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Merge pull request #104862 from smix8/navserver_process

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Prepare NavigationServer for `process()` and `physics_process()` split
This commit is contained in:
Thaddeus Crews 2025-04-02 07:37:32 -05:00
commit c9c8556a47
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15 changed files with 131 additions and 103 deletions
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11
main/main.cpp
View File

@ -4648,10 +4648,10 @@ bool Main::iteration() {
uint64_t navigation_begin = OS::get_singleton()->get_ticks_usec();
#ifndef NAVIGATION_2D_DISABLED
NavigationServer2D::get_singleton()->process(physics_step * time_scale);
NavigationServer2D::get_singleton()->physics_process(physics_step * time_scale);
#endif // NAVIGATION_2D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
NavigationServer3D::get_singleton()->process(physics_step * time_scale);
NavigationServer3D::get_singleton()->physics_process(physics_step * time_scale);
#endif // NAVIGATION_3D_DISABLED
navigation_process_ticks = MAX(navigation_process_ticks, OS::get_singleton()->get_ticks_usec() - navigation_begin); // keep the largest one for reference
@ -4691,6 +4691,13 @@ bool Main::iteration() {
}
message_queue->flush();
#ifndef NAVIGATION_2D_DISABLED
NavigationServer2D::get_singleton()->process(process_step * time_scale);
#endif // NAVIGATION_2D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
NavigationServer3D::get_singleton()->process(process_step * time_scale);
#endif // NAVIGATION_3D_DISABLED
RenderingServer::get_singleton()->sync(); //sync if still drawing from previous frames.
const bool has_pending_resources_for_processing = RD::get_singleton() && RD::get_singleton()->has_pending_resources_for_processing();

18
modules/navigation_2d/2d/godot_navigation_server_2d.cpp
View File

@ -1138,8 +1138,6 @@ Vector<Vector2> GodotNavigationServer2D::obstacle_get_vertices(RID p_obstacle) c
}
void GodotNavigationServer2D::flush_queries() {
// In c++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(commands_mutex);
MutexLock lock2(operations_mutex);
@ -1259,7 +1257,21 @@ void GodotNavigationServer2D::internal_free_obstacle(RID p_object) {
}
}
void GodotNavigationServer2D::process(real_t p_delta_time) {
void GodotNavigationServer2D::process(double p_delta_time) {
// Called for each main loop iteration AFTER node and user script process() and BEFORE RenderingServer sync.
// Will run reliably every rendered frame independent of the physics tick rate.
// Use for things that (only) need to update once per main loop iteration and rendered frame or is visible to the user.
// E.g. (final) sync of objects for this main loop iteration, updating rendered debug visuals, updating debug statistics, ...
}
void GodotNavigationServer2D::physics_process(double p_delta_time) {
// Called for each physics process step AFTER node and user script physics_process() and BEFORE PhysicsServer sync.
// Will NOT run reliably every rendered frame. If there is no physics step this function will not run.
// Use for physics or step depending calculations and updates where the result affects the next step calculation.
// E.g. anything physics sync related, avoidance simulations, physics space state queries, ...
// If physics process needs to play catchup this function will be called multiple times per frame so it should not hold
// costly updates that are not important outside the stepped calculations to avoid causing a physics performance death spiral.
flush_queries();
if (!active) {

4
modules/navigation_2d/2d/godot_navigation_server_2d.h
View File

@ -320,7 +320,9 @@ public:
virtual void set_active(bool p_active) override;
void flush_queries();
virtual void process(real_t p_delta_time) override;
virtual void process(double p_delta_time) override;
virtual void physics_process(double p_delta_time) override;
virtual void init() override;
virtual void sync() override;
virtual void finish() override;

6
modules/navigation_2d/nav_map_2d.cpp
View File

@ -532,10 +532,8 @@ void NavMap2D::compute_single_avoidance_step(uint32_t p_index, NavAgent2D **p_ag
(*(p_agent + p_index))->update();
}
void NavMap2D::step(real_t p_deltatime) {
deltatime = p_deltatime;
rvo_simulation.setTimeStep(float(deltatime));
void NavMap2D::step(double p_delta_time) {
rvo_simulation.setTimeStep(float(p_delta_time));
if (active_avoidance_agents.size() > 0) {
if (use_threads && avoidance_use_multiple_threads) {

