Release Healer Man 0.1.36

src/game/stockadesNavigation.test.ts

@@ -2,7 +2,7 @@ import { NodeIO } from "@gltf-transform/core";
 import RAPIER from "@dimforge/rapier3d-compat";
 import { ALL_EXTENSIONS } from "@gltf-transform/extensions";
 import { MeshoptDecoder } from "meshoptimizer";
-import { BufferAttribute, BufferGeometry, Group, Mesh } from "three";
+import { BufferAttribute, BufferGeometry, Group, Mesh, Ray, Vector3 } from "three";
 import { beforeAll, describe, expect, it } from "vitest";
 import { requireDungeonDefinition } from "./dungeonRegistry";
 import {
@@ -16,10 +16,13 @@ import { shouldLoadPartyNavigation } from "./partyNavigationPolicy";
 import { planPartyRoute } from "./partyPathing";
 import { partyCombatMovementGoal, stepPartyPosition } from "./partyMovement";
 import { derivePartySpawnSlots } from "./partySpawnSlots";
-import { collisionTrimeshes, prepareCollision } from "../scene/productionDungeonCollision";
-import { createPartyDirectSegmentValidator, createPartyRouteSegmentValidator } from "../scene/partyTraversal";
+import { collisionTrimeshes, collisionLineOfSightTrimeshes, prepareCollision } from "../scene/productionDungeonCollision";
+import { DUNGEON_PHYSICAL_COLLISION_GROUPS, DUNGEON_SIGHT_BLOCKER_COLLISION_GROUPS, hasDungeonLineOfSight } from "../scene/dungeonLineOfSight";
+import { createPartyDirectSegmentValidator, createPartyRouteSegmentValidator, createPartyRecoveryPointValidator } from "../scene/partyTraversal";
 import { configurePlayerCharacterController, PLAYER_CHARACTER_CONTROLLER_OFFSET } from "./playerMovement";
 import { ACTOR_COLLISION_GROUPS, ACTOR_TERRAIN_QUERY_GROUPS } from "../scene/actorCollision";
+import { choosePartyStuckRecoveryPosition } from "./partyStuckRecovery";
+import { createMobPursuit } from "./mobPursuit";
 
 const STOCKADES_NAVIGATION = "public/assets/game/manastorm/34-stormwindjail/navigation.glb";
 const TANK_RANGE = Object.freeze({ minimum: 0, preferred: 2.9, maximum: 3.15 });
@@ -83,13 +86,20 @@ beforeAll(async () => {
   }
 });
 
-function collisionWorld(useRamps = true): RAPIER.World {
+function collisionWorld(useRamps = true, includeSight = false): RAPIER.World {
   const world = new RAPIER.World({ x: 0, y: -18, z: 0 });
   const prepared = prepareCollision(sourceCollision, useRamps ? stockades.traversalRamps : []);
   for (const trimesh of collisionTrimeshes(prepared)) {
     world.createCollider(RAPIER.ColliderDesc.trimesh(
       Float32Array.from(trimesh.vertices), Uint32Array.from(trimesh.indices),
-    ));
+    ).setCollisionGroups(DUNGEON_PHYSICAL_COLLISION_GROUPS));
+  }
+  if (includeSight) {
+    for (const trimesh of collisionLineOfSightTrimeshes(prepared)) {
+      world.createCollider(RAPIER.ColliderDesc.trimesh(
+        Float32Array.from(trimesh.vertices), Uint32Array.from(trimesh.indices),
+      ).setCollisionGroups(DUNGEON_SIGHT_BLOCKER_COLLISION_GROUPS).setSensor(true));
+    }
   }
   for (const child of prepared.children) (child as Mesh).geometry.dispose();
   world.step();
@@ -101,6 +111,91 @@ function distance(left: readonly number[], right: readonly number[]): number {
 }
 
