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openmw/apps/openmw_test_suite/detournavigator/navigator.cpp
elsid e00eb50587
Remove stepping from findSmoothPath
This is not used anyway. There are features like smooth movement which remove
all redundant points.

Use single findStraightPath call instead of multiple.
2023-07-22 18:08:40 +02:00

1003 lines
45 KiB
C++

#include "operators.hpp"
#include "settings.hpp"
#include <components/bullethelpers/heightfield.hpp>
#include <components/detournavigator/navigatorimpl.hpp>
#include <components/detournavigator/navigatorutils.hpp>
#include <components/detournavigator/navmeshdb.hpp>
#include <components/esm3/loadland.hpp>
#include <components/loadinglistener/loadinglistener.hpp>
#include <components/misc/rng.hpp>
#include <components/resource/bulletshape.hpp>
#include <osg/io_utils>
#include <osg/ref_ptr>
#include <BulletCollision/CollisionShapes/btBoxShape.h>
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <array>
#include <condition_variable>
#include <deque>
#include <limits>
#include <memory>
#include <mutex>
#include <thread>
MATCHER_P3(Vec3fEq, x, y, z, "")
{
return std::abs(arg.x() - x) < 1e-3 && std::abs(arg.y() - y) < 1e-3 && std::abs(arg.z() - z) < 1e-3;
}
namespace
{
using namespace testing;
using namespace DetourNavigator;
using namespace DetourNavigator::Tests;
struct DetourNavigatorNavigatorTest : Test
{
Settings mSettings = makeSettings();
std::unique_ptr<Navigator> mNavigator;
const osg::Vec3f mPlayerPosition;
const std::string mWorldspace;
const AgentBounds mAgentBounds{ CollisionShapeType::Aabb, { 29, 29, 66 } };
osg::Vec3f mStart;
osg::Vec3f mEnd;
std::deque<osg::Vec3f> mPath;
std::back_insert_iterator<std::deque<osg::Vec3f>> mOut;
AreaCosts mAreaCosts;
Loading::Listener mListener;
const osg::Vec2i mCellPosition{ 0, 0 };
const int mHeightfieldTileSize = ESM::Land::REAL_SIZE / (ESM::Land::LAND_SIZE - 1);
const float mEndTolerance = 0;
const btTransform mTransform{ btMatrix3x3::getIdentity(), btVector3(256, 256, 0) };
const ObjectTransform mObjectTransform{ ESM::Position{ { 256, 256, 0 }, { 0, 0, 0 } }, 0.0f };
DetourNavigatorNavigatorTest()
: mPlayerPosition(256, 256, 0)
, mWorldspace("sys::default")
, mStart(52, 460, 1)
, mEnd(460, 52, 1)
, mOut(mPath)
{
mNavigator.reset(new NavigatorImpl(
mSettings, std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max())));
}
};
template <std::size_t size>
std::unique_ptr<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 std::make_unique<btHeightfieldTerrainShape>(
width, width, values.data(), heightScale, -greater, greater, upAxis, heightDataType, flipQuadEdges);
}
template <std::size_t size>
HeightfieldSurface makeSquareHeightfieldSurface(const std::array<float, size>& values)
{
const auto [min, max] = std::minmax_element(values.begin(), values.end());
const float greater = std::max(std::abs(*min), std::abs(*max));
HeightfieldSurface surface;
surface.mHeights = values.data();
surface.mMinHeight = -greater;
surface.mMaxHeight = greater;
surface.mSize = static_cast<int>(std::sqrt(size));
return surface;
}
template <class T>
osg::ref_ptr<const Resource::BulletShapeInstance> makeBulletShapeInstance(std::unique_ptr<T>&& shape)
{
osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
bulletShape->mCollisionShape.reset(std::move(shape).release());
return new Resource::BulletShapeInstance(bulletShape);
}
template <class T>
class CollisionShapeInstance
{
public:
CollisionShapeInstance(std::unique_ptr<T>&& shape)
: mInstance(makeBulletShapeInstance(std::move(shape)))
{
}
T& shape() { return static_cast<T&>(*mInstance->mCollisionShape); }
const osg::ref_ptr<const Resource::BulletShapeInstance>& instance() const { return mInstance; }
private:
osg::ref_ptr<const Resource::BulletShapeInstance> mInstance;
};
btVector3 getHeightfieldShift(const osg::Vec2i& cellPosition, int cellSize, float minHeight, float maxHeight)
{
return BulletHelpers::getHeightfieldShift(cellPosition.x(), cellPosition.x(), cellSize, minHeight, maxHeight);
}
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
{
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::NavMeshNotFound);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
}
TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
{
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::StartPolygonNotFound);
