Release Healer Man 0.1.34

src/game/stockadesNavigation.test.ts

@@ -1,4 +1,5 @@
 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";
@@ -15,14 +16,19 @@ 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 { configurePlayerCharacterController, PLAYER_CHARACTER_CONTROLLER_OFFSET } from "./playerMovement";
 
 const STOCKADES_NAVIGATION = "public/assets/game/manastorm/34-stormwindjail/navigation.glb";
 const TANK_RANGE = Object.freeze({ minimum: 0, preferred: 2.9, maximum: 3.15 });
 
 const stockades = requireDungeonDefinition("stormwind-stockade");
 let graph: PartyNavigationGraph;
+let sourceCollision: Group;
 
 beforeAll(async () => {
+  await RAPIER.init();
   await MeshoptDecoder.ready;
   const document = await new NodeIO()
     .registerExtensions(ALL_EXTENSIONS)
@@ -50,10 +56,45 @@ beforeAll(async () => {
   scene.add(mesh);
   // Exercise the same quantized-buffer and node-transform path as GLTFLoader
   // in the shipping runtime, not a separately pre-expanded test geometry.
-  graph = preparePartyNavigationGraph("/test/stockades-navigation.glb", scene, stockades.navigationLinks);
+  graph = preparePartyNavigationGraph(
+    "/test/stockades-navigation.glb", scene, stockades.navigationLinks, stockades.traversalRamps,
+  );
   geometry.dispose();
+
+  const collisionDocument = await new NodeIO()
+    .registerExtensions(ALL_EXTENSIONS)
+    .registerDependencies({ "meshopt.decoder": MeshoptDecoder })
+    .read("public/assets/game/manastorm/34-stormwindjail/collision.glb");
+  sourceCollision = new Group();
+  for (const node of collisionDocument.getRoot().listNodes()) {
+    for (const collisionPrimitive of node.getMesh()?.listPrimitives() ?? []) {
+      const positions = collisionPrimitive.getAttribute("POSITION")!;
+      const values = positions.getArray();
+      if (!(values instanceof Int16Array)) throw new Error("Expected quantized Stockades collision positions.");
+      const collisionGeometry = new BufferGeometry();
+      collisionGeometry.setAttribute("position", new BufferAttribute(values, 3, positions.getNormalized()));
+      collisionGeometry.setIndex(Array.from(collisionPrimitive.getIndices()!.getArray()!));
+      const collisionMesh = new Mesh(collisionGeometry);
+      collisionMesh.matrixAutoUpdate = false;
+      collisionMesh.matrix.fromArray(node.getWorldMatrix());
+      sourceCollision.add(collisionMesh);
+    }
+  }
 });
 
+function collisionWorld(useRamps = true): 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),
+    ));
+  }
+  for (const child of prepared.children) (child as Mesh).geometry.dispose();
+  world.step();
+  return world;
+}
+
 function distance(left: readonly number[], right: readonly number[]): number {
   return Math.hypot(left[0] - right[0], left[1] - right[1], left[2] - right[2]);
 }
@@ -74,10 +115,12 @@ describe("Stormwind Stockade party navigation", () => {
     expect(stockades.navigationLinks).toHaveLength(3);
     expect(shouldLoadPartyNavigation("dungeon", stockades, null)).toBe(true);
     expect(graph).toMatchObject({
-      sourceTriangleCount: 3_538,
+      sourceTriangleCount: 3_544,
       componentCount: 31,
     });
     expect(graph.discardedNodeCount).toBeGreaterThan(0);
+    expect(graph.triangles?.length).toBeGreaterThan(0);
+    expect(graph.triangleNodes?.length).toBe(graph.triangles?.length);
   });
 
   it("projects every entrance formation slot onto the retained walkable surface", () => {
@@ -95,6 +138,8 @@ describe("Stormwind Stockade party navigation", () => {
   });
 