5
modules/navigation_2d/nav_map_2d.h
View File

@ -91,9 +91,6 @@ class NavMap2D : public NavRid2D {
/// Are rvo obstacles modified?
bool obstacles_dirty = true;
/// Physics delta time.
real_t deltatime = 0.0;
/// Change the id each time the map is updated.
uint32_t iteration_id = 0;
@ -203,7 +200,7 @@ public:
Vector2 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
void sync();
void step(real_t p_deltatime);
void step(double p_delta_time);
void dispatch_callbacks();
// Performance Monitor

18
modules/navigation_3d/3d/godot_navigation_server_3d.cpp
View File

@ -1306,8 +1306,6 @@ void GodotNavigationServer3D::set_active(bool p_active) {
}
void GodotNavigationServer3D::flush_queries() {
// In c++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(commands_mutex);
MutexLock lock2(operations_mutex);
@ -1340,7 +1338,21 @@ void GodotNavigationServer3D::sync() {
}
}
void GodotNavigationServer3D::process(real_t p_delta_time) {
void GodotNavigationServer3D::process(double p_delta_time) {
// Called for each main loop iteration AFTER node and user script process() and BEFORE RenderingServer sync.
// Will run reliably every rendered frame independent of the physics tick rate.
// Use for things that (only) need to update once per main loop iteration and rendered frame or is visible to the user.
// E.g. (final) sync of objects for this main loop iteration, updating rendered debug visuals, updating debug statistics, ...
}
void GodotNavigationServer3D::physics_process(double p_delta_time) {
// Called for each physics process step AFTER node and user script physics_process() and BEFORE PhysicsServer sync.
// Will NOT run reliably every rendered frame. If there is no physics step this function will not run.
// Use for physics or step depending calculations and updates where the result affects the next step calculation.
// E.g. anything physics sync related, avoidance simulations, physics space state queries, ...
// If physics process needs to play catchup this function will be called multiple times per frame so it should not hold
// costly updates that are not important outside the stepped calculations to avoid causing a physics performance death spiral.
flush_queries();
if (!active) {

4
modules/navigation_3d/3d/godot_navigation_server_3d.h
View File

@ -280,7 +280,9 @@ public:
virtual void set_active(bool p_active) override;
void flush_queries();
virtual void process(real_t p_delta_time) override;
virtual void process(double p_delta_time) override;
virtual void physics_process(double p_delta_time) override;
virtual void init() override;
virtual void sync() override;
virtual void finish() override;

8
modules/navigation_3d/nav_map_3d.cpp
View File

@ -614,11 +614,9 @@ void NavMap3D::compute_single_avoidance_step_3d(uint32_t index, NavAgent3D **age
(*(agent + index))->update();
}
void NavMap3D::step(real_t p_deltatime) {
deltatime = p_deltatime;
rvo_simulation_2d.setTimeStep(float(deltatime));
rvo_simulation_3d.setTimeStep(float(deltatime));
void NavMap3D::step(double p_delta_time) {
rvo_simulation_2d.setTimeStep(float(p_delta_time));
rvo_simulation_3d.setTimeStep(float(p_delta_time));
if (active_2d_avoidance_agents.size() > 0) {
if (use_threads && avoidance_use_multiple_threads) {

5
modules/navigation_3d/nav_map_3d.h
View File

@ -99,9 +99,6 @@ class NavMap3D : public NavRid3D {
/// Are rvo obstacles modified?
bool obstacles_dirty = true;
/// Physics delta time
real_t deltatime = 0.0;
/// Change the id each time the map is updated.
uint32_t iteration_id = 0;
@ -221,7 +218,7 @@ public:
Vector3 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
void sync();
void step(real_t p_deltatime);
void step(double p_delta_time);
void dispatch_callbacks();
// Performance Monitor

3
servers/navigation_server_2d.h
View File

@ -308,7 +308,8 @@ public:
/// The result of this process is needed by the physics server,
/// so this must be called in the main thread.
/// Note: This function is not thread safe.
virtual void process(real_t delta_time) = 0;
virtual void process(double p_delta_time) = 0;
virtual void physics_process(double p_delta_time) = 0;
virtual void init() = 0;
virtual void sync() = 0;
virtual void finish() = 0;

4
servers/navigation_server_2d_dummy.h
View File

@ -163,8 +163,8 @@ public:
void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result, const Callable &p_callback = Callable()) override {}
void set_active(bool p_active) override {}
void process(real_t delta_time) override {}
void process(double p_delta_time) override {}
void physics_process(double p_delta_time) override {}
void init() override {}
void sync() override {}
void finish() override {}

