public void CanCheckIfVectorIntersectsCircle()
{
float radius = 1f;
float3 center = new float3(0, 0, 0);
float3 ahead = new float3(0, 1, 0);
float3 ahead2 = ahead * 0.5f;
AvoidCollisionBehavior job = new AvoidCollisionBehavior()
{
};
bool result;
result = job.IntersectsCircle(ahead, ahead2, center, radius);
Assert.AreEqual(true, result); // inside
ahead += new float3(0, 1f, 0);
ahead2 = ahead * 0.5f;
result = job.IntersectsCircle(ahead, ahead2, center, radius);
Assert.AreEqual(true, result); // on the edge
ahead += new float3(0, 1f, 0);
ahead2 = ahead * 0.5f;
result = job.IntersectsCircle(ahead, ahead2, center, radius);
Assert.AreEqual(false, result); // outside
}
public void CanCheckForMostThreateningAgent()
{
NativeArray <AgentKinematics> agents = new NativeArray <AgentKinematics>(1, Allocator.Persistent);
AvoidCollisionBehavior job = new AvoidCollisionBehavior()
{
agents = agents
};
float3 target, best;
bool result;
best = new float3(0, 1f, 0);
target = new float3(0, 0.5f, 0);
result = job.MostThreatening(0, target, best);
Assert.AreEqual(true, result); // more threatening
best = new float3(0, 0.5f, 0);
target = new float3(0, 1f, 0);
result = job.MostThreatening(0, target, best);
Assert.AreEqual(false, result); // less threatening
agents.Dispose();
}
public void CanApplyAvoidanceForce()
{
float3 ahead, center;
NativeArray <float3> steering = new NativeArray <float3>(1, Allocator.Persistent);
AvoidCollisionBehavior job = new AvoidCollisionBehavior()
{
avoidForce = 0.5f,
steering = steering
};
center = float3.zero;
ahead = float3.zero;
job.ApplyAvoidanceForce(0, ahead, center);
Assert.AreEqual(float3.zero, steering[0]);
steering[0] = float3.zero;
ahead = new float3(0, 1, 0);
job.ApplyAvoidanceForce(0, ahead, center);
Assert.AreEqual(new float3(0, 0.5f, 0), steering[0]);
steering.Dispose();
}
public void CanDetectAnObstruction()
{
float3 position1 = float3.zero;
float3 position2 = new float3(0f, 1f, 0f);
float3 max = new float3(float.MaxValue, float.MaxValue, float.MaxValue);
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
};
AvoidCollisionBehavior job = new AvoidCollisionBehavior()
{
maxDepth = 100,
avoidRadius = 0.5f,
spatialMap = spatialMap,
agents = agents,
};
// when ahead vector is in range
bool obstructed;
float3 ahead = new float3(0, 1f, 0);
float3 ahead2 = new float3(0, 0.5f, 0);
float3 closest = max;
obstructed = job.DetectObstruction(0, ahead, ahead2, int3.zero, ref closest);
Assert.AreEqual(true, obstructed);
Assert.AreEqual(position2, closest);
// when ahead2 vector is in range
ahead = new float3(0, 2, 0);
ahead2 = new float3(0, 1, 0);
closest = max;
obstructed = job.DetectObstruction(0, ahead, ahead2, int3.zero, ref closest);
Assert.AreEqual(true, obstructed);
Assert.AreEqual(position2, closest);
// when not obstructed
ahead = new float3(0, 0.25f, 0);
ahead2 = new float3(0, 0.125f, 0);
closest = max;
obstructed = job.DetectObstruction(0, ahead, ahead2, int3.zero, ref closest);
Assert.AreEqual(false, obstructed);
Assert.AreEqual(max, closest);
agents.Dispose();
spatialMap.Dispose();
}
public void AvoidsNearbyAgents()
{
float3 position1 = float3.zero;
float3 position2 = new float3(0f, 1f, 0f);
float3 max = new float3(float.MaxValue, float.MaxValue, float.MaxValue);
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);
NativeArray <AgentBehaviors> active = new NativeArray <AgentBehaviors>(2, Allocator.Persistent);
AgentBehaviors flags = AgentBehaviors.Avoiding;
for (int i = 0; i < 2; i++)
{
active[i] = flags;
}
AgentWorld world = new AgentWorld()
{
scale = 1f,
offset = float3.zero,
center = new float3(0.5f, 0.5f, 0.5f),
rotation = quaternion.identity,
};
AvoidCollisionBehavior job = new AvoidCollisionBehavior()
{
avoidDistance = 1f,
avoidRadius = 1f,
avoidForce = 1f,
maxDepth = 100,
world = world,
size = new int3(1, 1, 1),
spatialMap = spatialMap,
steering = steering,
behaviors = active,
agents = agents,
};
job.Schedule(2, 1).Complete();
Assert.AreEqual(new float3(0, -1, 0), steering[0]);
Assert.AreEqual(new float3(0, 0, 0), steering[1]);
spatialMap.Dispose();
steering.Dispose();
agents.Dispose();
active.Dispose();
}
