LinkSibling2;
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static readonly Vector3EqualityComparer k_DefaultThreshold = Vector3EqualityComparer.Instance;
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GameObject CreateTestObject(string name, params Type[] components)
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{
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var go = new GameObject(name, components);
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m_TestObjects.Add(go);
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return go;
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}
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[OneTimeSetUp]
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public void OneTimeSetup()
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{
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m_LinkGameObject = new GameObject("Link");
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m_Link = m_LinkGameObject.AddComponent<NavMeshLink>();
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m_Start = new GameObject("Start");
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m_End = new GameObject("End");
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// To debug, add these components, only to show icons for them in the scene
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//m_Start.AddComponent<NavMeshSurface>().enabled = false;
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//m_End.AddComponent<NavMeshModifier>().enabled = false;
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}
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[OneTimeTearDown]
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public void OneTimeTearDown()
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{
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if (m_LinkGameObject != null)
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UnityEngine.Object.DestroyImmediate(m_LinkGameObject);
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if (m_Start != null)
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UnityEngine.Object.DestroyImmediate(m_Start);
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if (m_End != null)
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UnityEngine.Object.DestroyImmediate(m_End);
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}
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[SetUp]
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public void Setup()
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{
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using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
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{
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m_Link.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
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m_Link.transform.localScale = Vector3.one;
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m_Link.startPoint = Vector3.left;
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m_Link.endPoint = Vector3.right;
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}
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}
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[TearDown]
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public void TearDown()
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{
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if (m_LinkSibling1 != null)
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UnityEngine.Object.DestroyImmediate(m_LinkSibling1);
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if (m_LinkSibling2 != null)
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UnityEngine.Object.DestroyImmediate(m_LinkSibling2);
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foreach (var obj in m_TestObjects)
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{
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if (obj != null)
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UnityEngine.Object.DestroyImmediate(obj);
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}
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m_TestObjects.Clear();
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}
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protected static readonly Vector3[] k_ReverseDirectionPositions =
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{ Vector3.zero, new(1f, 2f, 3f), new(1f, -2f, 3f) };
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protected static readonly Quaternion[] k_ReverseDirectionOrientations =
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{ Quaternion.identity, new(0f, 0.7071067812f, 0f, 0.7071067812f) };
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protected static readonly Vector3[] k_ReverseDirectionScales =
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{ Vector3.one, new(0.5f, 1f, 2f), new(0.5f, -1f, 2f) };
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[Test]
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public void ReverseDirection_SwapsStartAndEndPoints(
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[ValueSource(nameof(k_ReverseDirectionPositions))]
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Vector3 position,
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[ValueSource(nameof(k_ReverseDirectionOrientations))]
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Quaternion orientation,
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[ValueSource(nameof(k_ReverseDirectionScales))]
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Vector3 scale
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)
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{
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using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
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{
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m_Link.transform.SetPositionAndRotation(position, orientation);
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m_Link.transform.localScale = scale;
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m_Link.startPoint = new Vector3(2f, 0f, 0f);
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m_Link.endPoint = new Vector3(0f, 0f, 2f);
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}
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NavMeshLinkEditor.ReverseDirection(m_Link);
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Assert.That(
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(m_Link.startPoint, m_Link.endPoint),
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Is.EqualTo((new Vector3(0f, 0f, 2f), new Vector3(2f, 0f, 0f))),
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"Start and end points did not swap."
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);
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}
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[Test]
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public void ReverseDirection_SwapsStartAndEndPoints_TargetTransformsDoNotAffect(
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[ValueSource(nameof(k_ReverseDirectionPositions))]
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Vector3 position,
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[ValueSource(nameof(k_ReverseDirectionOrientations))]
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Quaternion orientation,
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[ValueSource(nameof(k_ReverseDirectionScales))]
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Vector3 scale
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)
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{
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using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
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{
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m_Link.startTransform = CreateTestObject("Start").transform;
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m_Link.endTransform = CreateTestObject("End").transform;
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m_Link.transform.SetPositionAndRotation(position, orientation);
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m_Link.transform.localScale = scale;
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m_Link.startPoint = new Vector3(2f, 0f, 0f);
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m_Link.endPoint = new Vector3(0f, 0f, 2f);
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}
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NavMeshLinkEditor.ReverseDirection(m_Link);
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Assert.That(
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(m_Link.startPoint, m_Link.endPoint),
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Is.EqualTo((new Vector3(0f, 0f, 2f), new Vector3(2f, 0f, 0f))),
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"Start and end points did not swap."
