/* Copyright (C) 2024 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see .
*/
#include "simulation2/system/ComponentTest.h"
#include "simulation2/components/ICmpObstructionManager.h"
#include "simulation2/components/ICmpPathfinder.h"
#include "simulation2/helpers/Grid.h"
#include "graphics/MapReader.h"
#include "graphics/Terrain.h"
#include "graphics/TerrainTextureManager.h"
#include "lib/timer.h"
#include "lib/tex/tex.h"
#include "ps/Loader.h"
#include "ps/Pyrogenesis.h"
#include "scriptinterface/ScriptContext.h"
#include "simulation2/Simulation2.h"
#include
#include
class TestCmpPathfinder : public CxxTest::TestSuite
{
public:
void setUp()
{
g_VFS = CreateVfs();
g_VFS->Mount(L"", DataDir() / "mods" / "mod" / "", VFS_MOUNT_MUST_EXIST);
g_VFS->Mount(L"", DataDir() / "mods" / "public" / "", VFS_MOUNT_MUST_EXIST, 1); // ignore directory-not-found errors
TS_ASSERT_OK(g_VFS->Mount(L"cache", DataDir() / "_testcache" / "", 0, VFS_MAX_PRIORITY));
CXeromyces::Startup();
}
void tearDown()
{
CXeromyces::Terminate();
g_VFS.reset();
DeleteDirectory(DataDir()/"_testcache");
}
void test_namespace()
{
// Check that Pathfinding::NAVCELL_SIZE is actually an integer and that the definitions
// of Pathfinding::NAVCELL_SIZE_INT and Pathfinding::NAVCELL_SIZE_LOG2 match
TS_ASSERT_EQUALS(Pathfinding::NAVCELL_SIZE.ToInt_RoundToNegInfinity(), Pathfinding::NAVCELL_SIZE.ToInt_RoundToInfinity());
TS_ASSERT_EQUALS(Pathfinding::NAVCELL_SIZE.ToInt_RoundToNearest(), Pathfinding::NAVCELL_SIZE_INT);
TS_ASSERT_EQUALS((Pathfinding::NAVCELL_SIZE >> 1).ToInt_RoundToZero(), Pathfinding::NAVCELL_SIZE_LOG2);
}
void test_pathgoal_nearest_distance()
{
entity_pos_t i = Pathfinding::NAVCELL_SIZE;
CFixedVector2D u(i*1, i*0);
CFixedVector2D v(i*0, i*1);
{
PathGoal goal = { PathGoal::POINT, i*8, i*6 };
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*8 + v*4), u*8 + v*6);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*8 + v*4), i*2);
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*0 + v*0), u*8 + v*6);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*0 + v*0), i*10);
TS_ASSERT(goal.RectContainsGoal(i*4, i*3, i*12, i*9));
TS_ASSERT(goal.RectContainsGoal(i*4, i*3, i*8, i*6));
TS_ASSERT(goal.RectContainsGoal(i*8, i*6, i*12, i*9));
TS_ASSERT(!goal.RectContainsGoal(i*4, i*3, i*7, i*5));
TS_ASSERT(!goal.RectContainsGoal(i*9, i*7, i*13, i*15));
}
{
PathGoal goal = { PathGoal::CIRCLE, i*8, i*6, i*5 };
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*8 + v*4), u*8 + v*4);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*8 + v*4), i*0);
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*0 + v*0), u*4 + v*3);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*0 + v*0), i*5);
TS_ASSERT(goal.RectContainsGoal(i*7, i*5, i*9, i*7)); // fully inside
TS_ASSERT(goal.RectContainsGoal(i*3, i*1, i*13, i*11)); // fully outside
TS_ASSERT(goal.RectContainsGoal(i*4, i*3, i*8, i*6)); // partially inside