3
servers/navigation_server_3d.h
View File

@ -346,7 +346,8 @@ public:
/// The result of this process is needed by the physics server,
/// so this must be called in the main thread.
/// Note: This function is not thread safe.
virtual void process(real_t delta_time) = 0;
virtual void process(double p_delta_time) = 0;
virtual void physics_process(double p_delta_time) = 0;
virtual void init() = 0;
virtual void sync() = 0;
virtual void finish() = 0;

3
servers/navigation_server_3d_dummy.h
View File

@ -196,7 +196,8 @@ public:
void free(RID p_object) override {}
void set_active(bool p_active) override {}
void process(real_t delta_time) override {}
void process(double p_delta_time) override {}
void physics_process(double p_delta_time) override {}
void init() override {}
void sync() override {}
void finish() override {}

68
tests/servers/test_navigation_server_2d.h
View File

@ -120,7 +120,7 @@ TEST_SUITE("[Navigation2D]") {
SUBCASE("Setters/getters should work") {
bool initial_avoidance_enabled = navigation_server->agent_get_avoidance_enabled(agent);
navigation_server->agent_set_avoidance_enabled(agent, !initial_avoidance_enabled);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->agent_get_avoidance_enabled(agent), !initial_avoidance_enabled);
// TODO: Add remaining setters/getters once the missing getters are added.
@ -131,11 +131,11 @@ TEST_SUITE("[Navigation2D]") {
CHECK(map.is_valid());
navigation_server->map_set_active(map, true);
navigation_server->agent_set_map(agent, map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_AGENT_COUNT), 1);
navigation_server->agent_set_map(agent, RID());
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_AGENT_COUNT), 0);
}
@ -184,7 +184,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->map_set_link_connection_radius(map, 0.77);
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.
navigation_server->physics_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));
@ -194,11 +194,11 @@ TEST_SUITE("[Navigation2D]") {
SUBCASE("'ProcessInfo' should report map iff active") {
navigation_server->map_set_active(map, true);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK(navigation_server->map_is_active(map));
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_ACTIVE_MAPS), 1);
navigation_server->map_set_active(map, false);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_ACTIVE_MAPS), 0);
}
@ -206,10 +206,10 @@ TEST_SUITE("[Navigation2D]") {
RID agent = navigation_server->agent_create();
CHECK(agent.is_valid());
navigation_server->agent_set_map(agent, map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_agents(map).size(), 1);
navigation_server->free(agent);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_agents(map).size(), 0);
}
@ -217,10 +217,10 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_links(map).size(), 0);
}
@ -228,10 +228,10 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 0);
}
@ -239,16 +239,16 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
ERR_PRINT_OFF;
CHECK_EQ(navigation_server->map_get_closest_point(map, Vector2(7, 7)), Vector2());
@ -271,11 +271,11 @@ TEST_SUITE("[Navigation2D]") {
ERR_PRINT_ON;
navigation_server->map_set_active(map, false);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to actually remove map.
CHECK_EQ(navigation_server->get_maps().size(), 0);
}
@ -298,7 +298,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->link_set_owner_id(link, ObjectID((int64_t)7));
navigation_server->link_set_start_position(link, Vector2(8, 8));
navigation_server->link_set_travel_cost(link, 0.66);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_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), Vector2(7, 7));
@ -314,11 +314,11 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_LINK_COUNT), 0);
}
@ -353,7 +353,7 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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);
@ -367,11 +367,11 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer2D::INFO_REGION_COUNT), 0);
}
@ -400,7 +400,7 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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));
@ -436,7 +436,7 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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;
@ -474,7 +474,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->obstacle_set_radius(obstacle_1, 1);
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 1);
Vector3 agent_1_safe_velocity = agent_1_avoidance_callback_mock.function1_latest_arg0;
CHECK_MESSAGE(agent_1_safe_velocity.x > 0, "Agent 1 should move a bit along desired velocity (+X).");
@ -483,7 +483,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->free(obstacle_1);
navigation_server->free(agent_1);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
}
TEST_CASE("[NavigationServer2D] Server should make agents avoid static obstacles when avoidance enabled") {
@ -525,7 +525,7 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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;
@ -539,7 +539,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->free(agent_2);
navigation_server->free(agent_1);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
}
TEST_CASE("[NavigationServer2D][SceneTree] Server should be able to parse geometry") {
@ -614,7 +614,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->map_set_use_async_iterations(map, false);
navigation_server->region_set_map(region, map);
navigation_server->region_set_navigation_polygon(region, navigation_polygon);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_polygon->get_polygon_count(), 0);
CHECK_EQ(navigation_polygon->get_vertices().size(), 0);
@ -633,7 +633,7 @@ TEST_SUITE("[Navigation2D]") {
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.
navigation_server->physics_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, Vector2(0, 0)), Vector2(0, 0));
@ -641,7 +641,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->free(region);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
memdelete(polygon);
memdelete(node_2d);
@ -671,7 +671,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->map_set_use_async_iterations(map, false);
navigation_server->region_set_map(region, map);
navigation_server->region_set_navigation_polygon(region, navigation_polygon);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_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, Vector2(0.0, 0.0)), Vector2(0, 0));
@ -746,7 +746,7 @@ TEST_SUITE("[Navigation2D]") {
navigation_server->free(region);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
}
TEST_CASE("[NavigationServer2D] Server should simplify path properly") {