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);
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}
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[Test]
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public void ReverseDirection_SwapsStartAndEndTransforms()
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{
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var start = m_Link.startTransform = CreateTestObject("Start").transform;
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var end = m_Link.endTransform = CreateTestObject("End").transform;
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NavMeshLinkEditor.ReverseDirection(m_Link);
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Assert.That(
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(m_Link.startTransform, m_Link.endTransform),
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Is.EqualTo((end, start)),
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"Start and end transform did not swap."
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);
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}
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[Test]
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public void ReverseDirection_OneTransformIsNotSet_SwapsStartAndEndTransforms()
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{
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var start = m_Link.startTransform = CreateTestObject("Start").transform;
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var end = m_Link.endTransform;
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NavMeshLinkEditor.ReverseDirection(m_Link);
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Assert.That(
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(m_Link.startTransform, m_Link.endTransform),
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Is.EqualTo((end, start)),
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"Start and end transform did not swap."
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);
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}
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static readonly Vector3 k_Offset101 = new(1, 1, 1);
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static readonly Vector3 k_Offset103 = new(1, 1, 3);
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static readonly Quaternion k_DoNotRotate = Quaternion.identity;
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static readonly Quaternion k_FlipToRight = Quaternion.Euler(0, 0, -90);
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static readonly Quaternion k_UpSideDown = Quaternion.Euler(0, 0, 180);
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//TestCaseData( startType, endType, transformRotation,
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// expectedPosition, expectedForward)
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protected static readonly TestCaseData[] k_PointsOnly =
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{
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new(From.Point, To.Point, k_DoNotRotate,
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new Vector3(1, 1, 2), Vector3.back),
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new(From.Point, To.Point, k_UpSideDown,
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new Vector3(-1, -1, 2), Vector3.back),
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};
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protected static readonly TestCaseData[] k_PointAndTransforms =
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{
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new(From.Point, To.Transform, k_DoNotRotate,
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new Vector3(1, 2, 2), Vector3.back),
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new(From.Point, To.Transform, k_FlipToRight,
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new Vector3(1, 1, 2), Quaternion.Euler(-116.565f, 0, -90) * Vector3.forward),
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new(From.Transform, To.Point, k_DoNotRotate,
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new Vector3(1, 2, 2), Vector3.back),
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new(From.Transform, To.Point, k_FlipToRight,
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new Vector3(1, 1, 2), Quaternion.Euler(116.565f, 0, -90) * Vector3.forward),
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new(From.Transform, To.Transform, k_DoNotRotate,
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new Vector3(1, 3, 2), Vector3.back),
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new(From.Transform, To.Transform, k_UpSideDown,
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new Vector3(1, 3, 2), Vector3.back),
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};
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protected static readonly TestCaseData[] k_ChildTransforms =
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{
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new(From.TransformChild, To.TransformChild, k_FlipToRight,
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new Vector3(3, -1, 2), Vector3.back),
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};
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void ConfigureLinkForTest(From startType, To endType, Quaternion transformRotation)
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{
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m_Start.transform.position = k_Offset103 + 2f * Vector3.up;
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m_End.transform.position = k_Offset101 + 2f * Vector3.up;
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m_Start.transform.parent = startType == From.TransformChild ? m_Link.transform : null;
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m_End.transform.parent = endType == To.TransformChild ? m_Link.transform : null;
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using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
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{
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m_Link.startPoint = k_Offset103;
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m_Link.endPoint = k_Offset101;
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m_Link.startTransform = startType != From.Point ? m_Start.transform : null;
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m_Link.endTransform = endType != To.Point ? m_End.transform : null;
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m_Link.transform.rotation = transformRotation;
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}
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}
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[TestCaseSource(nameof(k_PointsOnly))]
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[TestCaseSource(nameof(k_PointAndTransforms))]
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[TestCaseSource(nameof(k_ChildTransforms))]
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public void AlignTransformToEndPoints_MovesTransformInTheMiddle(
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From startType, To endType, Quaternion transformRotation,
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Vector3 expectedPosition, Vector3 _)
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{
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ConfigureLinkForTest(startType, endType, transformRotation);
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NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
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Assert.That(m_Link.transform.position, Is.EqualTo(expectedPosition).Using(k_DefaultThreshold),
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"The Link object should be in the middle between the endpoints.");
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}
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[TestCaseSource(nameof(k_PointsOnly))]
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[TestCaseSource(nameof(k_PointAndTransforms))]
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[Description("When the endpoints remain at the same world position it means that the local points must have been adjusted correctly.")]
