Minecraft-Console-Client/MinecraftClient.Tests/Pathing/Execution/LivePathingRegressionTests.cs
2026-04-18 16:14:04 +00:00

488 lines
21 KiB
C#

using System;
using System.Collections.Generic;
using System.Threading;
using MinecraftClient.Mapping;
using MinecraftClient.Pathing.Core;
using MinecraftClient.Pathing.Execution;
using MinecraftClient.Pathing.Execution.Templates;
using MinecraftClient.Pathing.Goals;
using MinecraftClient.Physics;
using Xunit;
namespace MinecraftClient.Tests.Pathing.Execution;
public sealed class LivePathingRegressionTests
{
[Fact]
public void AStar_ThreeByOneRejectionLayout_WithInvalidGoalBlock_RejectsBeforeExecution()
{
World world = FlatWorldTestBuilder.CreateStoneFloor(min: 135, max: 148);
FlatWorldTestBuilder.ClearBox(world, 140, 80, 135, 148, 85, 140);
// Match the live harness: the raised block is reachable, but the requested goal block is not standable.
FlatWorldTestBuilder.SetSolid(world, 143, 80, 138);
var ctx = new CalculationContext(world, allowParkour: true, allowParkourAscend: true);
var finder = new AStarPathFinder();
PathResult result = finder.Calculate(
ctx,
startX: 141,
startY: 80,
startZ: 138,
new GoalBlock(144, 81, 138),
CancellationToken.None,
timeoutMs: 2000);
Assert.Equal(PathStatus.Failed, result.Status);
Assert.Empty(PathSegmentBuilder.FromPath(result.Path));
}
[Fact]
public void AStar_RepeatedSingleGapParkourChain_PrefersTwoLongJumpsOverFourShortJumps()
{
World world = FlatWorldTestBuilder.CreateStoneFloor(min: 578, max: 590);
FlatWorldTestBuilder.ClearBox(world, 578, 79, 578, 590, 90, 582);
FlatWorldTestBuilder.SetSolid(world, 580, 79, 580);
FlatWorldTestBuilder.SetSolid(world, 582, 79, 580);
FlatWorldTestBuilder.SetSolid(world, 584, 79, 580);
FlatWorldTestBuilder.SetSolid(world, 586, 79, 580);
FlatWorldTestBuilder.SetSolid(world, 588, 79, 580);
var ctx = new CalculationContext(world, allowParkour: true, allowParkourAscend: true);
var finder = new AStarPathFinder();
PathResult result = finder.Calculate(
ctx,
startX: 580,
startY: 80,
startZ: 580,
new GoalBlock(588, 80, 580),
CancellationToken.None,
timeoutMs: 2000);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.Collection(
segments,
first =>
{
Assert.Equal(MoveType.Parkour, first.MoveType);
Assert.Equal(new Location(580.5, 80, 580.5), first.Start);
Assert.Equal(new Location(584.5, 80, 580.5), first.End);
},
second =>
{
Assert.Equal(MoveType.Parkour, second.MoveType);
Assert.Equal(new Location(584.5, 80, 580.5), second.Start);
Assert.Equal(new Location(588.5, 80, 580.5), second.End);
});
}
[Fact]
public void SprintJumpTemplate_LandingRecoveryIntoTurn_CompletesInsideLandingBlock()
{
World world = FlatWorldTestBuilder.CreateStoneFloor(min: 108, max: 126);
FlatWorldTestBuilder.ClearBox(world, 118, 79, 108, 126, 90, 112);
FlatWorldTestBuilder.SetSolid(world, 120, 79, 110);
FlatWorldTestBuilder.SetSolid(world, 122, 79, 110);
FlatWorldTestBuilder.SetSolid(world, 122, 79, 111);
FlatWorldTestBuilder.SetSolid(world, 120, 80, 111);
FlatWorldTestBuilder.SetSolid(world, 120, 81, 111);
var segment = new PathSegment
{
Start = new Location(120.5, 80, 110.5),
End = new Location(122.5, 80, 110.5),
MoveType = MoveType.Parkour,
ExitTransition = PathTransitionType.LandingRecovery,
ExitHints = new PathTransitionHints(0, 1, 0.0, 0.035, true, true, false, true, 12)
};
var next = new PathSegment
