content/sites/vehicle_test.tres

@@ -0,0 +1,28 @@
+[gd_resource type="Resource" script_class="DiveSiteDefinition" format=3]
+
+[ext_resource type="Script" path="res://game/domain/sites/site_placement.gd" id="1_j2ii4"]
+[ext_resource type="Script" path="res://game/domain/sites/site_route.gd" id="2_tj3be"]
+[ext_resource type="Script" path="res://game/domain/sites/dive_site_definition.gd" id="3_usfet"]
+[ext_resource type="Resource" path="res://content/sites/vehicle_test_terrain.res" id="4_awe7g"]
+
+[sub_resource type="Resource" id="Resource_5juth"]
+script = ExtResource("1_j2ii4")
+placement_id = &"calibration_target"
+kind = 1
+position_m = Vector3(0, -60.44367, -58)
+footprint_m = Vector3(8, 5, 7)
+
+[sub_resource type="Resource" id="Resource_tboiu"]
+script = ExtResource("1_j2ii4")
+placement_id = &"navigation_beacon"
+kind = 5
+position_m = Vector3(0, -15, -22)
+
+[resource]
+script = ExtResource("3_usfet")
+site_id = &"vehicle_test"
+display_name = "Site de calibration du véhicule"
+terrain = ExtResource("4_awe7g")
+playable_bounds_m = Rect2(-90, -176, 180, 204)
+spawn_position_m = Vector3(0, -12, 12)
+placements = Array[ExtResource("1_j2ii4")]([SubResource("Resource_5juth"), SubResource("Resource_tboiu")])

game/world/sites/dive_site.gd

@@ -0,0 +1,113 @@
+class_name DiveSite
+extends Node3D
+
+const SonarMaterial = preload("res://game/domain/sonar/sonar_material.gd")
+const DiveSiteDefinition = preload("res://game/domain/sites/dive_site_definition.gd")
+const SitePlacement = preload("res://game/domain/sites/site_placement.gd")
+const BathymetricTerrainActor = preload(
+	"res://game/world/sites/bathymetric_terrain_actor.gd"
+)
+
+const METAL_REFLECTIVITY := 1.0
+const BEACON_COLOR := Color(0.2, 0.78, 0.9)
+
+@onready var _terrain: BathymetricTerrainActor = %Terrain
+@onready var _placements_root: Node3D = %Placements
+
+var _definition: DiveSiteDefinition
+var _placeholder_count := 0
+
+
+func configure(definition: DiveSiteDefinition) -> String:
+	if definition == null:
+		return "dive site definition is missing"
+	var error := definition.validation_error()
+	if not error.is_empty():
+		return error
+	var terrain_error := _terrain.configure(definition.height_field())
+	if not terrain_error.is_empty():
+		return terrain_error
+	_definition = definition
+	for child in _placements_root.get_children():
+		_placements_root.remove_child(child)
+		child.free()
+	_placeholder_count = 0
+	for placement: SitePlacement in definition.placements:
+		_place(placement)
+	return ""
+
+
+func definition() -> DiveSiteDefinition:
+	return _definition
+
+
+func terrain() -> BathymetricTerrainActor:
+	return _terrain
+
+
+func spawn_transform() -> Transform3D:
+	return _definition.spawn_transform() if _definition != null else Transform3D.IDENTITY
+
+
+func placeholder_count() -> int:
+	return _placeholder_count
+
+
+func _place(placement: SitePlacement) -> void:
+	if placement.is_sonar_metal():
+		_placements_root.add_child(_metal_placeholder(placement))
+		_placeholder_count += 1
+	elif placement.kind == SitePlacement.Kind.VESSEL_ANCHOR:
+		_placements_root.add_child(_beacon(placement))
+		_placeholder_count += 1
+
+
+func _metal_placeholder(placement: SitePlacement) -> StaticBody3D:
+	var body := StaticBody3D.new()
+	body.name = String(placement.placement_id)
+	body.position = placement.position_m
+	body.rotation.y = placement.yaw_radians
+	body.set_meta("sonar_material", SonarMaterial.Value.METAL)
+	body.set_meta("sonar_reflectivity", METAL_REFLECTIVITY)
+	var mesh := BoxMesh.new()
+	mesh.size = placement.footprint_m
+	var mesh_instance := MeshInstance3D.new()
+	mesh_instance.name = "Mesh"
+	mesh_instance.mesh = mesh
+	var material := StandardMaterial3D.new()
+	material.albedo_color = Color(0.24, 0.18, 0.08)
+	material.metallic = 0.88
+	material.roughness = 0.27
+	mesh_instance.material_override = material
+	body.add_child(mesh_instance)
+	var shape := BoxShape3D.new()
+	shape.size = placement.footprint_m
+	var collision := CollisionShape3D.new()
+	collision.name = "Collision"
+	collision.shape = shape
+	body.add_child(collision)
+	return body
+
+
+func _beacon(placement: SitePlacement) -> MeshInstance3D:
+	var mesh := SphereMesh.new()
+	mesh.radius = 0.55
+	mesh.height = 1.1
+	var beacon := MeshInstance3D.new()
+	beacon.name = String(placement.placement_id)
+	beacon.mesh = mesh
+	beacon.position = placement.position_m
+	var material := StandardMaterial3D.new()
+	material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	material.albedo_color = BEACON_COLOR
+	material.emission_enabled = true
+	material.emission = BEACON_COLOR
+	material.emission_energy_multiplier = 5.0
+	beacon.material_override = material
+	var light := OmniLight3D.new()
+	light.name = "BeaconLight"
+	light.omni_range = 12.0
+	light.light_color = BEACON_COLOR
+	light.light_energy = 4.0
+	beacon.add_child(light)
+	return beacon