 describe("Stormwind Stockade party navigation", () => {
+  it("blocks combat sight across shipping room walls in both directions while preserving clear stair sight", () => {
+    const world = collisionWorld(true, true);
+    try {
+      const prepared = prepareCollision(sourceCollision, stockades.traversalRamps);
+      let checkedWalls = 0;
+      for (const mesh of collisionLineOfSightTrimeshes(prepared)) {
+        for (let offset = 0; offset < mesh.indices.length && checkedWalls < 12; offset += 3) {
+          const a = Number(mesh.indices[offset]) * 3;
+          const b = Number(mesh.indices[offset + 1]) * 3;
+          const c = Number(mesh.indices[offset + 2]) * 3;
+          const v = mesh.vertices;
+          const ab = [Number(v[b]) - Number(v[a]), Number(v[b + 1]) - Number(v[a + 1]), Number(v[b + 2]) - Number(v[a + 2])];
+          const ac = [Number(v[c]) - Number(v[a]), Number(v[c + 1]) - Number(v[a + 1]), Number(v[c + 2]) - Number(v[a + 2])];
+          const normalX = ab[1] * ac[2] - ab[2] * ac[1];
+          const normalZ = ab[0] * ac[1] - ab[1] * ac[0];
+          const length = Math.hypot(normalX, normalZ);
+          if (length < 0.1) continue;
+          const center = [0, 1, 2].map((axis) => (Number(v[a + axis]) + Number(v[b + axis]) + Number(v[c + axis])) / 3);
+          const first = findNearestPartyNavigationSurface(graph,
+            [center[0] + normalX / length, center[1] - 1.05, center[2] + normalZ / length], 2.5)?.position;
+          const second = findNearestPartyNavigationSurface(graph,
+            [center[0] - normalX / length, center[1] - 1.05, center[2] - normalZ / length], 2.5)?.position;
+          if (!first || !second || Math.abs(first[1] - second[1]) > 0.4 || distance(first, second) < 1.5
+            || Math.abs((first[1] + second[1]) / 2 + 1.05 - center[1]) > 0.15
+            || Math.hypot(first[0] - center[0], first[2] - center[2]) > 1.3
+            || Math.hypot(second[0] - center[0], second[2] - center[2]) > 1.3) continue;
+          const sideA = (first[0] - center[0]) * normalX + (first[2] - center[2]) * normalZ;
+          const sideB = (second[0] - center[0]) * normalX + (second[2] - center[2]) * normalZ;
+          if (sideA * sideB >= 0) continue;
+          // Nearby decorative faces/door-frame triangles are not room walls
+          // unless the actors' chest ray actually crosses this source face.
+          const origin = new Vector3(first[0], first[1] + 1.05, first[2]);
+          const destination = new Vector3(second[0], second[1] + 1.05, second[2]);
+          const ray = new Ray(origin, destination.clone().sub(origin).normalize());
+          const intersection = ray.intersectTriangle(
+            new Vector3(Number(v[a]), Number(v[a + 1]), Number(v[a + 2])),
+            new Vector3(Number(v[b]), Number(v[b + 1]), Number(v[b + 2])),
+            new Vector3(Number(v[c]), Number(v[c + 1]), Number(v[c + 2])), false, new Vector3(),
+          );
+          if (!intersection || intersection.distanceTo(origin) >= destination.distanceTo(origin)) continue;
+          expect(hasDungeonLineOfSight(RAPIER, world, first, second), JSON.stringify({ center, first, second })).toBe(false);
+          expect(hasDungeonLineOfSight(RAPIER, world, second, first), JSON.stringify({ center, first, second })).toBe(false);
+          checkedWalls += 1;
+        }
+      }
+      for (const child of prepared.children) (child as Mesh).geometry.dispose();
+      expect(checkedWalls).toBeGreaterThanOrEqual(8);
+      for (const ramp of stockades.traversalRamps ?? []) {
+        expect(hasDungeonLineOfSight(RAPIER, world, ramp.start, ramp.end)).toBe(true);
+        expect(hasDungeonLineOfSight(RAPIER, world, ramp.end, ramp.start)).toBe(true);
+      }
+    } finally { world.free(); }
+  }, 20_000);
+
+  it("moves pursuing mobs up and down all shipping ramps without a false teleport or reset", () => {
+    const world = collisionWorld(true, true);
+    try {
+      const directAllowed = createPartyDirectSegmentValidator(RAPIER, world);
+      const routeAllowed = createPartyRouteSegmentValidator(RAPIER, world);
+      const navigator = createMobPursuit({ graph: () => graph, directAllowed, routeAllowed,
+        hasLineOfSight: (a, b) => hasDungeonLineOfSight(RAPIER, world, a, b),
+        validateLanding: createPartyRecoveryPointValidator(RAPIER, world, graph) });
+      for (const ramp of stockades.traversalRamps ?? []) {
+        for (const [start, target] of [[ramp.start, ramp.end], [ramp.end, ramp.start]]) {
+          const initialRoute = planPartyRoute(graph, "probe", start, target, 0, {
+            maxOriginSnapDistance: 3, maxDestinationSnapDistance: 3,
+            directSegmentAllowed: directAllowed, routeSegmentAllowed: routeAllowed,
+            destinationReached: (surface, destination) => distance(surface, destination) <= 1.5
+              && hasDungeonLineOfSight(RAPIER, world, surface, destination),
+          });
+          expect(initialRoute.blocked, JSON.stringify({ ramp: ramp.id, waypoints: initialRoute.waypoints })).toBe(false);
+          const position: [number, number, number] = [...start];
+          for (let frame = 0; frame < 500 && distance(position, target) > 1.5; frame += 1) {
+            const before = [...position];
+            expect(navigator.step({ id: `${ramp.id}:${start[1]}`, targetId: "target", position,
+              target, home: start, phase: "chasing", health: 100, engaged: true, active: true,
+              casting: false, controlled: false, attackRange: 1.5, leashRange: 40,
+              maximumStep: 0.175, nowMs: frame * 50 }), JSON.stringify({ ramp: ramp.id, start, target, before, frame })).toBe("none");
+          }
+          expect(distance(position, target)).toBeLessThanOrEqual(1.5);
+        }
+      }
+    } finally { world.free(); }
+  });
+
   it("uses the reviewed warm indoor lighting profile", () => {
     expect(stockades.presentation).toMatchObject({
       background: "#171815",
@@ -310,6 +405,42 @@ describe("Stormwind Stockade party navigation", () => {
     world.free();
   });
 