{
Start = new Location(122.5, 80, 110.5),
End = new Location(122.5, 80, 111.5),
MoveType = MoveType.Traverse,
ExitTransition = PathTransitionType.FinalStop,
ExitHints = new PathTransitionHints(0, 1, 0.0, 0.03, true, true, false, false, 12)
};
var template = new SprintJumpTemplate(segment, next);
var physics = TemplateSimulationRunner.CreateGroundedPhysics(segment.Start, yaw: 270f);
TemplateState state = TemplateSimulationRunner.Run(template, physics, world, maxTicks: 140, out Location finalPos);
Assert.True(state == TemplateState.Complete, $"state={state} finalPos={finalPos} vel={physics.DeltaMovement}");
Assert.True(TemplateFootingHelper.IsFootprintInsideTargetBlock(finalPos, segment.End), $"finalPos={finalPos} vel={physics.DeltaMovement}");
double horizontalSpeed = Math.Sqrt(physics.DeltaMovement.X * physics.DeltaMovement.X + physics.DeltaMovement.Z * physics.DeltaMovement.Z);
Assert.InRange(horizontalSpeed, 0.0, 0.04);
}
[Fact]
public void AStar_LinearFlatGapFourChain_PlansThroughAllThreeJumps()
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create("linear-flat-gap4", gap: 4, deltaY: 0);
PathResult result = PathingScenarioRunner.PlanOnly(scenario);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.NotEmpty(segments);
Assert.Equal(scenario.Goal.X + 0.5, segments[^1].End.X);
Assert.Equal(scenario.Goal.Y, segments[^1].End.Y);
Assert.Equal(scenario.Goal.Z + 0.5, segments[^1].End.Z);
}
[Fact]
public void AStar_LinearFlatGapFourChain_TagsParkourSegmentsAsDefaultProfile()
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create("linear-flat-gap4", gap: 4, deltaY: 0);
PathResult result = PathingScenarioRunner.PlanOnly(scenario);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.Equal(3, segments.Count(segment => segment.MoveType == MoveType.Parkour));
Assert.All(
segments.Where(segment => segment.MoveType == MoveType.Parkour),
segment => Assert.Equal(ParkourProfile.Default, segment.ParkourProfile));
}
[Theory]
[InlineData("linear-ascend-gap2-dy+1", 2, 1)]
[InlineData("linear-descend-gap4-dy-1", 4, -1)]
public void AStar_LinearChainCases_PlansThroughAllThreeJumps(string scenarioId, int gap, int deltaY)
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create(scenarioId, gap, deltaY);
PathResult result = PathingScenarioRunner.PlanOnly(scenario);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.NotEmpty(segments);
Assert.Equal(scenario.Goal.X + 0.5, segments[^1].End.X);
Assert.Equal(scenario.Goal.Y, segments[^1].End.Y);
Assert.Equal(scenario.Goal.Z + 0.5, segments[^1].End.Z);
}
[Fact]
public void AStar_LinearDescendGap2DyMinus1_DoesNotSkipIntermediateLanding()
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create("linear-descend-gap2-dy-1", gap: 2, deltaY: -1);
PathResult result = PathingScenarioRunner.PlanOnly(scenario);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.DoesNotContain(
segments,
segment => segment.MoveType == MoveType.Parkour
&& (Math.Abs(segment.End.X - segment.Start.X) + Math.Abs(segment.End.Z - segment.Start.Z)) > 3.1);
Assert.Equal(scenario.Goal.X + 0.5, segments[^1].End.X);
Assert.Equal(scenario.Goal.Y, segments[^1].End.Y);
Assert.Equal(scenario.Goal.Z + 0.5, segments[^1].End.Z);
}
[Theory]
[InlineData("linear-descend-gap4-dy-2", 4, -2)]
public void AStar_LinearExtendedChainCases_PlansThroughAllThreeJumps(string scenarioId, int gap, int deltaY)
