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openmw/apps/openmw_test_suite/detournavigator/recastmeshbuilder.cpp
elsid ed73d130f9
Cache navmesh tiles 
Use LRU modification to hold currently used items. Use RecastMesh binary
data for item key.

Store original pointer of btCollisionShape in user pointer to make available
it as an identifier within all duplicates. Use pointer to heights data array
for btHeightfieldTerrainShape.
2018-10-13 22:22:12 +03:00

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17 KiB
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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>
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;
DetourNavigatorRecastMeshBuilderTest()
{
mSettings.mRecastScaleFactor = 1.0f;
mSettings.mTrianglesPerChunk = 256;
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();
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();
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();
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();
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,
-0.5, 0, 0.5,
0.5, 0, 0.5,
}));
EXPECT_EQ(recastMesh->getIndices(), std::vector<int>({0, 1, 2, 3, 4, 5}));
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();
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,
}));
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();
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,
}));
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();
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();
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();
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();
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, -3);
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();
EXPECT_EQ(recastMesh->getVertices(), 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();
EXPECT_EQ(recastMesh->getVertices(), 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();
EXPECT_EQ(recastMesh->getVertices(), std::vector<float>({
0.707107067108154296875, 0, -3.535533905029296875,
-0.70710659027099609375, 0, -3.535533905029296875,
2.384185791015625e-07, 0, -4.24264049530029296875,
}));
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();
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();
EXPECT_EQ(recastMesh->getWater(), std::vector<RecastMesh::Water>({
RecastMesh::Water {1000, btTransform(btMatrix3x3::getIdentity(), btVector3(100, 200, 300))}
}));
}
}
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