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openmw-tes3mp/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp
elsid ec87b3f8f7
Remove redundant ChunkyTriMesh 
This AABB tree required when need to filter out input mesh that has not
influence navmesh tile output. This filtering is already done before. Each
recast mesh corresponds to a single navmesh tile and has appropriate bounds.
2021-05-04 13:00:06 +02:00

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#include "operators.hpp"
#include <components/detournavigator/recastmeshbuilder.hpp>
#include <components/detournavigator/settings.hpp>
#include <components/detournavigator/recastmesh.hpp>
#include <components/detournavigator/exceptions.hpp>
#include <BulletCollision/CollisionShapes/btBoxShape.h>
#include <BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h>
#include <BulletCollision/CollisionShapes/btTriangleMesh.h>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
#include <gtest/gtest.h>
#include <gmock/gmock.h>
namespace DetourNavigator
{
static inline bool operator ==(const RecastMesh::Water& lhs, const RecastMesh::Water& rhs)
{
return lhs.mCellSize == rhs.mCellSize && lhs.mTransform == rhs.mTransform;
}
}
namespace
{
using namespace testing;
using namespace DetourNavigator;
struct DetourNavigatorRecastMeshBuilderTest : Test
{
Settings mSettings;
TileBounds mBounds;
const std::size_t mGeneration = 0;
const std::size_t mRevision = 0;
DetourNavigatorRecastMeshBuilderTest()
{
mSettings.mRecastScaleFactor = 1.0f;
mBounds.mMin = osg::Vec2f(-std::numeric_limits<float>::max() * std::numeric_limits<float>::epsilon(),
-std::numeric_limits<float>::max() * std::numeric_limits<float>::epsilon());
mBounds.mMax = osg::Vec2f(std::numeric_limits<float>::max() * std::numeric_limits<float>::epsilon(),
std::numeric_limits<float>::max() * std::numeric_limits<float>::epsilon());
}
};
TEST_F(DetourNavigatorRecastMeshBuilderTest, create_for_empty_should_return_empty)
{
RecastMeshBuilder builder(mSettings, mBounds);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>());
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>());
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>());
}
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);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
-1, 0, 1,
-1, 0, -1,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_transformed_bhv_triangle_mesh_shape)
{
btTriangleMesh mesh;
mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
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}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_heightfield_terrian_shape)
{
const std::array<btScalar, 4> heightfieldData {{0, 0, 0, 0}};
btHeightfieldTerrainShape shape(2, 2, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-0.5, 0, -0.5,
-0.5, 0, 0.5,
0.5, 0, -0.5,
0.5, 0, 0.5,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 2, 1, 3}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground, AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_box_shape_should_produce_12_triangles)
{
btBoxShape shape(btVector3(1, 1, 2));
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create(mGeneration, mRevision);
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,
})) << recastMesh->getVertices();
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,
})) << recastMesh->getIndices();
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>(12, AreaType_ground));
}
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);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-1, -2, -1,
-1, -2, 1,
-1, 0, -1,
-1, 0, 1,
-1, 2, -1,
-1, 2, 1,
1, -2, -1,
1, -2, 1,
1, 0, -1,
1, 0, 1,
1, 2, -1,
1, 2, 1,
})) << recastMesh->getVertices();
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({
8, 3, 2,
11, 10, 4,
4, 5, 11,
11, 7, 6,
6, 10, 11,
11, 5, 1,
1, 7, 11,
0, 1, 5,
5, 4, 0,
0, 4, 10,
10, 6, 0,
0, 6, 7,
7, 1, 0,
8, 3, 9,
})) << recastMesh->getIndices();
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>(14, AreaType_ground));
}
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);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
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}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
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);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btMatrix3x3::getIdentity().scaled(btVector3(1, 2, 3)), btVector3(1, 2, 3)),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
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}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, without_bounds_add_bhv_triangle_shape_should_not_filter_by_bounds)
{
btTriangleMesh mesh;
mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
