healer-man/scripts/dungeon-pipeline/recast-bake-topology.test.mjs

import assert from "node:assert/strict";
import { mkdtemp, rm } from "node:fs/promises";
import os from "node:os";
import path from "node:path";
import test from "node:test";
import { Document, NodeIO } from "@gltf-transform/core";
import { bakeNavigationFromCollisionAssets } from "./recast-bake.mjs";

function square(positions, centerX, y, halfExtent) {
  const x0 = centerX - halfExtent;
  const x1 = centerX + halfExtent;
  const z0 = -halfExtent;
  const z1 = halfExtent;
  positions.push(
    x0, y, z0, x0, y, z1, x1, y, z1,
    x0, y, z0, x1, y, z1, x1, y, z0,
  );
}

test("real tiled Recast export covers Detour polygon 0 and keeps disconnected islands disconnected", async () => {
  const directory = await mkdtemp(path.join(os.tmpdir(), "origin-recast-topology-"));
  try {
    const collisionFile = path.join(directory, "two-islands.glb");
    const navigationFile = path.join(directory, "two-islands-navigation.glb");
    const reportFile = path.join(directory, "two-islands-recast.json");
    const positions = [];
    square(positions, 0, 0, 10);
    square(positions, 100, 2, 10);

    const document = new Document();
    const buffer = document.createBuffer("two-islands-buffer");
    const scene = document.createScene("two-islands-scene");
    document.getRoot().setDefaultScene(scene);
    const position = document.createAccessor("two-islands-position", buffer)
      .setType("VEC3")
      .setArray(new Float32Array(positions));
    const primitive = document.createPrimitive().setAttribute("POSITION", position);
    const mesh = document.createMesh("two-islands-mesh").addPrimitive(primitive);
    scene.addChild(document.createNode("two-islands-node").setMesh(mesh));
    await new NodeIO().write(collisionFile, document);

    const result = await bakeNavigationFromCollisionAssets({
      slug: "recast-topology-fixture",
      collisionAssets: [{ id: "two-islands", role: "collision", path: collisionFile }],
      settings: {
        cellSize: 0.3,
        cellHeight: 0.1,
        agentHeight: 1.8,
        agentRadius: 0.36,
        agentMaxClimb: 0.5,
        agentMaxSlope: 50,
        tileSize: 512,
        partition: "monotone",
        forceTiled: true,
        retainTileIntermediates: false,
      },
      output: navigationFile,
      reportFile,
      includeDetourTopology: true,
      detourRouteProbes: [{
        id: "separated-islands",
        start: [0, 0.2, 0],
        end: [100, 2.2, 0],
        maxStartSnapDistance: 3,
        maxEndSnapDistance: 3,
      }],
    });

    assert.equal(result.status, "green");
    assert.equal(result.detourTopology.detailTriangleCount, result.geometry.sourceTriangles);
    assert.equal(result.detourTopology.geometryTriangleCount, result.geometry.triangles);
    assert.ok(result.detourTopology.polygonCount > 0);
    assert.ok(result.detourTopology.weakComponents.count >= 2);
    assert.equal(result.geometry.rejectedOutOfBoundsTriangles, 0);

    const exported = await new NodeIO().read(navigationFile);
    const topology = exported.getRoot().getExtras().runewakerNavigationTopology;
    assert.ok(topology.polygons.some((polygon) => polygon[0] === 0), "stable Detour polygon ID 0 must be retained");
    const ranges = topology.polygons
      .filter((polygon) => polygon[7] > 0)
      .map((polygon) => [polygon[6], polygon[7]])
      .sort((left, right) => left[0] - right[0]);
    let nextTriangle = 0;
    for (const [firstTriangle, triangleCount] of ranges) {
      assert.equal(firstTriangle, nextTriangle, "per-polygon detail ranges must be contiguous after bounds filtering");
      nextTriangle += triangleCount;
    }
    assert.equal(nextTriangle, result.geometry.triangles, "polygon ranges must cover every exported navigation triangle");

    const route = result.detourRouteProbes[0];
    assert.equal(route.start.found, true);
    assert.equal(route.end.found, true);
    assert.equal(route.reachable, false, "independent source surfaces must not gain an inferred connection");

    const subsetFile = path.join(directory, "source-anchored-navigation.glb");
    const subset = await bakeNavigationFromCollisionAssets({
      slug: "recast-anchor-fixture",
      collisionAssets: [{ role: "collision", path: collisionFile }],
      settings: result.settings,
      includeDetourTopology: true,
      detourAnchorPositions: [{ id: "second-island", position: [100, 2.2, 0], sourcePosition: [1000, 22, 0], evidence: "fixture source table", maximumDistance: 0.5, required: true }],
      output: subsetFile,
      reportFile: path.join(directory, "source-anchored-report.json"),
    });
    assert.equal(subset.detourTopology.weakComponents.count, 1);
    assert.ok(subset.geometry.bounds[0][0] > 90, "unanchored first island must be excluded");
    assert.equal(subset.detourTopology.detailTriangleCount, subset.geometry.triangles);
    const subsetDocument = await new NodeIO().read(subsetFile);
    const selected = subsetDocument.getRoot().getExtras().runewakerNavigationTopology;
    assert.equal(selected.polygons[0][0], 0, "retained nonzero source IDs must compact to zero");
    assert.equal(selected.polygons[0][6], 0, "retained detail ranges must start at the selected geometry");
    assert.equal(selected.sourceAnchorSelection.anchors[0].retained, true);
    assert.deepEqual(selected.sourceAnchorSelection.anchors[0].sourcePosition, [1000, 22, 0]);
    assert.equal(selected.sourceAnchorSelection.anchors[0].evidence, "fixture source table");
    assert.equal(selected.sourceAnchorSelection.anchors[0].required, true);

    await assert.rejects(() => bakeNavigationFromCollisionAssets({
      slug: "recast-required-anchor-fixture",
      collisionAssets: [{ role: "collision", path: collisionFile }],
      settings: result.settings,
      includeDetourTopology: true,
      detourAnchorPositions: [{ id: "missing-entry", position: [500, 20, 0], maximumDistance: 0.5, required: true }],
      output: path.join(directory, "invalid-navigation.glb"),
      reportFile: path.join(directory, "invalid-report.json"),
    }), /required source navigation anchor missing-entry is outside/);
  } finally {
    await rm(directory, { recursive: true, force: true });
  }
});