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public void AlignTransformToEndPoints_EndpointsWorldPositionsRemainUnchanged(
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From startType, To endType, Quaternion transformRotation,
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Vector3 _, Vector3 __)
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{
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ConfigureLinkForTest(startType, endType, transformRotation);
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var initialEndpointsMatrix = LocalToWorldUnscaled(m_Link);
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var initialStartWorld = initialEndpointsMatrix.MultiplyPoint3x4(m_Link.startPoint);
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var initialEndWorld = initialEndpointsMatrix.MultiplyPoint3x4(m_Link.endPoint);
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var initialStartLocal = m_Link.startPoint;
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var initialEndLocal = m_Link.endPoint;
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NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
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Assume.That(m_Link.startPoint, Is.Not.EqualTo(initialStartLocal).Using(k_DefaultThreshold),
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"The local position of Start point should have been adjusted.");
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Assert.That(m_Link.endPoint, Is.Not.EqualTo(initialEndLocal).Using(k_DefaultThreshold),
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"The local position of End point should have been adjusted.");
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var endpointsMatrix = LocalToWorldUnscaled(m_Link);
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var startWorld = endpointsMatrix.MultiplyPoint3x4(m_Link.startPoint);
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var endWorld = endpointsMatrix.MultiplyPoint3x4(m_Link.endPoint);
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Assert.That(startWorld, Is.EqualTo(initialStartWorld).Using(k_DefaultThreshold),
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"The world position of Start should remain unchanged.");
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Assert.That(endWorld, Is.EqualTo(initialEndWorld).Using(k_DefaultThreshold),
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"The world position of End should remain unchanged.");
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}
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static Matrix4x4 LocalToWorldUnscaled(NavMeshLink link)
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{
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return Matrix4x4.TRS(link.transform.position, link.transform.rotation, Vector3.one);
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}
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[TestCaseSource(nameof(k_PointAndTransforms))]
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[TestCaseSource(nameof(k_ChildTransforms))]
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public void AlignTransformToEndPoints_EndsTransformsRemainUnchanged(
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From startType, To endType, Quaternion transformRotation,
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Vector3 _, Vector3 __)
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{
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ConfigureLinkForTest(startType, endType, transformRotation);
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var initialStartPosition = m_Link.startTransform != null ? m_Link.startTransform.position : Vector3.negativeInfinity;
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var initialEndPosition = m_Link.endTransform != null ? m_Link.endTransform.position : Vector3.negativeInfinity;
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NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
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if (m_Link.startTransform != null)
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Assert.That(m_Link.startTransform.position, Is.EqualTo(initialStartPosition).Using(k_DefaultThreshold),
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"The Link start transform should not have moved.");
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if (m_Link.endTransform != null)
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Assert.That(m_Link.endTransform.position, Is.EqualTo(initialEndPosition).Using(k_DefaultThreshold),