+  it("finds grounded recovery landings on all three stair ramps", () => {
+    const world = collisionWorld();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, graph);
+    for (const ramp of stockades.traversalRamps!) {
+      const point = (t: number): [number, number, number] => [
+        ramp.start[0] + (ramp.end[0] - ramp.start[0]) * t,
+        ramp.start[1] + (ramp.end[1] - ramp.start[1]) * t + 0.05,
+        ramp.start[2] + (ramp.end[2] - ramp.start[2]) * t,
+      ];
+      expect(allowed(point(0.5), point(0.52)), ramp.id).not.toBeNull();
+    }
+    world.free();
+  });
+
+  it("recovers from boss-room approaches onto a validated visited trail near the group", () => {
+    const world = collisionWorld();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, graph);
+    const routeAllowed = createPartyRouteSegmentValidator(RAPIER, world);
+    const entrance = findNearestPartyNavigationSurface(graph, stockades.entrance.footPosition, 6)!.position;
+    for (const objective of stockades.objectiveOrder) {
+      const current = findNearestPartyNavigationSurface(graph, objective.position, 15)!.position;
+      const path = findPartyNavigationPath(graph, entrance, current, { routeSegmentAllowed: routeAllowed })!;
+      const trail = path.slice(1).map((point, index): [number, number, number] => [
+        (path[index][0] + point[0]) / 2, (path[index][1] + point[1]) / 2, (path[index][2] + point[2]) / 2,
+      ]).filter((point) => distance(point, current) >= 2 && distance(point, current) <= 12
+        && Math.abs(point[1] - current[1]) <= 1.25 && allowed(point, point));
+      expect(trail.length, objective.name).toBeGreaterThan(0);
+      const anchor = trail.at(-1)!;
+      const landing = choosePartyStuckRecoveryPosition({ current, player: entrance, groupAnchor: anchor,
+        trailPoints: trail, validate: allowed });
+      expect(landing?.source, objective.name).toBe("trail");
+      expect(allowed(landing!.position, anchor), objective.name).not.toBeNull();
+    }
+    world.free();
+  });
+
   it("walks the player capsule down and back up every ramp without jumping", () => {
     for (const ramp of stockades.traversalRamps!) {
       const world = collisionWorld();