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[Domain] Fix stair portal stall #261

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[Domain] Fix stair portal stall #261

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30 changes: 29 additions & 1 deletion src/domain/ScenarioSimulationMotionSystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -535,6 +535,24 @@ class ScenarioSimulationMotionSystem final : public engine::EngineSystem {
const EvacuationRoute& route,
const Point2D& position,
double agentRadius) const {
return verticalPassageReached(layoutCache, route, position, agentRadius, kGeometryEpsilon);
}

bool verticalPassageNearlyReachedAfterStall(
const ScenarioLayoutCacheResource& layoutCache,
const EvacuationRoute& route,
const Point2D& position,
double agentRadius) const {
const auto tolerance = std::max(kPortalCrossingEpsilon * 0.25, static_cast<double>(agentRadius) * 0.02);
return verticalPassageReached(layoutCache, route, position, agentRadius, tolerance);
}

bool verticalPassageReached(
const ScenarioLayoutCacheResource& layoutCache,
const EvacuationRoute& route,
const Point2D& position,
double agentRadius,
double planeTolerance) const {
if (route.nextWaypointIndex >= route.waypointPassages.size()
|| route.nextWaypointIndex >= route.waypointFromZoneIds.size()
|| route.nextWaypointIndex >= route.waypointZoneIds.size()) {
Expand Down Expand Up @@ -566,7 +584,7 @@ class ScenarioSimulationMotionSystem final : public engine::EngineSystem {
return false;
}

return dot(position - passageMidpoint, *normal) >= -kGeometryEpsilon;
return dot(position - passageMidpoint, *normal) >= -std::max(0.0, planeTolerance);
}

std::optional<Point2D> passageNormalTowardCurrentWaypoint(
Expand Down Expand Up @@ -1114,6 +1132,16 @@ class ScenarioSimulationMotionSystem final : public engine::EngineSystem {
break;
}
}
if (verticalTransition
&& route.stalledSeconds >= kWaypointStallSeconds
&& verticalPassageNearlyReachedAfterStall(layoutCache, route, position.value, agent.radius)) {
const auto advance = advanceRouteWaypoint(layoutCache, route, agent, position.value);
position.value = advance.position;
if (advance.advanced) {
continue;
}
break;
}

route.previousDistanceToWaypoint = std::min(route.previousDistanceToWaypoint, distance);
break;
Expand Down
55 changes: 55 additions & 0 deletions tests/ScenarioSimulationSystemsTests.cpp
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Expand Up @@ -2457,6 +2457,61 @@ SC_TEST(ScenarioSimulationMotionSystem_DoesNotAdvanceVerticalTransitionBeforePor
SC_EXPECT_EQ(route.nextWaypointIndex, std::size_t{0});
}

SC_TEST(ScenarioSimulationMotionSystem_AdvancesStalledVerticalTransitionNearPortalPlane) {
std::vector<safecrowd::domain::ScenarioAgentSeed> seeds;
seeds.push_back({
.position = {.value = {.x = 1.0, .y = 1.004}},
.agent = {.radius = 0.25f, .maxSpeed = 1.0f},
.velocity = {.value = {}},
.route = {
.waypoints = {{.x = 1.0, .y = 1.0}, {.x = 1.8, .y = 0.5}},
.waypointPassages = {
{{.x = 0.6, .y = 1.0}, {.x = 1.4, .y = 1.0}},
{{.x = 1.8, .y = 0.5}, {.x = 1.8, .y = 0.5}},
},
.waypointFromZoneIds = {"upper-stair", ""},
.waypointZoneIds = {"lower-stair", "missing-exit"},
.waypointFloorIds = {"L1", "L1"},
.waypointConnectionIds = {"vertical-stair", ""},
.waypointVerticalTransitions = {true, false},
.nextWaypointIndex = 0,
.currentSegmentStart = {.x = 1.0, .y = 1.8},
.previousDistanceToWaypoint = 0.004,
.stalledSeconds = 1.0,
.destinationZoneId = "missing-exit",
.currentFloorId = "L2",
.displayFloorId = "L2",
},
.status = {},
});

safecrowd::engine::EngineRuntime runtime({
.fixedDeltaTime = 1.0 / 30.0,
.maxCatchUpSteps = 1,
.baseSeed = 19,
});
const auto layout = verticalPortalTransitionLayout();
runtime.addSystem(std::make_unique<safecrowd::domain::ScenarioAgentSpawnSystem>(std::move(seeds), 10.0));
runtime.addSystem(
safecrowd::domain::makeScenarioSimulationMotionSystem(layout),
{.phase = safecrowd::engine::UpdatePhase::PostSimulation,
.triggerPolicy = safecrowd::engine::TriggerPolicy::EveryFrame});

runtime.play();
runtime.world().resources().set(safecrowd::domain::ScenarioSimulationStepResource{.deltaSeconds = 0.001});
runtime.stepFrame(0.0);

const auto entities = runtime.world().query().view<
safecrowd::domain::Position,
safecrowd::domain::Velocity,
safecrowd::domain::AvoidanceState,
safecrowd::domain::EvacuationRoute>();
SC_EXPECT_EQ(entities.size(), std::size_t{1});
const auto& route = runtime.world().query().get<safecrowd::domain::EvacuationRoute>(entities.front());
SC_EXPECT_EQ(route.currentFloorId, std::string{"L1"});
SC_EXPECT_EQ(route.nextWaypointIndex, std::size_t{1});
}

SC_TEST(ScenarioSimulationMotionSystem_KeepsVerticalLandingOnPortalLine) {
std::vector<safecrowd::domain::ScenarioAgentSeed> seeds;
seeds.push_back({
Expand Down
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