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"The Link end transform should not have moved.");
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}
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[Test]
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[Explicit("Functionality not implemented yet for child game objects")]
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public void AlignTransformToEndPoints_ChildGameObjectsRetainWorldPositions()
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{
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using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
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{
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m_Link.startPoint = k_Offset103;
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m_Link.endPoint = k_Offset101;
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m_Link.startTransform = null;
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m_Link.endTransform = null;
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m_Link.transform.rotation = k_FlipToRight;
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}
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var child1 = CreateTestObject("Child 1").GetComponent<Transform>();
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var child2 = CreateTestObject("Child 2").GetComponent<Transform>();
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var grandchild = CreateTestObject("Grandchild").GetComponent<Transform>();
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child2.rotation = Quaternion.Euler(0, 90, 0);
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child1.parent = m_Link.transform;
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child2.parent = m_Link.transform;
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grandchild.parent = child2.transform;
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child1.position = new Vector3(2, 1, 3);
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child2.position = new Vector3(-0.5f, 0.6f, 0.7f);
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grandchild.position = new Vector3(-3, 2, 1);
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var child1Earlier = child1.position;
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var child2Earlier = child2.position;
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var grandchildEarlier = grandchild.position;
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||
|
|
|
||
|
|
NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
|
||
|
|
|
||
|
|
Assert.That(child1.position, Is.EqualTo(child1Earlier).Using(k_DefaultThreshold),
|
||
|
|
"Child object 1 should not have moved.");
|
||
|
|
Assert.That(child2.position, Is.EqualTo(child2Earlier).Using(k_DefaultThreshold),
|
||
|
|
"Child object 2 should not have moved.");
|
||
|
|
Assert.That(grandchild.position, Is.EqualTo(grandchildEarlier).Using(k_DefaultThreshold),
|
||
|
|
"Grandchild object should not have moved.");
|
||
|
|
}
|
||
|
|
|
||
|
|
[Test]
|
||
|
|
public void AlignTransformToEndPoints_EndpointsWorldPositionsRemainUnchanged_InSiblingLinks()
|
||
|
|
{
|
||
|
|
using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
|
||
|
|
{
|
||
|
|
m_Link.startPoint = k_Offset103;
|
||
|
|
m_Link.endPoint = k_Offset101;
|
||
|
|
m_Link.startTransform = null;
|
||
|
|
m_Link.endTransform = null;
|
||
|
|
|
||
|
|
m_Link.transform.rotation = k_FlipToRight;
|
||
|
|
}
|
||
|
|
|
||
|
|
m_LinkSibling1 = m_Link.gameObject.AddComponent<NavMeshLink>();
|
||
|
|
m_LinkSibling2 = m_Link.gameObject.AddComponent<NavMeshLink>();
|
||
|
|
m_LinkSibling1.startPoint = m_Link.endPoint;
|
||
|
|
m_LinkSibling1.endPoint = m_Link.startPoint;
|
||
|
|
m_LinkSibling2.startPoint = m_Link.endPoint;
|
||
|
|
m_LinkSibling2.endPoint = m_Link.startPoint;
|
||
|
|
|
||
|
|
var initialStartLocal = m_Link.startPoint;
|
||
|
|
|
||
|
|
NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
|
||
|
|
|
||
|
|
Assume.That(m_Link.startPoint, Is.Not.EqualTo(initialStartLocal).Using(k_DefaultThreshold));
|
||
|
|
|
||
|
|
Assert.That(m_LinkSibling1.startPoint, Is.EqualTo(m_Link.endPoint).Using(k_DefaultThreshold),
|
||
|
|
"The sibling 1 Start point should have been adjusted.");
|
||
|
|
Assert.That(m_LinkSibling1.endPoint, Is.EqualTo(m_Link.startPoint).Using(k_DefaultThreshold),
|
||
|
|
"The sibling 1 End point should have been adjusted.");
|
||
|
|
|
||
|
|
Assert.That(m_LinkSibling2.startPoint, Is.EqualTo(m_Link.endPoint).Using(k_DefaultThreshold),
|
||
|
|
"The sibling 2 Start point should have been adjusted.");
|
||
|
|