-1, 0, 1,
-1, 0, -1,
-2, 0, -3,
-3, 0, -2,
-3, 0, -3,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>(2, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_bhv_triangle_shape_should_filter_by_bounds)
{
mSettings.mRecastScaleFactor = 0.1f;
mBounds.mMin = osg::Vec2f(-3, -3) * mSettings.mRecastScaleFactor;
mBounds.mMax = osg::Vec2f(-2, -2) * mSettings.mRecastScaleFactor;
btTriangleMesh mesh;
mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-0.2f, 0, -0.3f,
-0.3f, 0, -0.2f,
-0.3f, 0, -0.3f,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds)
{
mBounds.mMin = osg::Vec2f(-5, -5);
mBounds.mMax = osg::Vec2f(5, -2);
btTriangleMesh mesh;
mesh.addTriangle(btVector3(0, -1, -1), btVector3(0, -1, -1), btVector3(0, 1, -1));
mesh.addTriangle(btVector3(0, -3, -3), btVector3(0, -3, -2), btVector3(0, -2, -3));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(1, 0, 0),
static_cast<btScalar>(-osg::PI_4))),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_THAT(recastMesh->getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
0, -0.70710659027099609375, -3.535533905029296875,
0, 0.707107067108154296875, -3.535533905029296875,
0, 2.384185791015625e-07, -4.24264049530029296875,
})));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_y_bhv_triangle_shape_should_filter_by_bounds)
{
mBounds.mMin = osg::Vec2f(-5, -5);
mBounds.mMax = osg::Vec2f(-3, 5);
btTriangleMesh mesh;
mesh.addTriangle(btVector3(-1, 0, -1), btVector3(-1, 0, 1), btVector3(1, 0, -1));
mesh.addTriangle(btVector3(-3, 0, -3), btVector3(-3, 0, -2), btVector3(-2, 0, -3));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(0, 1, 0),
static_cast<btScalar>(osg::PI_4))),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_THAT(recastMesh->getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
-3.535533905029296875, -0.70710659027099609375, 0,
-3.535533905029296875, 0.707107067108154296875, 0,
-4.24264049530029296875, 2.384185791015625e-07, 0,
})));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_z_bhv_triangle_shape_should_filter_by_bounds)
{
mBounds.mMin = osg::Vec2f(-5, -5);
mBounds.mMax = osg::Vec2f(-1, -1);
btTriangleMesh mesh;
mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
mesh.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform(btQuaternion(btVector3(0, 0, 1),
static_cast<btScalar>(osg::PI_4))),
AreaType_ground
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_THAT(recastMesh->getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
1.41421353816986083984375, 0, 1.1920928955078125e-07,
-1.41421353816986083984375, 0, -1.1920928955078125e-07,
1.1920928955078125e-07, 0, -1.41421353816986083984375,
})));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, flags_values_should_be_corresponding_to_added_objects)
{
btTriangleMesh mesh1;
mesh1.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
btBvhTriangleMeshShape shape1(&mesh1, true);
btTriangleMesh mesh2;
mesh2.addTriangle(btVector3(-3, -3, 0), btVector3(-3, -2, 0), btVector3(-2, -3, 0));
btBvhTriangleMeshShape shape2(&mesh2, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape1),
btTransform::getIdentity(),
AreaType_ground
);
builder.addObject(
static_cast<const btCollisionShape&>(shape2),
btTransform::getIdentity(),
AreaType_null
);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
1, 0, -1,
-1, 0, 1,
-1, 0, -1,
-2, 0, -3,
-3, 0, -2,
-3, 0, -3,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground, AreaType_null}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_water_then_get_water_should_return_it)
{
RecastMeshBuilder builder(mSettings, mBounds);
builder.addWater(1000, btTransform(btMatrix3x3::getIdentity(), btVector3(100, 200, 300)));
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getWater(), std::vector<RecastMesh::Water>({
RecastMesh::Water {1000, btTransform(btMatrix3x3::getIdentity(), btVector3(100, 200, 300))}
}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_bhv_triangle_mesh_shape_with_duplicated_vertices)
{
btTriangleMesh mesh;
mesh.addTriangle(btVector3(-1, -1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
mesh.addTriangle(btVector3(1, 1, 0), btVector3(-1, 1, 0), btVector3(1, -1, 0));
btBvhTriangleMeshShape shape(&mesh, true);
RecastMeshBuilder builder(mSettings, mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = builder.create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
-1, 0, -1,
-1, 0, 1,
1, 0, -1,
1, 0, 1,
})) << recastMesh->getVertices();
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({2, 1, 0, 2, 1, 3}));
EXPECT_EQ(recastMesh->getAreaTypes(), std::vector<AreaType>({AreaType_ground, AreaType_ground}));
}
}
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