}
TEST_F(DetourNavigatorNavigatorTest, add_agent_should_count_each_agent)
{
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->removeAgent(mAgentBounds);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::StartPolygonNotFound);
}
TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path)
{
constexpr std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addHeightfield(mCellPosition, cellSize, surface, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
updateGuard.reset();
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, add_object_should_change_navmesh)
{
mSettings.mWaitUntilMinDistanceToPlayer = 0;
mNavigator.reset(new NavigatorImpl(
mSettings, std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max())));
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(
btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66666412353515625, 460, 1.99998295307159423828125),
Vec3fEq(460, 56.66666412353515625, 1.99998295307159423828125)))
<< mPath;
{
auto updateGuard = mNavigator->makeUpdateGuard();
mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform),
mTransform, updateGuard.get());
mNavigator->update(mPlayerPosition, updateGuard.get());
}
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mPath.clear();
mOut = std::back_inserter(mPath);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(181.33331298828125, 215.33331298828125, -20.6666717529296875),
Vec3fEq(215.33331298828125, 181.33331298828125, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, update_changed_object_should_change_navmesh)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(
btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->addObject(
ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(181.33331298828125, 215.33331298828125, -20.6666717529296875),
Vec3fEq(215.33331298828125, 181.33331298828125, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
compound.shape().updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
mNavigator->updateObject(
ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mPath.clear();
mOut = std::back_inserter(mPath);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, for_overlapping_heightfields_objects_should_use_higher)
{
const std::array<btScalar, 5 * 5> heightfieldData1{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
CollisionShapeInstance heightfield1(makeSquareHeightfieldTerrainShape(heightfieldData1));
heightfield1.shape().setLocalScaling(btVector3(128, 128, 1));
const std::array<btScalar, 5 * 5> heightfieldData2{ {
-25, -25, -25, -25, -25, // row 0
-25, -25, -25, -25, -25, // row 1
-25, -25, -25, -25, -25, // row 2
-25, -25, -25, -25, -25, // row 3
-25, -25, -25, -25, -25, // row 4
} };
CollisionShapeInstance heightfield2(makeSquareHeightfieldTerrainShape(heightfieldData2));
heightfield2.shape().setLocalScaling(btVector3(128, 128, 1));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addObject(ObjectId(&heightfield1.shape()), ObjectShapes(heightfield1.instance(), mObjectTransform),
mTransform, nullptr);
mNavigator->addObject(ObjectId(&heightfield2.shape()), ObjectShapes(heightfield2.instance(), mObjectTransform),
mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, only_one_heightfield_per_cell_is_allowed)
{
const std::array<float, 5 * 5> heightfieldData1{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface1 = makeSquareHeightfieldSurface(heightfieldData1);
const int cellSize1 = mHeightfieldTileSize * (surface1.mSize - 1);
const std::array<float, 5 * 5> heightfieldData2{ {
-25, -25, -25, -25, -25, // row 0
-25, -25, -25, -25, -25, // row 1
-25, -25, -25, -25, -25, // row 2
-25, -25, -25, -25, -25, // row 3
-25, -25, -25, -25, -25, // row 4
} };
const HeightfieldSurface surface2 = makeSquareHeightfieldSurface(heightfieldData2);
const int cellSize2 = mHeightfieldTileSize * (surface2.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize1, surface1, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const Version version = mNavigator->getNavMesh(mAgentBounds)->lockConst()->getVersion();
mNavigator->addHeightfield(mCellPosition, cellSize2, surface2, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(mNavigator->getNavMesh(mAgentBounds)->lockConst()->getVersion(), version);
}
TEST_F(DetourNavigatorNavigatorTest, path_should_be_around_avoid_shape)
{
osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
