mirror/openmw
1
0
Fork 0
mirror of https://github.com/OpenMW/openmw.git synced 2025-01-20 16:53:55 +00:00
Code Issues Releases Wiki Activity
openmw/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp

431 lines
19 KiB
C++
Raw Blame History

#include "operators.hpp"
#include <components/detournavigator/recastmeshbuilder.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 <DetourCommon.h>
#include <gtest/gtest.h>
#include <gmock/gmock.h>
#include <array>
namespace DetourNavigator
{
static inline bool operator ==(const Water& lhs, const Water& rhs)
{
return lhs.mCellSize == rhs.mCellSize && lhs.mTransform == rhs.mTransform;
}
}
namespace
{
using namespace testing;
using namespace DetourNavigator;
struct DetourNavigatorRecastMeshBuilderTest : Test
{
TileBounds mBounds;
const std::size_t mGeneration = 0;
const std::size_t mRevision = 0;
DetourNavigatorRecastMeshBuilderTest()
{
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(mBounds);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>());
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>());
EXPECT_EQ(recastMesh->getMesh().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(mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-1, -1, 0,
-1, 1, 0,
1, -1, 0,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0}));
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
0, 0, 3,
0, 4, 3,
2, 0, 3,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0}));
EXPECT_EQ(recastMesh->getMesh().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(mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-0.5, -0.5, 0,
-0.5, 0.5, 0,
0.5, -0.5, 0,
0.5, 0.5, 0,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({0, 1, 2, 2, 1, 3}));
EXPECT_EQ(recastMesh->getMesh().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(mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-1, -1, -2,
-1, -1, 2,
-1, 1, -2,
-1, 1, 2,
1, -1, -2,
1, -1, 2,
1, 1, -2,
1, 1, 2,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({
0, 1, 5,
0, 2, 3,
0, 4, 6,
1, 3, 7,
2, 6, 7,
3, 1, 0,
4, 5, 7,
5, 4, 0,
6, 2, 0,
7, 3, 2,
7, 5, 1,
7, 6, 4,
})) << recastMesh->getMesh().getIndices();
EXPECT_EQ(recastMesh->getMesh().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(mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-1, -1, -2,
-1, -1, 0,
-1, -1, 2,
-1, 1, -2,
-1, 1, 0,
-1, 1, 2,
1, -1, -2,
1, -1, 0,
1, -1, 2,
1, 1, -2,
1, 1, 0,
1, 1, 2,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({
0, 2, 8,
0, 3, 5,
0, 6, 9,
2, 5, 11,
3, 9, 11,
5, 2, 0,
6, 8, 11,
7, 4, 1,
7, 4, 10,
8, 6, 0,
9, 3, 0,
11, 5, 3,
11, 8, 2,
11, 9, 6,
})) << recastMesh->getMesh().getIndices();
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
0, 0, 3,
0, 4, 3,
2, 0, 3,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0}));
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
1, 2, 12,
1, 10, 12,
3, 2, 12,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0}));
EXPECT_EQ(recastMesh->getMesh().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(mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-3, -3, 0,
-3, -2, 0,
-2, -3, 0,
-1, -1, 0,
-1, 1, 0,
1, -1, 0,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0, 5, 4, 3}));
EXPECT_EQ(recastMesh->getMesh().getAreaTypes(), std::vector<AreaType>(2, AreaType_ground));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_bhv_triangle_shape_should_filter_by_bounds)
{
mBounds.mMin = osg::Vec2f(-3, -3);
mBounds.mMax = osg::Vec2f(-2, -2);
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(mBounds);
builder.addObject(
static_cast<const btCollisionShape&>(shape),
btTransform::getIdentity(),
AreaType_ground
);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-3, -3, 0,
-3, -2, 0,
-2, -3, 0,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0}));
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_THAT(recastMesh->getMesh().getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
0, -4.24264049530029296875, 4.44089209850062616169452667236328125e-16,
0, -3.535533905029296875, -0.707106769084930419921875,
0, -3.535533905029296875, 0.707106769084930419921875,
}))) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({1, 2, 0}));
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_THAT(recastMesh->getMesh().getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
-4.24264049530029296875, 0, 4.44089209850062616169452667236328125e-16,
-3.535533905029296875, 0, -0.707106769084930419921875,
-3.535533905029296875, 0, 0.707106769084930419921875,
}))) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({1, 2, 0}));
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_THAT(recastMesh->getMesh().getVertices(), Pointwise(FloatNear(1e-5), std::vector<float>({
-1.41421353816986083984375, -1.1102230246251565404236316680908203125e-16, 0,
1.1102230246251565404236316680908203125e-16, -1.41421353816986083984375, 0,
1.41421353816986083984375, 1.1102230246251565404236316680908203125e-16, 0,
}))) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 0, 1}));
EXPECT_EQ(recastMesh->getMesh().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(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 = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-3, -3, 0,
-3, -2, 0,
-2, -3, 0,
-1, -1, 0,
-1, 1, 0,
1, -1, 0,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0, 5, 4, 3}));
EXPECT_EQ(recastMesh->getMesh().getAreaTypes(), std::vector<AreaType>({AreaType_null, AreaType_ground}));
}
TEST_F(DetourNavigatorRecastMeshBuilderTest, add_water_then_get_water_should_return_it)
{
RecastMeshBuilder builder(mBounds);
builder.addWater(1000, btTransform(btMatrix3x3::getIdentity(), btVector3(100, 200, 300)));
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getWater(), std::vector<Water>({
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(mBounds);
builder.addObject(static_cast<const btCollisionShape&>(shape), btTransform::getIdentity(), AreaType_ground);
const auto recastMesh = std::move(builder).create(mGeneration, mRevision);
EXPECT_EQ(recastMesh->getMesh().getVertices(), std::vector<float>({
-1, -1, 0,
-1, 1, 0,
1, -1, 0,
1, 1, 0,
})) << recastMesh->getMesh().getVertices();
EXPECT_EQ(recastMesh->getMesh().getIndices(), std::vector<int>({2, 1, 0, 2, 1, 3}));
EXPECT_EQ(recastMesh->getMesh().getAreaTypes(), std::vector<AreaType>({AreaType_ground, AreaType_ground}));
}
}
Reference in a new issue View git blame Copy permalink