   it("routes from the shipping entrance to every authored boss objective", () => {
+    const world = collisionWorld();
+    const routeSegmentAllowed = createPartyRouteSegmentValidator(RAPIER, world);
     const entrance = findNearestPartyNavigationSurface(
       graph,
       stockades.entrance.footPosition,
@@ -109,12 +154,15 @@ describe("Stormwind Stockade party navigation", () => {
         graph,
         entrance!.position,
         approach!.position,
-        { maxStartSnapDistance: 0.1, maxEndSnapDistance: 0.1 },
+        { maxStartSnapDistance: 0.1, maxEndSnapDistance: 0.1, routeSegmentAllowed },
       ), objective.name).not.toBeNull();
     }
+    world.free();
   });
 
   it("gives the tank a usable route into melee range of the first enemy", () => {
+    const world = collisionWorld();
+    const segmentAllowed = createPartyDirectSegmentValidator(RAPIER, world);
     const tankSlot = derivePartySpawnSlots({
       footPosition: stockades.entrance.footPosition,
       yaw: stockades.entrance.yaw,
@@ -146,7 +194,8 @@ describe("Stormwind Stockade party navigation", () => {
         maxOriginSnapDistance: 3,
         maxDestinationSnapDistance: 5,
         localFinishDistance: TANK_RANGE.maximum,
-        directSegmentAllowed: () => true,
+        directSegmentAllowed: segmentAllowed,
+        routeSegmentAllowed: createPartyRouteSegmentValidator(RAPIER, world),
       },
     );
     expect(route.blocked).toBe(false);
@@ -170,5 +219,136 @@ describe("Stormwind Stockade party navigation", () => {
       TANK_RANGE.maximum,
       desired,
     )).toBe("hold");
+    world.free();
+  });
+
+  it("traverses all three shipping stair flights in both directions with the live capsule check", () => {
+    const world = collisionWorld();
+    const allowed = createPartyDirectSegmentValidator(RAPIER, world);
+    expect(stockades.traversalRamps).toHaveLength(3);
+    for (const ramp of stockades.traversalRamps!) {
+      const point = (t: number, lateral: number): [number, number, number] => {
+        const dx = ramp.end[0] - ramp.start[0];
+        const dz = ramp.end[2] - ramp.start[2];
+        const length = Math.hypot(dx, dz);
+        return [
+          ramp.start[0] + dx * t + dz / length * lateral,
+          ramp.start[1] + (ramp.end[1] - ramp.start[1]) * t + 0.05,
+          ramp.start[2] + dz * t - dx / length * lateral,
+        ];
+      };
+      for (const lateral of [-2, 0, 2]) {
+        const start = point(0.05, lateral);
+        const end = point(0.95, lateral);
+        expect(allowed(start, end), `${ramp.id}: downhill, offset ${lateral}`).toBe(true);
+        expect(allowed(end, start), `${ramp.id}: uphill, offset ${lateral}`).toBe(true);
+      }
+      const start = findNearestPartyNavigationSurface(graph, point(0.15, 0), 2)!.position;
+      const end = findNearestPartyNavigationSurface(graph, point(0.85, 0), 2)!.position;
+      expect(findPartyNavigationPath(graph, start, end, { maxSnapDistance: 0.1 }), ramp.id).not.toBeNull();
+      // Replanning midway through a stair must not require a blocked snap to
+      // a distant boundary vertex, as the previous off-mesh graph did.
+      for (const t of [0.2, 0.4, 0.6, 0.8]) {
+        const current = findNearestPartyNavigationSurface(graph, point(t, 0), 2)!.position;
+        const route = planPartyRoute(graph, ramp.id, current, end, t * 1_000, {
+          maxSnapDistance: 0.1,
+          directSegmentAllowed: allowed,
+        });
+        expect(route.blocked, `${ramp.id}: replan at ${t}`).toBe(false);
+      }
+    }
+    world.free();
+  });
+
+  it("reproduces the old step-face rejection on the unmodified source collision", () => {
+    const world = collisionWorld(false);
+    const allowed = createPartyDirectSegmentValidator(RAPIER, world);
+    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(0.95), point(0.05)), ramp.id).toBe(false);