std::array<btScalar, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
std::unique_ptr<btHeightfieldTerrainShape> shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
shapePtr->setLocalScaling(btVector3(128, 128, 1));
bulletShape->mCollisionShape.reset(shapePtr.release());
std::array<btScalar, 5 * 5> heightfieldDataAvoid{ {
-25, -25, -25, -25, -25, // row 0
-25, -25, -25, -25, -25, // row 1
-25, -25, -25, -25, -25, // row 2
-25, -25, -25, -25, -25, // row 3
-25, -25, -25, -25, -25, // row 4
} };
std::unique_ptr<btHeightfieldTerrainShape> shapeAvoidPtr
= makeSquareHeightfieldTerrainShape(heightfieldDataAvoid);
shapeAvoidPtr->setLocalScaling(btVector3(128, 128, 1));
bulletShape->mAvoidCollisionShape.reset(shapeAvoidPtr.release());
osg::ref_ptr<const Resource::BulletShapeInstance> instance(new Resource::BulletShapeInstance(bulletShape));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addObject(
ObjectId(instance->mCollisionShape.get()), ObjectShapes(instance, mObjectTransform), mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(158.6666412353515625, 249.3332977294921875, -20.6666717529296875),
Vec3fEq(249.3332977294921875, 158.6666412353515625, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_ground_lower_than_water_with_only_swim_flag)
{
std::array<float, 5 * 5> heightfieldData{ {
-50, -50, -50, -50, 0, // row 0
-50, -100, -150, -100, -50, // row 1
-50, -150, -200, -150, -100, // row 2
-50, -100, -150, -100, -100, // row 3
0, -50, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addWater(mCellPosition, cellSize, 300, nullptr);
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mStart.x() = 256;
mStart.z() = 300;
mEnd.x() = 256;
mEnd.z() = 300;
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(256, 460, 185.3333282470703125), Vec3fEq(256, 56.66664886474609375, 185.3333282470703125)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_swim_and_walk_flags)
{
std::array<float, 7 * 7> heightfieldData{ {
0, 0, 0, 0, 0, 0, 0, // row 0
0, -100, -100, -100, -100, -100, 0, // row 1
0, -100, -150, -150, -150, -100, 0, // row 2
0, -100, -150, -200, -150, -100, 0, // row 3
0, -100, -150, -150, -150, -100, 0, // row 4
0, -100, -100, -100, -100, -100, 0, // row 5
0, 0, 0, 0, 0, 0, 0, // row 6
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addWater(mCellPosition, cellSize, -25, nullptr);
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mStart.x() = 256;
mEnd.x() = 256;
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(256, 460, -129.4098663330078125), Vec3fEq(256, 56.66664886474609375, -30.0000133514404296875)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest,
path_should_be_over_water_when_ground_cross_water_with_max_int_cells_size_and_swim_and_walk_flags)
{
std::array<float, 7 * 7> heightfieldData{ {
0, 0, 0, 0, 0, 0, 0, // row 0
0, -100, -100, -100, -100, -100, 0, // row 1
0, -100, -150, -150, -150, -100, 0, // row 2
0, -100, -150, -200, -150, -100, 0, // row 3
0, -100, -150, -150, -150, -100, 0, // row 4
0, -100, -100, -100, -100, -100, 0, // row 5
0, 0, 0, 0, 0, 0, 0, // row 6
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->addWater(mCellPosition, std::numeric_limits<int>::max(), -25, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mStart.x() = 256;
mEnd.x() = 256;
EXPECT_EQ(
findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre(
Vec3fEq(256, 460, -129.4098663330078125), Vec3fEq(256, 56.66664886474609375, -30.0000133514404296875)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_ground_when_ground_cross_water_with_only_walk_flag)
{
std::array<float, 7 * 7> heightfieldData{ {
0, 0, 0, 0, 0, 0, 0, // row 0
0, -100, -100, -100, -100, -100, 0, // row 1
0, -100, -150, -150, -150, -100, 0, // row 2
0, -100, -150, -200, -150, -100, 0, // row 3
0, -100, -150, -150, -150, -100, 0, // row 4
0, -100, -100, -100, -100, -100, 0, // row 5
0, 0, 0, 0, 0, 0, 0, // row 6
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addWater(mCellPosition, cellSize, -25, nullptr);
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mStart.x() = 256;
mEnd.x() = 256;
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(256, 460, -129.4098663330078125), Vec3fEq(256, 56.66664886474609375, -30.0000133514404296875)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, update_object_remove_and_update_then_find_path_should_return_path)
