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Set bounding min and max height for btHeightfieldTerrainShape

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They must be set for proper AABB based filtering. Use
+-max(abs(min), abs(max)) to make sure bullet does not shift coordinates by z.
pull/593/head
elsid 4 years ago
parent fdca76ce86
commit fac5759748
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GPG Key ID: B845CB9FEE18AB40
1 changed files with 26 additions and 15 deletions
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41
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -76,6 +76,17 @@ namespace
}
};
template <std::size_t size>
btHeightfieldTerrainShape makeSquareHeightfieldTerrainShape(const std::array<btScalar, size>& values,
btScalar heightScale = 1, int upAxis = 2, PHY_ScalarType heightDataType = PHY_FLOAT, bool flipQuadEdges = false)
{
const int width = static_cast<int>(std::sqrt(size));
const btScalar min = *std::min_element(values.begin(), values.end());
const btScalar max = *std::max_element(values.begin(), values.end());
const btScalar greater = std::max(std::abs(min), std::abs(max));
return btHeightfieldTerrainShape(width, width, values.data(), heightScale, -greater, greater, upAxis, heightDataType, flipQuadEdges);
}
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
{
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
@ -108,7 +119,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -154,7 +165,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
btBoxShape boxShape(btVector3(20, 20, 100));
@ -238,7 +249,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
btBoxShape boxShape(btVector3(20, 20, 100));
@ -325,7 +336,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
const std::array<btScalar, 5 * 5> heightfieldData2 {{
@ -335,7 +346,7 @@ namespace
-25, -25, -25, -25, -25,
-25, -25, -25, -25, -25,
}};
btHeightfieldTerrainShape shape2(5, 5, heightfieldData2.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape2 = makeSquareHeightfieldTerrainShape(heightfieldData2);
shape2.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -382,7 +393,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
std::array<btScalar, 5 * 5> heightfieldDataAvoid {{
@ -392,7 +403,7 @@ namespace
-25, -25, -25, -25, -25,
-25, -25, -25, -25, -25,
}};
btHeightfieldTerrainShape shapeAvoid(5, 5, heightfieldDataAvoid.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shapeAvoid = makeSquareHeightfieldTerrainShape(heightfieldDataAvoid);
shapeAvoid.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -439,7 +450,7 @@ namespace
-50, -100, -150, -100, -100,
0, -50, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -487,7 +498,7 @@ namespace
0, -100, -100, -100, -100, -100, 0,
0, 0, 0, 0, 0, 0, 0,
}};
btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -534,7 +545,7 @@ namespace
0, -100, -100, -100, -100, -100, 0,
0, 0, 0, 0, 0, 0, 0,
}};
btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -581,7 +592,7 @@ namespace
0, -100, -100, -100, -100, -100, 0,
0, 0, 0, 0, 0, 0, 0,
}};
btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -626,7 +637,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -680,7 +691,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);
@ -711,7 +722,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape heightfieldShape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape heightfieldShape = makeSquareHeightfieldTerrainShape(heightfieldData);
heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
const std::vector<btBoxShape> boxShapes(100, btVector3(20, 20, 100));
@ -812,7 +823,7 @@ namespace
0, -25, -100, -100, -100,
0, -25, -100, -100, -100,
}};
btHeightfieldTerrainShape shape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
shape.setLocalScaling(btVector3(128, 128, 1));
mNavigator->addAgent(mAgentHalfExtents);

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