tests/README.md

@@ -27,5 +27,7 @@ Suites de production actuelles :
 - `unit/run_site_baker_tests.gd` : primitives et déterminisme de la cuisson ;
 - `contract/run_site_content_tests.gd` : règles de contenu du Banc du Vigilant
   (profondeurs, routes, amers) ;
-- `integration/run_site_terrain_integration.gd` : collision égale au champ,
+- `integration/run_site_terrain_integration.gd` : collision et maillage égaux au
-  matériaux sonar par cellule, scène de site et budget de chargement.
+  champ, matériaux sonar par cellule, puis scène de site chargée deux fois — le
+  site de calibration et le Banc du Vigilant (budget de chargement de 3 s,
+  sillon, coque, scan de référence depuis le départ).

tests/integration/run_site_terrain_integration.gd

@@ -15,7 +15,9 @@ const ReferenceBathymetryAcquisition = preload(
 )
 const DIVE_SITE_SCENE = preload("res://game/world/sites/dive_site.tscn")
 
-const TEST_COUNT := 24
+const ZONE1_SITE_PATH := "res://content/sites/zone1_vigilant.tres"
+const GROOVE_PROBE_OFFSET_M := 25.0
+const TEST_COUNT := 31
 
 var _failures: Array[String] = []
 
@@ -27,6 +29,7 @@ func _init() -> void:
 func _run() -> void:
 	await _test_actor_matches_field()
 	await _test_dive_site_scene()
+	await _test_zone1_site()
 
 	var exit_code := 0
 	if _failures.is_empty():
@@ -43,15 +46,16 @@ func _run() -> void:
 func _asymmetric_field() -> TerrainHeightField:
 	var recipe := SiteTerrainBaker.Recipe.new()
 	recipe.columns = 81
-	recipe.rows = 81
+	recipe.rows = 65
 	recipe.cell_size_m = 2.0
 	recipe.origin_x_m = -80.0
 	recipe.origin_z_m = -80.0
 	recipe.floor_elevation_m = -90.0
 	recipe.primitives = [
 		SiteTerrainBaker.SlopedPlane.new(40.0, 0.0, 0.0, 0.0, 0.0),
-		# Tall bump in the north-west corner only: any front/back flip shows up.
+		# Tall bump off the diagonal on a non-square grid: any front/back flip or
-		SiteTerrainBaker.Blob.new(Vector2(-60.0, -60.0), 10.0, 10.0, 18.0),
+		# row/column transposition shows up.
+		SiteTerrainBaker.Blob.new(Vector2(-60.0, 20.0), 10.0, 10.0, 18.0),
 	]
 	return TerrainHeightField.from_data(SiteTerrainBaker.bake(recipe))
 
@@ -67,7 +71,7 @@ func _test_actor_matches_field() -> void:
 	await physics_frame
 	await physics_frame
 
-	_expect(actor.tile_count() == 4, "80 cells per side split into 2 x 2 tiles of 64")
+	_expect(actor.tile_count() == 2, "80 x 64 cells split into 2 x 1 tiles of at most 64 cells")
 	var first_tile := actor.get_node("Tiles").get_child(0) as MeshInstance3D
 	var arrays: Array = first_tile.mesh.surface_get_arrays(0)
 	var tile_vertices: PackedVector3Array = arrays[Mesh.ARRAY_VERTEX]
@@ -78,11 +82,17 @@ func _test_actor_matches_field() -> void:
 		tile_vertices[tile_indices[2]]
 	)
 	_expect(first_face.normal.y > 0.0, "tile triangles are wound clockwise from above (front face up)")
+	# The first tile spans cells 0..64 on both axes, so vertex index = row * 65 + column.
+	var worst_vertex_error := 0.0
+	for cell: Vector2i in [Vector2i(0, 0), Vector2i(10, 50), Vector2i(64, 64)]:
+		var vertex := first_tile.global_transform * tile_vertices[cell.y * 65 + cell.x]
+		worst_vertex_error = maxf(worst_vertex_error, vertex.distance_to(field.cell_world_position(cell.x, cell.y)))
+	_expect(worst_vertex_error < 0.01, "tile vertices sit on their field cells (worst %.4f m)" % worst_vertex_error)
 	var space := actor.get_world_3d().direct_space_state
 	var worst_error := 0.0
 	for cell: Vector2i in [
-		Vector2i(0, 0), Vector2i(80, 0), Vector2i(0, 80), Vector2i(80, 80),
+		Vector2i(0, 0), Vector2i(80, 0), Vector2i(0, 64), Vector2i(80, 64),
-		Vector2i(10, 10), Vector2i(40, 40), Vector2i(64, 20),
+		Vector2i(10, 50), Vector2i(40, 40), Vector2i(64, 20),
 	]:
 		var expected := field.cell_world_position(cell.x, cell.y)
 		var query := PhysicsRayQueryParameters3D.create(
@@ -96,17 +106,19 @@ func _test_actor_matches_field() -> void:
 		worst_error = maxf(worst_error, absf(float(hit["position"].y) - expected.y))
 	_expect(worst_error < 0.05, "collision height equals the field height at vertices (worst %.3f m)" % worst_error)
 