Assert.That(m_LinkSibling2.endPoint, Is.EqualTo(m_Link.startPoint).Using(k_DefaultThreshold),
|
||
|
|
"The sibling 2 End point should have been adjusted.");
|
||
|
|
}
|
||
|
|
|
||
|
|
[TestCaseSource(nameof(k_PointsOnly))]
|
||
|
|
[TestCaseSource(nameof(k_PointAndTransforms))]
|
||
|
|
[TestCaseSource(nameof(k_ChildTransforms))]
|
||
|
|
public void AlignTransformToEndPoints_UpVectorRemainsUnchanged(
|
||
|
|
From startType, To endType, Quaternion transformRotation,
|
||
|
|
Vector3 _, Vector3 __)
|
||
|
|
{
|
||
|
|
ConfigureLinkForTest(startType, endType, transformRotation);
|
||
|
|
|
||
|
|
var initialUp = m_Link.transform.up;
|
||
|
|
|
||
|
|
NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
|
||
|
|
|
||
|
|
Assert.That(m_Link.transform.up, Is.EqualTo(initialUp).Using(k_DefaultThreshold),
|
||
|
|
"The Link's up vector should remain unchanged.");
|
||
|
|
}
|
||
|
|
|
||
|
|
[TestCaseSource(nameof(k_PointsOnly))]
|
||
|
|
[TestCaseSource(nameof(k_PointAndTransforms))]
|
||
|
|
[TestCaseSource(nameof(k_ChildTransforms))]
|
||
|
|
public void AlignTransformToEndPoints_OrientsForwardVectorFromStartToEndInXZPlane(
|
||
|
|
From startType, To endType, Quaternion transformRotation,
|
||
|
|
Vector3 _, Vector3 expectedForward)
|
||
|
|
{
|
||
|
|
ConfigureLinkForTest(startType, endType, transformRotation);
|
||
|
|
|
||
|
|
NavMeshLinkEditor.AlignTransformToEndPoints(m_Link);
|
||
|
|
|
||
|
|
Assert.That(m_Link.transform.forward, Is.EqualTo(expectedForward).Using(k_DefaultThreshold),
|
||
|
|
"The Link's forward vector should point from the start towards the end of the link.");
|
||
|
|
}
|
||
|
|
|
||
|
|
static readonly Vector3 k_ForwardRightDiagonal = Quaternion.Euler(0, 45, 0) * Vector3.forward;
|
||
|
|
static readonly Quaternion k_RotatedX90 = Quaternion.Euler(90, 0, 0);
|
||
|
|
static readonly Quaternion k_RotatedY180 = Quaternion.Euler(0, 180, 0);
|
||
|
|
static readonly Quaternion k_RotatedZ90 = Quaternion.Euler(0, 0, 90);
|
||
|
|
static readonly Quaternion k_RotatedZ180 = Quaternion.Euler(0, 0, 180);
|
||
|
|
protected static readonly TestCaseData[] k_RotateToChangeLinkDirectionLocally =
|
||
|
|
{
|
||
|
|
new TestCaseData(Quaternion.identity, Vector3.right, Vector3.one)
|
||
|
|
.SetName("Link aligned to World axes"),
|
||
|
|
|
||
|
|
new TestCaseData(k_RotatedX90, Vector3.zero, new Vector3(1, 1, -1))
|
||
|
|
.SetName("Endpoints following the Up direction")
|
||
|
|
.SetDescription("The right vector cannot be properly defined in this case"),
|
||
|
|
|
||
|
|
new TestCaseData(k_RotatedY180, Vector3.forward, new Vector3(-1, 1, -1))
|
||
|
|
.SetName("Endpoints following Right direction"),
|
||
|
|
|
||
|
|
new TestCaseData(k_RotatedZ90, Vector3.right, new Vector3(1, -1, 1))
|
||
|
|
.SetName("Link tipped to the left"),
|
||
|
|
|
||
|
|
new TestCaseData(k_RotatedZ180, k_ForwardRightDiagonal, new Vector3(-1, -1, 1))
|
||
|
|
.SetName("Link rotated freely")
|
||
|
|
.SetDescription("The rotation has been chosen to produce a Right vector easy to identify and verify."),
|
||
|
|
};
|
||
|
|
|
||
|
|
[TestCaseSource(nameof(k_RotateToChangeLinkDirectionLocally))]
|
||
|
|
[Description("The link's direction changes because the end transform moves in local space when the game object rotates.")]
|
||
|
|
public void CalcLinkRight_ReturnsLocalRightIn2D(
|
||
|
|
Quaternion transformRotation,
|
||
|
|
Vector3 expectedLocalRight, Vector3 expectedEnd)
|
||
|
|
{
|
||
|
|
m_Link.transform.SetPositionAndRotation(Vector3.one, transformRotation);
|
||
|
|
m_Link.transform.localScale = 2f * Vector3.one;
|
||
|
|
m_End.transform.position = 2f * Vector3.one;
|
||
|
|
|
||
|
|
using (new NavMeshLinkEditor.DeferredLinkUpdateScope(m_Link))
|
||
|
|
{
|
||
|
|
m_Link.startPoint = new Vector3(1, -1, -1);
|
||
|
|
m_Link.endTransform = m_End.transform;
|
||
|
|
|
||
|
|
m_Link.startTransform = null;
|
||
|
|
m_Link.endPoint = Vector3.negativeInfinity;
|
||
|
|
}
|
||
|
|
|
||
|
|
var linkRight = NavMeshLinkEditor.GetLocalDirectionRight(m_Link, out var localStart, out var localEnd);
|
||
|
|
|
||
|
|
Assume.That(localStart, Is.EqualTo(m_Link.startPoint).Using(k_DefaultThreshold), "Wrong local Start reported.");
|
||
|
|
Assume.That(localEnd, Is.EqualTo(expectedEnd).Using(k_DefaultThreshold), "Wrong local End reported.");
|
||
|
|
|
||
|
|
Assert.That(linkRight, Is.EqualTo(expectedLocalRight).Using(k_DefaultThreshold),
|
||
|
|
"Wrong Right vector relative to the direction from start to end.");
|
||
|
|
}
|
||
|
|
|
||
|
|
public enum LinkEndType
|
||
|
|
{
|
||
|
|
Point,
|
||
|
|
Transform,
|
||
|
|
TransformChild
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|