{
const std::array<btScalar, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
CollisionShapeInstance heightfield(makeSquareHeightfieldTerrainShape(heightfieldData));
heightfield.shape().setLocalScaling(btVector3(128, 128, 1));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance(), mObjectTransform),
mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mNavigator->removeObject(ObjectId(&heightfield.shape()), nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance(), mObjectTransform),
mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, update_heightfield_remove_and_update_then_find_path_should_return_path)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mNavigator->removeHeightfield(mCellPosition, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, update_then_find_random_point_around_circle_should_return_position)
{
const std::array<float, 6 * 6> heightfieldData{ {
0, 0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, -25, // row 1
0, -25, -1000, -1000, -100, -100, // row 2
0, -25, -1000, -1000, -100, -100, // row 3
0, -25, -100, -100, -100, -100, // row 4
0, -25, -100, -100, -100, -100, // row 5
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
Misc::Rng::init(42);
const auto result = findRandomPointAroundCircle(
*mNavigator, mAgentBounds, mStart, 100.0, Flag_walk, []() { return Misc::Rng::rollClosedProbability(); });
ASSERT_THAT(result, Optional(Vec3fEq(70.35845947265625, 335.592041015625, -2.6667339801788330078125)))
<< (result ? *result : osg::Vec3f());
const auto distance = (*result - mStart).length();
EXPECT_FLOAT_EQ(distance, 125.80865478515625) << distance;
}
TEST_F(DetourNavigatorNavigatorTest, multiple_threads_should_lock_tiles)
{
mSettings.mAsyncNavMeshUpdaterThreads = 2;
mNavigator.reset(new NavigatorImpl(
mSettings, std::make_unique<NavMeshDb>(":memory:", std::numeric_limits<std::uint64_t>::max())));
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
const btVector3 shift = getHeightfieldShift(mCellPosition, cellSize, surface.mMinHeight, surface.mMaxHeight);
std::vector<CollisionShapeInstance<btBoxShape>> boxes;
std::generate_n(
std::back_inserter(boxes), 100, [] { return std::make_unique<btBoxShape>(btVector3(20, 20, 100)); });
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
for (std::size_t i = 0; i < boxes.size(); ++i)
{
const btTransform transform(
btMatrix3x3::getIdentity(), btVector3(shift.x() + i * 10, shift.y() + i * 10, i * 10));
mNavigator->addObject(
ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance(), mObjectTransform), transform, nullptr);
}
std::this_thread::sleep_for(std::chrono::microseconds(1));
for (std::size_t i = 0; i < boxes.size(); ++i)
{
const btTransform transform(
btMatrix3x3::getIdentity(), btVector3(shift.x() + i * 10 + 1, shift.y() + i * 10 + 1, i * 10 + 1));
mNavigator->updateObject(
ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance(), mObjectTransform), transform, nullptr);
}
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 1.99999392032623291015625),
Vec3fEq(181.33331298828125, 215.33331298828125, -20.6666717529296875),
Vec3fEq(215.33331298828125, 181.33331298828125, -20.6666717529296875),
Vec3fEq(460, 56.66664886474609375, 1.99999392032623291015625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, update_changed_multiple_times_object_should_delay_navmesh_change)
{
std::vector<CollisionShapeInstance<btBoxShape>> shapes;
std::generate_n(
std::back_inserter(shapes), 100, [] { return std::make_unique<btBoxShape>(btVector3(64, 64, 64)); });
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
for (std::size_t i = 0; i < shapes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32, i * 32, i * 32));
mNavigator->addObject(
ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance(), mObjectTransform), transform, nullptr);
}
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const auto start = std::chrono::steady_clock::now();
for (std::size_t i = 0; i < shapes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 1, i * 32 + 1, i * 32 + 1));
mNavigator->updateObject(
ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance(), mObjectTransform), transform, nullptr);
}
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
for (std::size_t i = 0; i < shapes.size(); ++i)
{
