public void ApplyBrakeForceToAgents()
{
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(1, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
velocity = new float3(0, 1, 0)
};
NativeArray <float3> steering = new NativeArray <float3>(1, Allocator.Persistent);
steering[0] = new float3(1, 0, 0);
float maxBrakeForce = 0.8f;
QueueBehavior job = new QueueBehavior()
{
maxBrakeForce = maxBrakeForce,
steering = steering,
agents = agents
};
float3 expectedVelocity = agents[0].velocity;
float3 expectedSteering = steering[0];
expectedSteering += -expectedSteering * maxBrakeForce;
expectedSteering += -agents[0].velocity;
job.ApplyBrakeForce(0);
Assert.AreEqual(expectedVelocity, agents[0].velocity); // velocity should not have changed
Assert.AreEqual(expectedSteering, steering[0]); // steering should have changed
steering.Dispose();
agents.Dispose();
}
public void DetectCollisionsWithAgents()
{
float3 position1 = float3.zero;
float3 position2 = new float3(0, 0.5f, 0);
NativeMultiHashMap <int3, SpatialMapData> spatialMap = new NativeMultiHashMap <int3, SpatialMapData>(1, Allocator.Persistent);
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position1
});
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position2
});
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(2, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
position = position1
};
agents[1] = new AgentKinematics()
{
position = position2
};
QueueBehavior job = new QueueBehavior()
{
spatialMap = spatialMap,
maxQueueRadius = 0.25f,
agents = agents,
maxDepth = 100,
};
bool collision;
collision = job.DetectCollision(0, float3.zero, int3.zero);
Assert.AreEqual(false, collision);
collision = job.DetectCollision(0, new float3(0, 0.25f, 0), int3.zero);
Assert.AreEqual(true, collision);
spatialMap.Dispose();
agents.Dispose();
}
public void AddBrakeForceWhenAgentsCollide()
{
float3 position1 = float3.zero;
float3 position2 = new float3(0f, 1f, 0f);
NativeMultiHashMap <int3, SpatialMapData> spatialMap = new NativeMultiHashMap <int3, SpatialMapData>(1, Allocator.Persistent);
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position1
});
spatialMap.Add(int3.zero, new SpatialMapData()
{
position = position2
});
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(2, Allocator.Persistent);
agents[0] = new AgentKinematics()
{
position = position1, velocity = new float3(0, 0, 0)
};
agents[1] = new AgentKinematics()
{
position = position2, velocity = new float3(0, 1, 0)
};
NativeArray <float3> steering = new NativeArray <float3>(2, Allocator.Persistent);
steering[0] = new float3(0, 1, 0);
steering[1] = new float3(1, 0, 1);
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(2, Allocator.Persistent);
for (int i = 0; i < 2; i++)
{
active[i] = AgentBehaviors.Queueing;
}
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
QueueBehavior job = new QueueBehavior()
{
maxBrakeForce = 0.8f,
maxQueueAhead = 1f,
maxQueueRadius = 1f,
maxDepth = 100,
world = world,
size = new int3(1, 1, 1),
spatialMap = spatialMap,
steering = steering,
behaviors = active,
agents = agents
};
job.Schedule(2, 1).Complete();
// first agent should be braking
float3 expected = new float3(0, 0.2f, 0);
Assert.AreEqual(true, Mathf.Approximately(expected.x, steering[0].x));
Assert.AreEqual(true, Mathf.Approximately(expected.y, steering[0].y));
Assert.AreEqual(true, Mathf.Approximately(expected.z, steering[0].z));
// second agent should not be braking
expected = new float3(1, 0, 1);
Assert.AreEqual(true, Mathf.Approximately(expected.x, steering[1].x));
Assert.AreEqual(true, Mathf.Approximately(expected.y, steering[1].y));
Assert.AreEqual(true, Mathf.Approximately(expected.z, steering[1].z));
spatialMap.Dispose();
steering.Dispose();
agents.Dispose();
active.Dispose();
}