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create(scenarioId, gap, deltaY);
PathResult result = PathingScenarioRunner.PlanOnly(scenario);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.NotEmpty(segments);
Assert.Equal(scenario.Goal.X + 0.5, segments[^1].End.X);
Assert.Equal(scenario.Goal.Y, segments[^1].End.Y);
Assert.Equal(scenario.Goal.Z + 0.5, segments[^1].End.Z);
}
[Theory]
[InlineData("linear-ascend-gap3-dy+1", 3, 1)]
[InlineData("linear-descend-gap5-dy-1", 5, -1)]
[InlineData("linear-descend-gap5-dy-2", 5, -2)]
public void AStar_LinearRejectedCases_RejectBeforeExecution(string scenarioId, int gap, int deltaY)
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create(scenarioId, gap, deltaY);
PathResult result = PathingScenarioRunner.PlanOnly(scenario);
Assert.Equal(PathStatus.Failed, result.Status);
Assert.Empty(PathSegmentBuilder.FromPath(result.Path));
}
[Fact]
public void AStar_LiveCoordinateLinearDescendGap3DyMinus2_PlansThroughAllThreeJumps()
{
const int baseX = 100;
const int baseY = 80;
const int baseZ = 180;
World world = BuildLiveLinearWorld(baseX, baseY, baseZ, gap: 3, deltaY: -2, segments: 3);
var ctx = new CalculationContext(world, allowParkour: true, allowParkourAscend: true);
var finder = new AStarPathFinder();
PathResult result = finder.Calculate(
ctx,
startX: baseX,
startY: baseY,
startZ: baseZ,
new GoalBlock(115, 74, 180),
CancellationToken.None,
timeoutMs: 2000);
List<PathSegment> segments = PathSegmentBuilder.FromPath(result.Path);
Assert.Equal(PathStatus.Success, result.Status);
Assert.NotEmpty(segments);
Assert.Equal(new Location(115.5, 74, 180.5), segments[^1].End);
}
[Fact]
public void PathSegmentManager_LiveCoordinateLinearFlatGap2_CompletesWithoutReplan()
{
const int baseX = 100;
const int baseY = 80;
const int baseZ = 297;
World world = BuildLiveLinearWorld(baseX, baseY, baseZ, gap: 2, deltaY: 0, segments: 3);
var ctx = new CalculationContext(world, allowParkour: true, allowParkourAscend: true);
var finder = new AStarPathFinder();
PathResult planResult = finder.Calculate(
ctx,
startX: baseX,
startY: baseY,
startZ: baseZ,
new GoalBlock(112, 80, 297),
CancellationToken.None,
timeoutMs: 2000);
var debugLogs = new List<string>();
var infoLogs = new List<string>();
var manager = new PathSegmentManager(debugLogs.Add, infoLogs.Add);
var physics = TemplateSimulationRunner.CreateGroundedPhysics(new Location(baseX + 0.5, baseY, baseZ + 0.5), yaw: 270f);
var input = new MovementInput();
var recentTrace = new Queue<string>();
Location finalPos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
Assert.Equal(PathStatus.Success, planResult.Status);
manager.StartNavigation(new GoalBlock(112, 80, 297), planResult);
for (int tick = 0; tick < 200 && manager.IsNavigating; tick++)
{
input.Reset();
Location pos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
manager.Tick(pos, physics, input, world);
recentTrace.Enqueue(
$"tick={tick} pos={pos} vel={physics.DeltaMovement} yaw={physics.Yaw:F1} onGround={physics.OnGround} " +
$"input(F={input.Forward},B={input.Back},J={input.Jump},S={input.Sprint})");
if (recentTrace.Count > 80)
recentTrace.Dequeue();
if (!manager.IsNavigating)
break;
physics.ApplyInput(input);
physics.Tick(world);
finalPos = new Location(physics.Position.X, physics.Position.Y, physics.Position.Z);
}
Assert.True(
