Support btBoxShape for RecastMesh

apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp

@@ -31,12 +31,17 @@ namespace
         }
     };
 
+    TEST_F(DetourNavigatorRecastMeshBuilderTest, create_for_empty_should_throw_exception)
+    {
+        EXPECT_THROW(mBuilder.create(), std::invalid_argument);
+    }
+
     TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape)
     {
         btTriangleMesh mesh;
         mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
         btBvhTriangleMeshShape shape(&mesh, true);
-        mBuilder.addObject(shape, btTransform::getIdentity());
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity());
         const auto recastMesh = mBuilder.create();
         EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
             1, 0, -1,
@@ -51,7 +56,7 @@ namespace
         btTriangleMesh mesh;
         mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
         btBvhTriangleMeshShape shape(&mesh, true);
-        mBuilder.addObject(shape,
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape),
                            btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)));
         const auto recastMesh = mBuilder.create();
         EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
@@ -66,7 +71,7 @@ namespace
     {
         const std::array<btScalar, 4> heightfieldData {{0, 0, 0, 0}};
         btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
-        mBuilder.addObject(shape, btTransform::getIdentity());
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity());
         const auto recastMesh = mBuilder.create();
         EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
             -0.5, 0, -0.5,
@@ -78,4 +83,121 @@ namespace
         }));
         EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
     }
+
+    TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles)
+    {
+        btBoxShape shape(btVector3(1, 1, 2));
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity());
+        const auto recastMesh = mBuilder.create();
+        EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
+            1, 2, 1,
+            -1, 2, 1,
+            1, 2, -1,
+            -1, 2, -1,
+            1, -2, 1,
+            -1, -2, 1,
+            1, -2, -1,
+            -1, -2, -1,
+        }));
+        EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({
+            0, 2, 3,
+            3, 1, 0,
+            0, 4, 6,
+            6, 2, 0,
+            0, 1, 5,
+            5, 4, 0,
+            7, 5, 1,
+            1, 3, 7,
+            7, 3, 2,
+            2, 6, 7,
+            7, 6, 4,
+            4, 5, 7,
+        }));
+    }
+
+    TEST_F(DetourNavigatorRecastMeshBuilderTest, add_compound_shape)
+    {
+        btTriangleMesh mesh1;
+        mesh1.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
+        btBvhTriangleMeshShape triangle1(&mesh1, true);
+        btBoxShape box(btVector3(1, 1, 2));
+        btTriangleMesh mesh2;
+        mesh2.addTriangle(btVector3(1, 1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
+        btBvhTriangleMeshShape triangle2(&mesh2, true);
+        btCompoundShape shape;
+        shape.addChildShape(btTransform::getIdentity(), &triangle1);
+        shape.addChildShape(btTransform::getIdentity(), &box);
+        shape.addChildShape(btTransform::getIdentity(), &triangle2);
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity());
+        const auto recastMesh = mBuilder.create();
+        EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
+            1, 0, -1,
+            -1, 0, 1,
+            -1, 0, -1,
+            1, 2, 1,
+            -1, 2, 1,
+            1, 2, -1,
+            -1, 2, -1,
+            1, -2, 1,
+            -1, -2, 1,
+            1, -2, -1,
+            -1, -2, -1,
+            1, 0, -1,
+            -1, 0, 1,
+            1, 0, 1,
+        }));
+        EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({
+            0, 1, 2,
+            3, 5, 6,
+            6, 4, 3,
+            3, 7, 9,
+            9, 5, 3,
+            3, 4, 8,
+            8, 7, 3,
+            10, 8, 4,
+            4, 6, 10,
+            10, 6, 5,
+            5, 9, 10,
+            10, 9, 7,
+            7, 8, 10,
+            11, 12, 13,
+        }));
+    }
+
+    TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape)
+    {
+        btTriangleMesh mesh;
+        mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
+        btBvhTriangleMeshShape triangle(&mesh, true);
+        btCompoundShape shape;
+        shape.addChildShape(btTransform::getIdentity(), &triangle);
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape),
+                           btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)));
+        const auto recastMesh = mBuilder.create();
+        EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
+            2, 3, 0,
+            0, 3, 4,
+            0, 3, 0,
+        }));
+        EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
+    }
+
+    TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_compound_shape_with_transformed_bhv_triangle_shape)
+    {
+        btTriangleMesh mesh;
+        mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
+        btBvhTriangleMeshShape triangle(&mesh, true);
+        btCompoundShape shape;
+        shape.addChildShape(btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
+                            &triangle);
+        mBuilder.addObject(static_cast<const btCollisionShape&>(shape),
+                           btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)));
+        const auto recastMesh = mBuilder.create();
+        EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
+            3, 12, 2,
+            1, 12, 10,
+            1, 12, 2,
+        }));
+        EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
+    }
 }

components/detournavigator/chunkytrimesh.cpp

@@ -1,4 +1,5 @@
 #include "chunkytrimesh.hpp"
+#include "exceptions.hpp"
 