74
tests/servers/test_navigation_server_3d.h
View File

@ -91,7 +91,7 @@ TEST_SUITE("[Navigation3D]") {
SUBCASE("Setters/getters should work") {
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.
navigation_server->physics_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.
@ -102,11 +102,11 @@ TEST_SUITE("[Navigation3D]") {
CHECK(map.is_valid());
navigation_server->map_set_active(map, true);
navigation_server->agent_set_map(agent, map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 1);
navigation_server->agent_set_map(agent, RID());
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0);
}
@ -157,7 +157,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->map_set_up(map, Vector3(1, 0, 0));
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.
navigation_server->physics_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));
@ -168,11 +168,11 @@ TEST_SUITE("[Navigation3D]") {
SUBCASE("'ProcessInfo' should report map iff active") {
navigation_server->map_set_active(map, true);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK(navigation_server->map_is_active(map));
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 1);
navigation_server->map_set_active(map, false);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0);
}
@ -180,10 +180,10 @@ TEST_SUITE("[Navigation3D]") {
RID agent = navigation_server->agent_create();
CHECK(agent.is_valid());
navigation_server->agent_set_map(agent, map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_agents(map).size(), 1);
navigation_server->free(agent);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_agents(map).size(), 0);
}
@ -191,10 +191,10 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_links(map).size(), 0);
}
@ -202,10 +202,10 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 0);
}
@ -213,16 +213,16 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
ERR_PRINT_OFF;
CHECK_EQ(navigation_server->map_get_closest_point(map, Vector3(7, 7, 7)), Vector3());
@ -246,11 +246,11 @@ TEST_SUITE("[Navigation3D]") {
ERR_PRINT_ON;
navigation_server->map_set_active(map, false);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to actually remove map.
CHECK_EQ(navigation_server->get_maps().size(), 0);
}
@ -273,7 +273,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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));
@ -289,11 +289,11 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0);
}
@ -328,7 +328,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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);
@ -342,11 +342,11 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0);
}
@ -375,7 +375,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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));
@ -411,7 +411,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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;
@ -449,7 +449,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->obstacle_set_radius(obstacle_1, 1);
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 0);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
CHECK_EQ(agent_1_avoidance_callback_mock.function1_calls, 1);
Vector3 agent_1_safe_velocity = agent_1_avoidance_callback_mock.function1_latest_arg0;
CHECK_MESSAGE(agent_1_safe_velocity.x > 0, "Agent 1 should move a bit along desired velocity (+X).");
@ -458,7 +458,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->free(obstacle_1);
navigation_server->free(agent_1);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
}
TEST_CASE("[NavigationServer3D] Server should make agents avoid static obstacles when avoidance enabled") {
@ -508,7 +508,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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;
@ -522,7 +522,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->free(agent_2);
navigation_server->free(agent_1);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
}
#ifndef DISABLE_DEPRECATED
@ -548,7 +548,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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);
@ -564,7 +564,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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));
@ -572,7 +572,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->free(region);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
memdelete(mesh_instance);
memdelete(node_3d);
}
@ -644,7 +644,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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);
@ -660,7 +660,7 @@ TEST_SUITE("[Navigation3D]") {
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.
navigation_server->physics_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));
@ -668,7 +668,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->free(region);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
memdelete(mesh_instance);
memdelete(node_3d);
}
@ -693,7 +693,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->map_set_use_async_iterations(map, false);
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.
navigation_server->physics_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));
@ -807,7 +807,7 @@ TEST_SUITE("[Navigation3D]") {
navigation_server->free(region);
navigation_server->free(map);
navigation_server->process(0.0); // Give server some cycles to commit.
navigation_server->physics_process(0.0); // Give server some cycles to commit.
}
// FIXME: The race condition mentioned below is actually a problem and fails on CI (GH-90613).