!manager.IsNavigating
&& manager.Goal is null
&& manager.ReplanCount == 0
&& TemplateFootingHelper.IsFootprintInsideTargetBlock(finalPos, new Location(112.5, 80, 297.5)),
$"replans={manager.ReplanCount} final={finalPos}\ninfo={string.Join('\n', infoLogs)}\ndebug={string.Join('\n', debugLogs)}\ntrace={string.Join('\n', recentTrace)}");
}
[Fact]
public void PathSegmentManager_LiveCoordinateLinearDescendGap3DyMinus2_CompletesWithoutReplan()
{
const int baseX = 100;
const int baseY = 80;
const int baseZ = 180;
World world = BuildLiveLinearWorld(baseX, baseY, baseZ, gap: 3, deltaY: -2, segments: 3);
var ctx = new CalculationContext(world, allowParkour: true, allowParkourAscend: true);
var finder = new AStarPathFinder();
PathResult planResult = finder.Calculate(
ctx,
startX: baseX,
startY: baseY,
startZ: baseZ,
new GoalBlock(115, 74, 180),
CancellationToken.None,
timeoutMs: 2000);
var debugLogs = new List<string>();
var infoLogs = new List<string>();
var manager = new PathSegmentManager(debugLogs.Add, infoLogs.Add);
var physics = TemplateSimulationRunner.CreateGroundedPhysics(new Location(baseX + 0.5, baseY, baseZ + 0.5), yaw: 270f);
var input = new MovementInput();
var recentTrace = new Queue<string>();
Location finalPos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
Assert.Equal(PathStatus.Success, planResult.Status);
manager.StartNavigation(new GoalBlock(115, 74, 180), planResult);
for (int tick = 0; tick < 240 && manager.IsNavigating; tick++)
{
input.Reset();
Location pos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
manager.Tick(pos, physics, input, world);
recentTrace.Enqueue(
$"tick={tick} pos={pos} vel={physics.DeltaMovement} yaw={physics.Yaw:F1} onGround={physics.OnGround} " +
$"input(F={input.Forward},B={input.Back},J={input.Jump},S={input.Sprint})");
if (recentTrace.Count > 100)
recentTrace.Dequeue();
if (!manager.IsNavigating)
break;
physics.ApplyInput(input);
physics.Tick(world);
finalPos = new Location(physics.Position.X, physics.Position.Y, physics.Position.Z);
}
Assert.True(
!manager.IsNavigating
&& manager.Goal is null
&& manager.ReplanCount == 0
&& TemplateFootingHelper.IsFootprintInsideTargetBlock(finalPos, new Location(115.5, 74, 180.5)),
$"replans={manager.ReplanCount} final={finalPos}\ninfo={string.Join('\n', infoLogs)}\ndebug={string.Join('\n', debugLogs)}\ntrace={string.Join('\n', recentTrace)}");
}
[Fact]
public void PathSegmentManager_LinearDescendGap0DyMinus2_DoesNotTurnInPlace()
{
PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create("linear-descend-gap0-dy-2", gap: 0, deltaY: -2);
PathResult planResult = PathingScenarioRunner.PlanOnly(scenario);
World world = scenario.BuildWorld();
var debugLogs = new List<string>();
var infoLogs = new List<string>();
var manager = new PathSegmentManager(debugLogs.Add, infoLogs.Add);
var physics = TemplateSimulationRunner.CreateGroundedPhysics(scenario.Start, scenario.StartYaw);
var input = new MovementInput();
var samples = new List<TurnSample>();
Assert.Equal(PathStatus.Success, planResult.Status);
manager.StartNavigation(scenario.Goal, planResult);
for (int tick = 0; tick < scenario.MaxExecutionTicks && manager.IsNavigating; tick++)
{
input.Reset();
Location pos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
manager.Tick(pos, physics, input, world);
physics.ApplyInput(input);
physics.Tick(world);