 #include <osg/Vec2f>
 
@@ -119,7 +120,7 @@ namespace DetourNavigator
         const auto trianglesCount = indices.size() / 3;
 
         if (trianglesCount == 0)
-            return;
+            throw InvalidArgument("ChunkyTriMesh tris should contain at least 3 values");
 
         const auto nchunks = (trianglesCount + trisPerChunk - 1) / trisPerChunk;
 

components/detournavigator/recastmeshbuilder.cpp

@@ -7,9 +7,13 @@
 
 #include <components/bullethelpers/processtrianglecallback.hpp>
 
+#include <BulletCollision/CollisionShapes/btBoxShape.h>
 #include <BulletCollision/CollisionShapes/btCompoundShape.h>
 #include <BulletCollision/CollisionShapes/btConcaveShape.h>
 #include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
+#include <LinearMath/btTransform.h>
+
+#include <algorithm>
 
 namespace
 {
@@ -35,6 +39,8 @@ namespace DetourNavigator
             return addObject(static_cast<const btHeightfieldTerrainShape&>(shape), transform);
         else if (shape.isConcave())
             return addObject(static_cast<const btConcaveShape&>(shape), transform);
+        else if (shape.getShapeType() == BOX_SHAPE_PROXYTYPE)
+            return addObject(static_cast<const btBoxShape&>(shape), transform);
         std::ostringstream message;
         message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType());
         throw InvalidArgument(message.str());
@@ -51,7 +57,7 @@ namespace DetourNavigator
         return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int)
         {
             for (std::size_t i = 3; i > 0; --i)
-                addVertex(transform(triangle[i - 1]));
+                addTriangleVertex(transform(triangle[i - 1]));
         }));
     }
 
@@ -60,10 +66,40 @@ namespace DetourNavigator
         return addObject(shape, makeProcessTriangleCallback([&] (btVector3* triangle, int, int)
         {
             for (std::size_t i = 0; i < 3; ++i)
-                addVertex(transform(triangle[i]));
+                addTriangleVertex(transform(triangle[i]));
         }));
     }
 
+    void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform)
+    {
+        const auto indexOffset = int(mVertices.size() / 3);
+
+        for (int vertex = 0; vertex < shape.getNumVertices(); ++vertex)
+        {
+            btVector3 position;
+            shape.getVertex(vertex, position);
+            addVertex(transform(position));
+        }
+
+        static const std::array<int, 36> indices {{
+            0, 2, 3,
+            3, 1, 0,
+            0, 4, 6,
+            6, 2, 0,
+            0, 1, 5,
+            5, 4, 0,
+            7, 5, 1,
+            1, 3, 7,
+            7, 3, 2,
+            2, 6, 7,
+            7, 6, 4,
+            4, 5, 7,
+        }};
+
+        std::transform(indices.begin(), indices.end(), std::back_inserter(mIndices),
+            [&] (int index) { return index + indexOffset; });
+    }
+
     std::shared_ptr<RecastMesh> RecastMeshBuilder::create() const
     {
         return std::make_shared<RecastMesh>(mIndices, mVertices, mSettings);
@@ -83,10 +119,15 @@ namespace DetourNavigator
         shape.processAllTriangles(&callback, aabbMin, aabbMax);
     }
 
+    void RecastMeshBuilder::addTriangleVertex(const btVector3& worldPosition)
+    {
+        mIndices.push_back(static_cast<int>(mVertices.size() / 3));
+        addVertex(worldPosition);
+    }
+
     void RecastMeshBuilder::addVertex(const btVector3& worldPosition)
     {
         const auto navMeshPosition = toNavMeshCoordinates(mSettings, makeOsgVec3f(worldPosition));
-        mIndices.push_back(static_cast<int>(mIndices.size()));
         mVertices.push_back(navMeshPosition.x());
         mVertices.push_back(navMeshPosition.y());
         mVertices.push_back(navMeshPosition.z());

components/detournavigator/recastmeshbuilder.hpp

@@ -3,6 +3,7 @@
 
 #include "recastmesh.hpp"
 
+class btBoxShape;
 class btCollisionShape;
 class btCompoundShape;
 class btConcaveShape;
@@ -26,6 +27,8 @@ namespace DetourNavigator
 
         void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform);
 
+        void addObject(const btBoxShape& shape, const btTransform& transform);
+
         std::shared_ptr<RecastMesh> create() const;
 
         void reset();
@@ -37,6 +40,8 @@ namespace DetourNavigator
 
         void addObject(const btConcaveShape& shape, btTriangleCallback&& callback);
 
+        void addTriangleVertex(const btVector3& worldPosition);
+
         void addVertex(const btVector3& worldPosition);
     };
 }