TS_ASSERT(goal.RectContainsGoal(i*4, i*0, i*12, i*1)); // touching the edge
}
{
PathGoal goal = { PathGoal::INVERTED_CIRCLE, i*8, i*6, i*5 };
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*8 + v*4), u*8 + v*1);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*8 + v*4), i*3);
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*0 + v*0), u*0 + v*0);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*0 + v*0), i*0);
TS_ASSERT(!goal.RectContainsGoal(i*7, i*5, i*9, i*7)); // fully inside
TS_ASSERT(goal.RectContainsGoal(i*3, i*1, i*13, i*11)); // fully outside
TS_ASSERT(goal.RectContainsGoal(i*4, i*3, i*8, i*6)); // partially inside
TS_ASSERT(goal.RectContainsGoal(i*4, i*0, i*12, i*1)); // touching the edge
}
{
PathGoal goal = { PathGoal::SQUARE, i*8, i*6, i*4, i*3, u, v };
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*8 + v*4), u*8 + v*4);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*8 + v*4), i*0);
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*0 + v*0), u*4 + v*3);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*0 + v*0), i*5);
TS_ASSERT(goal.RectContainsGoal(i*7, i*5, i*9, i*7)); // fully inside
TS_ASSERT(goal.RectContainsGoal(i*3, i*1, i*13, i*11)); // fully outside
TS_ASSERT(goal.RectContainsGoal(i*4, i*3, i*8, i*6)); // partially inside
TS_ASSERT(goal.RectContainsGoal(i*4, i*2, i*12, i*3)); // touching the edge
TS_ASSERT(goal.RectContainsGoal(i*3, i*0, i*4, i*10)); // touching the edge
}
{
PathGoal goal = { PathGoal::INVERTED_SQUARE, i*8, i*6, i*4, i*3, u, v };
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*8 + v*4), u*8 + v*3);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*8 + v*4), i*1);
TS_ASSERT_EQUALS(goal.NearestPointOnGoal(u*0 + v*0), u*0 + v*0);
TS_ASSERT_EQUALS(goal.DistanceToPoint(u*0 + v*0), i*0);
TS_ASSERT(!goal.RectContainsGoal(i*7, i*5, i*9, i*7)); // fully inside
TS_ASSERT(goal.RectContainsGoal(i*3, i*1, i*13, i*11)); // fully outside
TS_ASSERT(!goal.RectContainsGoal(i*4, i*3, i*8, i*6)); // inside, touching (should fail)
TS_ASSERT(goal.RectContainsGoal(i*4, i*2, i*12, i*3)); // touching the edge
TS_ASSERT(goal.RectContainsGoal(i*3, i*0, i*4, i*10)); // touching the edge
}
}
void DISABLED_test_performance()
{
CTerrain terrain;
CSimulation2 sim2{nullptr, *g_ScriptContext, &terrain};
sim2.LoadDefaultScripts();
sim2.ResetState();
std::unique_ptr mapReader = std::make_unique();
LDR_BeginRegistering();
mapReader->LoadMap(L"maps/skirmishes/Median Oasis (2).pmp",
sim2.GetScriptInterface().GetContext(), JS::UndefinedHandleValue,
&terrain, NULL, NULL, NULL, NULL, NULL, NULL, NULL,
&sim2, &sim2.GetSimContext(), -1, false);
LDR_EndRegistering();
TS_ASSERT_OK(LDR_NonprogressiveLoad());
sim2.PreInitGame();
sim2.InitGame();
sim2.Update(0);
CmpPtr cmp(sim2, SYSTEM_ENTITY);
#if 0
entity_pos_t x0 = entity_pos_t::FromInt(10);
entity_pos_t z0 = entity_pos_t::FromInt(495);
entity_pos_t x1 = entity_pos_t::FromInt(500);