samples.Add(new TurnSample(physics.Position.X, physics.Position.Y, physics.Position.Z, physics.Yaw));
}
Assert.True(!manager.IsNavigating && manager.Goal is null && manager.ReplanCount == 0,
$"replans={manager.ReplanCount}\ninfo={string.Join('\n', infoLogs)}\ndebug={string.Join('\n', debugLogs)}");
int turnStalls = CountTurnStalls(samples, out string stallTrace);
Assert.True(turnStalls == 0, $"turnStalls={turnStalls}\n{stallTrace}");
}
private readonly record struct TurnSample(double X, double Y, double Z, float Yaw);
private static int CountTurnStalls(IReadOnlyList<TurnSample> samples, out string trace)
{
const int MinSamples = 4;
const double WindowMaxTravel = 0.35;
const double MinCumulativeYaw = 180.0;
const double MinPerStepYaw = 35.0;
var traces = new List<string>();
if (samples.Count < MinSamples)
{
trace = string.Empty;
return 0;
}
static double NormalizeYawDelta(float previousYaw, float currentYaw)
{
double delta = (currentYaw - previousYaw + 180.0) % 360.0 - 180.0;
return Math.Abs(delta);
}
static double HorizontalDistance(in TurnSample a, in TurnSample b)
{
double dx = a.X - b.X;
double dz = a.Z - b.Z;
return Math.Sqrt(dx * dx + dz * dz);
}
int count = 0;
int windowStart = 0;
while (windowStart <= samples.Count - MinSamples)
{
TurnSample baseSample = samples[windowStart];
double cumulativeYaw = 0.0;
int largeSwings = 0;
bool matched = false;
for (int idx = windowStart + 1; idx < samples.Count; idx++)
{
TurnSample sample = samples[idx];
if (HorizontalDistance(baseSample, sample) > WindowMaxTravel)
break;
double yawDelta = NormalizeYawDelta(samples[idx - 1].Yaw, sample.Yaw);
cumulativeYaw += yawDelta;
if (yawDelta >= MinPerStepYaw)
largeSwings++;
int sampleCount = idx - windowStart + 1;
if (sampleCount >= MinSamples
&& largeSwings >= MinSamples - 1
&& cumulativeYaw >= MinCumulativeYaw)
{
var windowSamples = new List<string>();
for (int traceIdx = windowStart; traceIdx <= idx; traceIdx++)
{
TurnSample traceSample = samples[traceIdx];
windowSamples.Add($"#{traceIdx}=({traceSample.X:F2},{traceSample.Y:F2},{traceSample.Z:F2},{traceSample.Yaw:F1})");
}
traces.Add(
$"start={windowStart} end={idx} base=({baseSample.X:F2},{baseSample.Y:F2},{baseSample.Z:F2},{baseSample.Yaw:F1}) " +
$"last=({sample.X:F2},{sample.Y:F2},{sample.Z:F2},{sample.Yaw:F1}) yaw={cumulativeYaw:F1}\n" +
string.Join(' ', windowSamples));
count++;
windowStart = idx + 1;
matched = true;
break;
}
}
if (!matched)
windowStart++;
}
trace = string.Join('\n', traces);
return count;
}
private static World BuildLiveLinearWorld(int baseX, int baseY, int baseZ, int gap, int deltaY, int segments)
{
int endX = baseX + 3 + ((gap + 1) * segments);
int min = Math.Min(baseX - 8, baseZ - 8);
int max = Math.Max(endX + 8, baseZ + 8);
World world = FlatWorldTestBuilder.CreateStoneFloor(floorY: 0, min: min, max: max);
FlatWorldTestBuilder.ClearBox(world, baseX - 8, 1, baseZ - 2, endX + 8, baseY + 12, baseZ + 2);
int floorY = baseY - 1;
FlatWorldTestBuilder.FillSolid(world, baseX, floorY, baseZ, baseX + 3, floorY, baseZ);
int lastX = baseX + 3;
int lastFloorY = floorY;
for (int segment = 0; segment < segments; segment++)
{
int platformX = lastX + gap + 1;
int platformY = lastFloorY + deltaY;
FlatWorldTestBuilder.SetSolid(world, platformX, platformY, baseZ);
lastX = platformX;
lastFloorY = platformY;
}
return world;
}
}