const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 2, i * 32 + 2, i * 32 + 2));
mNavigator->updateObject(
ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance(), mObjectTransform), transform, nullptr);
}
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const auto duration = std::chrono::steady_clock::now() - start;
EXPECT_GT(duration, mSettings.mMinUpdateInterval)
<< std::chrono::duration_cast<std::chrono::duration<float, std::milli>>(duration).count() << " ms";
}
TEST_F(DetourNavigatorNavigatorTest, update_then_raycast_should_return_position)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const osg::Vec3f start(57, 460, 1);
const osg::Vec3f end(460, 57, 1);
const auto result = raycast(*mNavigator, mAgentBounds, start, end, Flag_walk);
ASSERT_THAT(result, Optional(Vec3fEq(end.x(), end.y(), 1.95257937908172607421875)))
<< (result ? *result : osg::Vec3f());
}
TEST_F(DetourNavigatorNavigatorTest,
update_for_oscillating_object_that_does_not_change_navmesh_should_not_trigger_navmesh_update)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance oscillatingBox(std::make_unique<btBoxShape>(btVector3(20, 20, 20)));
const btVector3 oscillatingBoxShapePosition(288, 288, 400);
CollisionShapeInstance borderBox(std::make_unique<btBoxShape>(btVector3(50, 50, 50)));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->addObject(ObjectId(&oscillatingBox.shape()),
ObjectShapes(oscillatingBox.instance(), mObjectTransform),
btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition), nullptr);
// add this box to make navmesh bound box independent from oscillatingBoxShape rotations
mNavigator->addObject(ObjectId(&borderBox.shape()), ObjectShapes(borderBox.instance(), mObjectTransform),
btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition + btVector3(0, 0, 200)), nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const Version expectedVersion{ 1, 4 };
const auto navMeshes = mNavigator->getNavMeshes();
ASSERT_EQ(navMeshes.size(), 1);
ASSERT_EQ(navMeshes.begin()->second->lockConst()->getVersion(), expectedVersion);
for (int n = 0; n < 10; ++n)
{
const btTransform transform(
btQuaternion(btVector3(0, 0, 1), n * 2 * osg::PI / 10), oscillatingBoxShapePosition);
mNavigator->updateObject(ObjectId(&oscillatingBox.shape()),
ObjectShapes(oscillatingBox.instance(), mObjectTransform), transform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
}
ASSERT_EQ(navMeshes.size(), 1);
ASSERT_EQ(navMeshes.begin()->second->lockConst()->getVersion(), expectedVersion);
}
TEST_F(DetourNavigatorNavigatorTest, should_provide_path_over_flat_heightfield)
{
const HeightfieldPlane plane{ 100 };
const int cellSize = mHeightfieldTileSize * 4;
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, plane, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::requiredTilesPresent, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, 102), Vec3fEq(460, 56.66664886474609375, 102)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, for_not_reachable_destination_find_path_should_provide_partial_path)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(204, -204, 0)),
new btBoxShape(btVector3(200, 200, 1000)));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->addObject(
ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, mEndTolerance, mOut),
Status::PartialPath);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, -2.5371119976043701171875),
Vec3fEq(222, 290, -71.33342742919921875)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, end_tolerance_should_extent_available_destinations)
{
const std::array<float, 5 * 5> heightfieldData{ {
0, 0, 0, 0, 0, // row 0
0, -25, -25, -25, -25, // row 1
0, -25, -100, -100, -100, // row 2
0, -25, -100, -100, -100, // row 3
0, -25, -100, -100, -100, // row 4
} };
const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
const int cellSize = mHeightfieldTileSize * (surface.mSize - 1);
CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(204, -204, 0)),
new btBoxShape(btVector3(100, 100, 1000)));
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addHeightfield(mCellPosition, cellSize, surface, nullptr);
mNavigator->addObject(
ObjectId(&compound.shape()), ObjectShapes(compound.instance(), mObjectTransform), mTransform, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const float endTolerance = 1000.0f;