+    }
+    world.free();
+  });
+
+  it("still blocks movement through the stairwell walls", () => {
+    const world = collisionWorld();
+    const directAllowed = createPartyDirectSegmentValidator(RAPIER, world);
+    const routeAllowed = createPartyRouteSegmentValidator(RAPIER, world);
+    const ramp = stockades.traversalRamps![0];
+    const center: [number, number, number] = [
+      (ramp.start[0] + ramp.end[0]) / 2,
+      (ramp.start[1] + ramp.end[1]) / 2 + 0.05,
+      ramp.start[2],
+    ];
+    const acrossWall: [number, number, number] = [center[0], center[1], center[2] + 9];
+    expect(directAllowed(center, acrossWall)).toBe(false);
+    expect(routeAllowed(center, acrossWall)).toBe(false);
+    world.free();
+  });
+
+  it("does not mistake the nearby player's kinematic capsule for stair terrain", () => {
+    const world = collisionWorld();
+    const ramp = stockades.traversalRamps![0];
+    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],
+    ];
+    const player = point(0.5);
+    const body = world.createRigidBody(RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
+      player[0], player[1] + 0.84, player[2],
+    ));
+    world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36), body);
+    world.step();
+    expect(createPartyDirectSegmentValidator(RAPIER, world)(point(0.4), point(0.6))).toBe(true);
+    expect(createPartyRouteSegmentValidator(RAPIER, world)(point(0.4), point(0.6))).toBe(true);
+    world.free();
+  });
+
+  it("walks the player capsule down and back up every ramp without jumping", () => {
+    for (const ramp of stockades.traversalRamps!) {
+      const world = collisionWorld();
+      const dx = ramp.end[0] - ramp.start[0];
+      const dz = ramp.end[2] - ramp.start[2];
+      const length = Math.hypot(dx, dz);
+      const centerHeight = 0.36 + 0.48;
+      const startT = 0.03;
+      const startY = ramp.start[1] + (ramp.end[1] - ramp.start[1]) * startT;
+      const body = world.createRigidBody(RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
+        ramp.start[0] + dx * startT, startY + centerHeight + 0.02, ramp.start[2] + dz * startT,
+      ));
+      const collider = world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36), body);
+      world.step();
+      const controller = configurePlayerCharacterController(world.createCharacterController(PLAYER_CHARACTER_CONTROLLER_OFFSET));
+      const progress = () => {
+        const position = body.translation();
+        return ((position.x - ramp.start[0]) * dx + (position.z - ramp.start[2]) * dz) / (length * length);
+      };
+      for (const direction of [1, -1]) {
+        // Rapier projects uphill movement onto the slope, reducing planar
+        // speed. Bound the walk by twice the flat-ground travel time.
+        const frames = Math.ceil(length * 2 / (4.8 / 60));
+        for (let frame = 0; frame < frames; frame += 1) {
+          if (direction === 1 ? progress() >= 0.95 : progress() <= 0.05) break;
+          controller.computeColliderMovement(collider, {
+            x: dx / length * direction * 4.8 / 60,
+            y: -0.5 / 60,
+            z: dz / length * direction * 4.8 / 60,
+          }, RAPIER.QueryFilterFlags.EXCLUDE_SENSORS | RAPIER.QueryFilterFlags.EXCLUDE_DYNAMIC);
+          const position = body.translation();
+          const move = controller.computedMovement();
+          body.setNextKinematicTranslation({ x: position.x + move.x, y: position.y + move.y, z: position.z + move.z });
+          world.step();
+        }
+        if (direction === 1) expect(progress(), `${ramp.id}: player downhill`).toBeGreaterThan(0.9);
+        else expect(progress(), `${ramp.id}: player uphill`).toBeLessThan(0.12);
+      }
+      world.removeCharacterController(controller);
+      world.free();
+    }
   });
 });