-	var north_west := _collision_height(space, -60.0, -60.0)
+	var bump := _collision_height(space, -60.0, 20.0)
-	var south_east := _collision_height(space, 60.0, 60.0)
+	var north_east := _collision_height(space, 60.0, -60.0)
-	_expect(north_west > -30.0, "north-west bump is where the field puts it (collision)")
+	_expect(bump > -30.0, "south-west bump is where the field puts it (collision)")
-	_expect(south_east < -39.0, "south-east stays flat (collision)")
+	_expect(north_east < -39.0, "north-east stays flat (collision)")
-	_expect(absf(north_west - field.elevation_at(-60.0, -60.0)) < 0.05, "bump height matches the field")
+	_expect(absf(bump - field.elevation_at(-60.0, 20.0)) < 0.05, "bump height matches the field")
+	var mid_cell := _collision_height(space, -59.0, 21.0)
+	_expect(absf(mid_cell - field.elevation_at(-59.0, 21.0)) < 0.3, "collision between vertices follows the field (%.2f m)" % absf(mid_cell - field.elevation_at(-59.0, 21.0)))
 
-	_expect(actor.sonar_material_at(Vector3(-52.0, -30.0, -60.0)) == SonarMaterial.Value.ROCK, "steep flank reports rock")
+	_expect(actor.sonar_material_at(Vector3(-52.0, -30.0, 20.0)) == SonarMaterial.Value.ROCK, "steep flank reports rock")
 	_expect(actor.sonar_material_at(Vector3(40.0, -40.0, 40.0)) == SonarMaterial.Value.SAND, "flat plain reports sand")
 	_expect(is_equal_approx(actor.sonar_reflectivity_at(Vector3(40.0, -40.0, 40.0)), 0.45), "sand reflectivity from the data")
 
-	_expect(actor.configure(field).is_empty() and actor.tile_count() == 4, "reconfiguring rebuilds without duplicating tiles")
+	_expect(actor.configure(field).is_empty() and actor.tile_count() == 2, "reconfiguring rebuilds without duplicating tiles")
 	_expect(not actor.configure(null).is_empty(), "null field is refused")
 	actor.queue_free()
 
@@ -159,3 +171,64 @@ func _test_dive_site_scene() -> void:
 	_expect(materials.has(SonarMaterial.Value.SAND) and materials.has(SonarMaterial.Value.ROCK), "acquisition reports per-cell sand and rock")
 	_expect(materials.has(SonarMaterial.Value.METAL), "acquisition still reports the metal placeholder")
 	site.queue_free()
+
+
+func _test_zone1_site() -> void:
+	# Let the calibration site queued for deletion leave the physics space first.
+	await process_frame
+	var definition := load(ZONE1_SITE_PATH) as DiveSiteDefinition
+	if definition == null:
+		_failures.append("zone 1 site definition loads")
+		return
+	var started_usec := Time.get_ticks_usec()
+	var site := DIVE_SITE_SCENE.instantiate() as DiveSite
+	root.add_child(site)
+	_expect(site.configure(definition).is_empty(), "dive site scene accepts the Banc du Vigilant")
+	var configure_ms := float(Time.get_ticks_usec() - started_usec) / 1000.0
+	_expect(configure_ms < 3000.0, "zone 1 configures under the 3 s load budget (%.0f ms)" % configure_ms)
+	await physics_frame
+	await physics_frame
+	var space := site.get_world_3d().direct_space_state
+	var terrain := site.terrain()
+
+	var hull := definition.placements_of_kind(SitePlacement.Kind.WRECK_TARGET)[0]
+	var hull_body := site.get_node_or_null("%%Placements/%s" % hull.placement_id) as StaticBody3D
+	var excluded: Array[RID] = []
+	if hull_body != null:
+		excluded.append(hull_body.get_rid())
+	var under_hull := _terrain_height(space, terrain, hull.position_m.x, hull.position_m.z, excluded)
+	_expect(under_hull < hull.position_m.y, "a ray at the target hits the seabed under the hull centre (%.1f m)" % under_hull)
+
+	var entrance := definition.placement(&"saignee_entrance").position_m
+	var groove_floor := _terrain_height(space, terrain, entrance.x, entrance.z, [])
+	var beside_groove := _terrain_height(space, terrain, entrance.x + GROOVE_PROBE_OFFSET_M, entrance.z, [])
+	_expect(groove_floor < beside_groove, "la Saignee is a trench at its entrance (%.1f m vs %.1f m)" % [groove_floor, beside_groove])
+
+	var sensor := definition.spawn_transform()
+	sensor.basis = Basis(sensor.basis.x, sensor.basis.y, -sensor.basis.z)
+	var acquisition := ReferenceBathymetryAcquisition.new(site.get_world_3d())
+	var request := SonarCaptureRequest.new(
+		&"scan", &"session", sensor, 5.0, 95.0, deg_to_rad(76.0), deg_to_rad(64.0), 49, 31
+	)
+	var result = acquisition.capture(request)
+	var has_sand := false
+	for sample in result.samples:
+		has_sand = has_sand or sample.material == SonarMaterial.Value.SAND
+	_expect(result.accepted and has_sand, "a reference scan from the zone 1 spawn reads the sand plateau")
+	site.queue_free()
+
+
+## Seabed height under (x, z), or NAN (every comparison fails) when the ray misses the terrain actor.
+func _terrain_height(
+	space: PhysicsDirectSpaceState3D,
+	terrain: Node,
+	x: float,
+	z: float,
+	excluded: Array[RID]
+) -> float:
+	var query := PhysicsRayQueryParameters3D.create(Vector3(x, 50.0, z), Vector3(x, -200.0, z))
+	query.exclude = excluded
+	var hit := space.intersect_ray(query)
+	if hit.is_empty() or hit["collider"] != terrain:
+		return NAN
+	return float(hit["position"].y)