entity_pos_t z1 = entity_pos_t::FromInt(495);
ICmpPathfinder::Goal goal = { ICmpPathfinder::Goal::POINT, x1, z1 };
WaypointPath path;
cmp->ComputePath(x0, z0, goal, cmp->GetPassabilityClass("default"), path);
for (size_t i = 0; i < path.m_Waypoints.size(); ++i)
printf("%d: %f %f\n", (int)i, path.m_Waypoints[i].x.ToDouble(), path.m_Waypoints[i].z.ToDouble());
#endif
double t = timer_Time();
std::mt19937 engine(42);
std::uniform_int_distribution distribution511(0, 511);
std::uniform_int_distribution distribution63(0, 63);
for (size_t j = 0; j < 1024*2; ++j)
{
entity_pos_t x0 = entity_pos_t::FromInt(distribution511(engine));
entity_pos_t z0 = entity_pos_t::FromInt(distribution511(engine));
entity_pos_t x1 = x0 + entity_pos_t::FromInt(distribution63(engine));
entity_pos_t z1 = z0 + entity_pos_t::FromInt(distribution63(engine));
PathGoal goal = { PathGoal::POINT, x1, z1 };
WaypointPath path;
cmp->ComputePathImmediate(x0, z0, goal, cmp->GetPassabilityClass("default"), path);
}
t = timer_Time() - t;
printf("[%f]", t);
}
void DISABLED_test_performance_short()
{
CTerrain terrain;
terrain.Initialize(5, NULL);
CSimulation2 sim2{nullptr, *g_ScriptContext, &terrain};
sim2.LoadDefaultScripts();
sim2.ResetState();
const entity_pos_t range = entity_pos_t::FromInt(48);
CmpPtr cmpObstructionMan(sim2, SYSTEM_ENTITY);
CmpPtr cmpPathfinder(sim2, SYSTEM_ENTITY);
std::mt19937 engine(42);
std::uniform_real_distribution distribution01(0.0f, std::nextafter(1.0f, 2.0f));
for (size_t i = 0; i < 200; ++i)
{
fixed x = fixed::FromFloat(1.5f*range.ToFloat() * distribution01(engine));
fixed z = fixed::FromFloat(1.5f*range.ToFloat() * distribution01(engine));
// printf("# %f %f\n", x.ToFloat(), z.ToFloat());
cmpObstructionMan->AddUnitShape(INVALID_ENTITY, x, z, fixed::FromInt(2), 0, INVALID_ENTITY);
}
PathGoal goal = { PathGoal::POINT, range, range };
WaypointPath path = cmpPathfinder->ComputeShortPathImmediate(ShortPathRequest{ 0, range/3, range/3, fixed::FromInt(2), range, goal, 0, false, 0, 0 });
for (size_t i = 0; i < path.m_Waypoints.size(); ++i)
printf("# %d: %f %f\n", (int)i, path.m_Waypoints[i].x.ToFloat(), path.m_Waypoints[i].z.ToFloat());
}
template
void DumpGrid(std::ostream& stream, const Grid& grid, int mask)
{
for (u16 j = 0; j < grid.m_H; ++j)
{
for (u16 i = 0; i < grid.m_W; )
{
if (!(grid.get(i, j) & mask))
{
i++;
continue;
}
u16 i0 = i;
for (i = i0+1; ; ++i)
{
if (i >= grid.m_W || !(grid.get(i, j) & mask))
{
stream << " \n";
break;
}
}
}
}
}
void DISABLED_test_perf2()
{
CTerrain terrain;
CSimulation2 sim2{nullptr, *g_ScriptContext, &terrain};
sim2.LoadDefaultScripts();
sim2.ResetState();
std::unique_ptr mapReader = std::make_unique();
LDR_BeginRegistering();
mapReader->LoadMap(L"maps/scenarios/Peloponnese.pmp",
sim2.GetScriptInterface().GetContext(), JS::UndefinedHandleValue,
&terrain, NULL, NULL, NULL, NULL, NULL, NULL, NULL,
&sim2, &sim2.GetSimContext(), -1, false);