game/world/sites/dive_site.tscn

@@ -0,0 +1,47 @@
+[gd_scene load_steps=4 format=3]
+
+[ext_resource type="Script" path="res://game/world/sites/dive_site.gd" id="1_site"]
+[ext_resource type="Script" path="res://game/world/sites/bathymetric_terrain_actor.gd" id="2_terrain"]
+
+[sub_resource type="Environment" id="EnvironmentUnderwater"]
+background_mode = 1
+background_color = Color(0.005, 0.045, 0.065, 1)
+ambient_light_source = 3
+ambient_light_color = Color(0.12, 0.32, 0.37, 1)
+ambient_light_energy = 0.42
+glow_enabled = true
+glow_levels/1 = 1.0
+glow_levels/2 = 1.0
+glow_levels/3 = 0.6
+glow_levels/4 = 0.2
+glow_intensity = 1.0
+glow_blend_mode = 0
+glow_hdr_threshold = 1.0
+fog_enabled = true
+fog_light_color = Color(0.07, 0.25, 0.3, 1)
+fog_light_energy = 0.48
+fog_density = 0.014
+fog_height = -4.0
+fog_height_density = 0.025
+volumetric_fog_enabled = true
+volumetric_fog_density = 0.025
+volumetric_fog_length = 72.0
+
+[node name="DiveSite" type="Node3D"]
+script = ExtResource("1_site")
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("EnvironmentUnderwater")
+
+[node name="AmbientDirection" type="DirectionalLight3D" parent="."]
+rotation_degrees = Vector3(-52, -24, 0)
+light_color = Color(0.39, 0.65, 0.7, 1)
+light_energy = 0.38
+shadow_enabled = true
+
+[node name="Terrain" type="StaticBody3D" parent="."]
+unique_name_in_owner = true
+script = ExtResource("2_terrain")
+
+[node name="Placements" type="Node3D" parent="."]
+unique_name_in_owner = true

game/world/sonar/reference_bathymetry_acquisition.gd

@@ -68,6 +68,12 @@ func capture(request: SonarCaptureRequest) -> SonarCaptureResult:
 			var material := SonarMaterial.Value.ROCK
 			var reflectivity := 0.72
 			if collider != null:
+				if collider.has_method("sonar_material_at"):
+					material = int(collider.call("sonar_material_at", world_position))
+					reflectivity = float(
+						collider.call("sonar_reflectivity_at", world_position)
+					)
+				else:
 					material = int(collider.get_meta("sonar_material", material))
 					reflectivity = float(
 						collider.get_meta("sonar_reflectivity", reflectivity)

tests/integration/run_site_terrain_integration.gd

@@ -6,8 +6,16 @@ const SiteTerrainBaker = preload("res://tools/site_terrain_baker.gd")
 const BathymetricTerrainActor = preload(
 	"res://game/world/sites/bathymetric_terrain_actor.gd"
 )
+const DiveSiteDefinition = preload("res://game/domain/sites/dive_site_definition.gd")
+const SitePlacement = preload("res://game/domain/sites/site_placement.gd")
+const DiveSite = preload("res://game/world/sites/dive_site.gd")
+const SonarCaptureRequest = preload("res://game/application/sonar/sonar_capture_request.gd")
+const ReferenceBathymetryAcquisition = preload(
+	"res://game/world/sonar/reference_bathymetry_acquisition.gd"
+)
+const DIVE_SITE_SCENE = preload("res://game/world/sites/dive_site.tscn")
 
-const TEST_COUNT := 12
+const TEST_COUNT := 23
 
 var _failures: Array[String] = []
 
@@ -18,6 +26,7 @@ func _init() -> void:
 
 func _run() -> void:
 	await _test_actor_matches_field()
+	await _test_dive_site_scene()
 