EXPECT_EQ(findPath(*mNavigator, mAgentBounds, mStart, mEnd, Flag_walk, mAreaCosts, endTolerance, mOut),
Status::Success);
EXPECT_THAT(mPath,
ElementsAre( //
Vec3fEq(56.66664886474609375, 460, -2.5371119976043701171875),
Vec3fEq(305.999969482421875, 56.66664886474609375, -2.6667406558990478515625)))
<< mPath;
}
TEST_F(DetourNavigatorNavigatorTest, only_one_water_per_cell_is_allowed)
{
const int cellSize1 = 100;
const float level1 = 1;
const int cellSize2 = 200;
const float level2 = 2;
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addWater(mCellPosition, cellSize1, level1, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
const Version version = mNavigator->getNavMesh(mAgentBounds)->lockConst()->getVersion();
mNavigator->addWater(mCellPosition, cellSize2, level2, nullptr);
mNavigator->update(mPlayerPosition, nullptr);
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(mNavigator->getNavMesh(mAgentBounds)->lockConst()->getVersion(), version);
}
TEST_F(DetourNavigatorNavigatorTest, update_for_very_big_object_should_be_limited)
{
const float size = static_cast<float>(2 * static_cast<std::int64_t>(std::numeric_limits<int>::max()) - 1);
CollisionShapeInstance bigBox(std::make_unique<btBoxShape>(btVector3(size, size, 1)));
const ObjectTransform objectTransform{
.mPosition = ESM::Position{ .pos = { 0, 0, 0 }, .rot{ 0, 0, 0 } },
.mScale = 1.0f,
};
mNavigator->updateBounds(mPlayerPosition, nullptr);
ASSERT_TRUE(mNavigator->addAgent(mAgentBounds));
mNavigator->addObject(ObjectId(&bigBox.shape()), ObjectShapes(bigBox.instance(), objectTransform),
btTransform::getIdentity(), nullptr);
bool updated = false;
std::condition_variable updateFinished;
std::mutex mutex;
std::thread thread([&] {
mNavigator->update(mPlayerPosition, nullptr);
std::lock_guard lock(mutex);
updated = true;
updateFinished.notify_all();
});
{
std::unique_lock lock(mutex);
updateFinished.wait_for(lock, std::chrono::seconds(3), [&] { return updated; });
ASSERT_TRUE(updated);
}
thread.join();
mNavigator->wait(WaitConditionType::allJobsDone, &mListener);
EXPECT_EQ(mNavigator->getRecastMeshTiles().size(), 509);
const auto navMesh = mNavigator->getNavMesh(mAgentBounds);
ASSERT_NE(navMesh, nullptr);
std::size_t usedNavMeshTiles = 0;
navMesh->lockConst()->forEachUsedTile([&](const auto&...) { ++usedNavMeshTiles; });
EXPECT_EQ(usedNavMeshTiles, 509);
}
struct DetourNavigatorNavigatorNotSupportedAgentBoundsTest : TestWithParam<AgentBounds>
{
};
TEST_P(DetourNavigatorNavigatorNotSupportedAgentBoundsTest, on_add_agent)
{
const Settings settings = makeSettings();
NavigatorImpl navigator(settings, nullptr);
EXPECT_FALSE(navigator.addAgent(GetParam()));
}
const std::array notSupportedAgentBounds = {
AgentBounds{ .mShapeType = CollisionShapeType::Aabb, .mHalfExtents = osg::Vec3f(0, 0, 0) },
AgentBounds{ .mShapeType = CollisionShapeType::RotatingBox, .mHalfExtents = osg::Vec3f(0, 0, 0) },
AgentBounds{ .mShapeType = CollisionShapeType::Cylinder, .mHalfExtents = osg::Vec3f(0, 0, 0) },
AgentBounds{ .mShapeType = CollisionShapeType::Aabb, .mHalfExtents = osg::Vec3f(0, 0, 11.34f) },
AgentBounds{ .mShapeType = CollisionShapeType::RotatingBox, .mHalfExtents = osg::Vec3f(0, 11.34f, 11.34f) },
AgentBounds{ .mShapeType = CollisionShapeType::Cylinder, .mHalfExtents = osg::Vec3f(0, 0, 11.34f) },
AgentBounds{ .mShapeType = CollisionShapeType::Aabb, .mHalfExtents = osg::Vec3f(1, 1, 0) },
AgentBounds{ .mShapeType = CollisionShapeType::RotatingBox, .mHalfExtents = osg::Vec3f(1, 1, 0) },
AgentBounds{ .mShapeType = CollisionShapeType::Cylinder, .mHalfExtents = osg::Vec3f(1, 1, 0) },
AgentBounds{ .mShapeType = CollisionShapeType::Aabb, .mHalfExtents = osg::Vec3f(1, 1, 11.33f) },
AgentBounds{ .mShapeType = CollisionShapeType::RotatingBox, .mHalfExtents = osg::Vec3f(1, 1, 11.33f) },
AgentBounds{ .mShapeType = CollisionShapeType::Cylinder, .mHalfExtents = osg::Vec3f(1, 1, 11.33f) },
AgentBounds{ .mShapeType = CollisionShapeType::Aabb, .mHalfExtents = osg::Vec3f(2043.54f, 2043.54f, 11.34f) },
AgentBounds{ .mShapeType = CollisionShapeType::RotatingBox, .mHalfExtents = osg::Vec3f(2890, 1, 11.34f) },
AgentBounds{ .mShapeType = CollisionShapeType::Cylinder, .mHalfExtents = osg::Vec3f(2890, 2890, 11.34f) },
};
INSTANTIATE_TEST_SUITE_P(NotSupportedAgentBounds, DetourNavigatorNavigatorNotSupportedAgentBoundsTest,
ValuesIn(notSupportedAgentBounds));
}