LDR_EndRegistering();
TS_ASSERT_OK(LDR_NonprogressiveLoad());
sim2.PreInitGame();
sim2.InitGame();
sim2.Update(0);
std::ofstream stream(OsString("perf2.html").c_str(), std::ofstream::out | std::ofstream::trunc);
CmpPtr cmpObstructionManager(sim2, SYSTEM_ENTITY);
CmpPtr cmpPathfinder(sim2, SYSTEM_ENTITY);
pass_class_t obstructionsMask = cmpPathfinder->GetPassabilityClass("default");
const Grid& obstructions = cmpPathfinder->GetPassabilityGrid();
int scale = 1;
stream << "\n";
stream << "\n";
stream << "\n";
}
void DISABLED_test_perf3()
{
CTerrain terrain;
CSimulation2 sim2{nullptr, *g_ScriptContext, &terrain};
sim2.LoadDefaultScripts();
sim2.ResetState();
std::unique_ptr mapReader = std::make_unique();
LDR_BeginRegistering();
mapReader->LoadMap(L"maps/scenarios/Peloponnese.pmp",
sim2.GetScriptInterface().GetContext(), JS::UndefinedHandleValue,
&terrain, NULL, NULL, NULL, NULL, NULL, NULL, NULL,
&sim2, &sim2.GetSimContext(), -1, false);
LDR_EndRegistering();
TS_ASSERT_OK(LDR_NonprogressiveLoad());
sim2.PreInitGame();
sim2.InitGame();
sim2.Update(0);
std::ofstream stream(OsString("perf3.html").c_str(), std::ofstream::out | std::ofstream::trunc);
CmpPtr cmpObstructionManager(sim2, SYSTEM_ENTITY);
CmpPtr cmpPathfinder(sim2, SYSTEM_ENTITY);
pass_class_t obstructionsMask = cmpPathfinder->GetPassabilityClass("default");
const Grid& obstructions = cmpPathfinder->GetPassabilityGrid();
int scale = 31;
stream << "\n";
stream << "\n";
stream << "\n";
}
void DumpPath(std::ostream& stream, int i0, int j0, int i1, int j1, CmpPtr& cmpPathfinder)
{
entity_pos_t x0 = entity_pos_t::FromInt(i0);
entity_pos_t z0 = entity_pos_t::FromInt(j0);
entity_pos_t x1 = entity_pos_t::FromInt(i1);
entity_pos_t z1 = entity_pos_t::FromInt(j1);
PathGoal goal = { PathGoal::POINT, x1, z1 };
WaypointPath path;
cmpPathfinder->ComputePathImmediate(x0, z0, goal, cmpPathfinder->GetPassabilityClass("default"), path);
u32 debugSteps;
double debugTime;
Grid debugGrid;
cmpPathfinder->GetDebugData(debugSteps, debugTime, debugGrid);
// stream << " \n";
stream << " \n";
// stream << " \n";
// DumpGrid(stream, debugGrid, 1);
// stream << " \n";
// stream << " \n";
// DumpGrid(stream, debugGrid, 2);
// stream << " \n";
// stream << " \n";
// DumpGrid(stream, debugGrid, 3);
// stream << " \n";
stream << " \n";
stream << " \n";
}
void RepeatPath(int n, int i0, int j0, int i1, int j1, CmpPtr& cmpPathfinder)
{
entity_pos_t x0 = entity_pos_t::FromInt(i0);
entity_pos_t z0 = entity_pos_t::FromInt(j0);
entity_pos_t x1 = entity_pos_t::FromInt(i1);
entity_pos_t z1 = entity_pos_t::FromInt(j1);
PathGoal goal = { PathGoal::POINT, x1, z1 };
double t = timer_Time();
for (int i = 0; i < n; ++i)
{
WaypointPath path;
cmpPathfinder->ComputePathImmediate(x0, z0, goal, cmpPathfinder->GetPassabilityClass("default"), path);
}
t = timer_Time() - t;
debug_printf("### RepeatPath %fms each (%fs total)\n", 1000*t / n, t);
}
};