 	var exit_code := 0
 	if _failures.is_empty():
@@ -104,3 +113,39 @@ func _collision_height(space: PhysicsDirectSpaceState3D, x: float, z: float) ->
 func _expect(condition: bool, label: String) -> void:
 	if not condition:
 		_failures.append(label)
+
+
+func _test_dive_site_scene() -> void:
+	var definition := load("res://content/sites/vehicle_test.tres") as DiveSiteDefinition
+	_expect(definition != null, "calibration site definition loads")
+	if definition == null:
+		return
+	_expect(definition.validation_error().is_empty(), "calibration site definition is valid")
+	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 definition")
+	var configure_ms := float(Time.get_ticks_usec() - started_usec) / 1000.0
+	_expect(configure_ms < 3000.0, "site configures under the 3 s load budget (%.0f ms)" % configure_ms)
+	await physics_frame
+	await physics_frame
+	_expect(site.terrain().tile_count() > 0, "site builds its terrain tiles")
+	_expect(site.placeholder_count() == 2, "calibration target and beacon are placed")
+	var target := site.get_node_or_null("%Placements/calibration_target") as StaticBody3D
+	_expect(target != null and int(target.get_meta("sonar_material")) == SonarMaterial.Value.METAL, "wreck placeholder is a metal sonar body")
+	_expect(site.spawn_transform().origin.is_equal_approx(Vector3(0.0, -12.0, 12.0)), "spawn comes from the definition")
+
+	var sensor := Transform3D(Basis(Vector3.UP, 0.0), Vector3(0.0, -12.0, 10.0))
+	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)
+	_expect(result.accepted, "reference acquisition scans the baked terrain")
+	var materials: Dictionary = {}
+	for sample in result.samples:
+		materials[sample.material] = true
+	_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()

tools/bake_site_terrain.gd

@@ -31,17 +31,32 @@ func _init() -> void:
 	DirAccess.make_dir_recursive_absolute(OUTPUT_DIRECTORY)
 	DirAccess.make_dir_recursive_absolute(PREVIEW_DIRECTORY)
 	var output_path := "%s/%s_terrain.res" % [OUTPUT_DIRECTORY, name]
-	var save_error := ResourceSaver.save(data, output_path)
+	var save_error := ResourceSaver.save(data, output_path, ResourceSaver.FLAG_CHANGE_PATH)
 	if save_error != OK:
 		push_error("cannot save %s (%d)" % [output_path, save_error])
 		quit(1)
 		return
+	# ResourceSaver restores the previous path after saving, so the data must
+	# take over the baked path explicitly for the definition to reference it.
+	data.take_over_path(output_path)
 	var preview_path := "%s/%s_terrain_preview.png" % [PREVIEW_DIRECTORY, name]
 	var preview_error := SiteTerrainBaker.write_preview_png(data, preview_path)
 	if preview_error != OK:
 		push_error("cannot write %s (%d)" % [preview_path, preview_error])
 		quit(1)
 		return
+	var definition = recipe_script.definition(data)
+	var definition_error: String = definition.validation_error()
+	if not definition_error.is_empty():
+		push_error("recipe %s definition is invalid: %s" % [name, definition_error])
+		quit(1)
+		return
+	var definition_path := "%s/%s.tres" % [OUTPUT_DIRECTORY, name]
+	var definition_save_error := ResourceSaver.save(definition, definition_path)
+	if definition_save_error != OK:
+		push_error("cannot save %s (%d)" % [definition_path, definition_save_error])
+		quit(1)
+		return
 	var rock_cells := 0
 	for material: int in data.materials:
 		if material == SiteTerrainBaker.SonarMaterial.Value.ROCK:

tools/sites/vehicle_test_terrain_recipe.gd

@@ -2,6 +2,10 @@ class_name VehicleTestTerrainRecipe
 extends RefCounted
 
 const SiteTerrainBaker = preload("res://tools/site_terrain_baker.gd")
+const SiteTerrainData = preload("res://game/domain/sites/site_terrain_data.gd")
+const TerrainHeightField = preload("res://game/domain/sites/terrain_height_field.gd")
+const DiveSiteDefinition = preload("res://game/domain/sites/dive_site_definition.gd")
+const SitePlacement = preload("res://game/domain/sites/site_placement.gd")
 
 
 static func recipe() -> SiteTerrainBaker.Recipe:
@@ -23,3 +27,25 @@ static func recipe() -> SiteTerrainBaker.Recipe:
 		SiteTerrainBaker.Ripples.new(Vector2(0.0, 1.0), TAU / 0.048, 0.9, Vector2.ZERO, 0.0),
 	]
 	return result
+
+
+static func definition(terrain: SiteTerrainData) -> DiveSiteDefinition:
+	var field := TerrainHeightField.from_data(terrain)
+	var result := DiveSiteDefinition.new()
+	result.site_id = &"vehicle_test"
+	result.display_name = "Site de calibration du véhicule"
+	result.terrain = terrain
+	result.playable_bounds_m = Rect2(-90.0, -176.0, 180.0, 204.0)
+	result.spawn_position_m = Vector3(0.0, -12.0, 12.0)
+	result.spawn_yaw_radians = 0.0
+	var target := SitePlacement.new()
+	target.placement_id = &"calibration_target"
+	target.kind = SitePlacement.Kind.WRECK_DECOY
+	target.position_m = Vector3(0.0, field.elevation_at(0.0, -58.0) + 2.5, -58.0)
+	target.footprint_m = Vector3(8.0, 5.0, 7.0)
+	var anchor := SitePlacement.new()
+	anchor.placement_id = &"navigation_beacon"
+	anchor.kind = SitePlacement.Kind.VESSEL_ANCHOR
+	anchor.position_m = Vector3(0.0, -15.0, -22.0)
+	result.placements = [target, anchor]
+	return result