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Support btBoxShape for RecastMesh

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elsid 2018-04-07 23:09:42 +03:00
parent 70a369f70e
commit d1e71f9322
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4 changed files with 176 additions and 7 deletions
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128
apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp
View file

@ -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}));
}
}

3
components/detournavigator/chunkytrimesh.cpp
View file

@ -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;

47
components/detournavigator/recastmeshbuilder.cpp
View file

@ -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());

5
components/detournavigator/recastmeshbuilder.hpp
View file

@ -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);
};
}