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Code Issues Releases Wiki Activity

heightfield: Add a test for processAllTriangles up-axis filtering

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This commit is contained in:
Gleb Mazovetskiy 2021-03-03 00:38:21 +00:00
parent 8f5a00dd1e
commit 40a9584ccb
2 changed files with 50 additions and 0 deletions
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3
test/collision/CMakeLists.txt
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@ -24,10 +24,13 @@ ENDIF()
../../src/BulletCollision/CollisionShapes/btSphereShape.cpp
../../src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
../../src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
../../src/BulletCollision/CollisionShapes/btConcaveShape.cpp
../../src/BulletCollision/CollisionShapes/btConvexShape.cpp
../../src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
../../src/BulletCollision/CollisionShapes/btCollisionShape.cpp
../../src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
../../src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
../../src/BulletCollision/CollisionShapes/btTriangleCallback.cpp
)
ADD_TEST(Test_Collision_PASS Test_Collision)

47
test/collision/main.cpp
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@ -20,9 +20,12 @@ subject to the following restrictions:
///Todo: the test needs proper coverage and using a convex hull point cloud
///Also the GJK, EPA and MPR should be improved, both quality and performance
#include <vector>
#include <gtest/gtest.h>
#include "SphereSphereCollision.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@ -30,6 +33,8 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa3.h"
#include "BulletCollision/NarrowPhaseCollision/btMprPenetration.h"
namespace {
btVector3 MyBulletShapeSupportFunc(const void* shapeAptr, const btVector3& dir, bool includeMargin)
{
btConvexShape* shape = (btConvexShape*)shapeAptr;
@ -249,6 +254,48 @@ TEST(BulletCollisionTest, AnalyticSphereSphereDistance)
testSphereSphereDistance(SSTM_ANALYTIC, 0.00001);
}
class TriangleCollector : public btTriangleCallback
{
public:
std::vector<btVector3> *triangles;
explicit TriangleCollector(std::vector<btVector3>* triangles) : triangles(triangles) {}
virtual ~TriangleCollector() {}
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
triangles->push_back(*triangle);
}
};
TEST(BulletCollisionTest, Heightfield_ProcessAllTriangles_FiltersByUpAxis)
{
// A flat 2x2 heightfield.
const btScalar heightFieldData[] = {
10.0, 10.0,
10.0, 10.0,
};
btHeightfieldTerrainShape shape(
/*heightStickWidth=*/2, /*heightStickLength=*/2,
&heightFieldData[0], /*heightScale=*/1,
/*minHeight=*/-10.0, /*maxHeight=*/10.0,
/*upAxis=*/2, PHY_FLOAT, /*flipQuadEdges=*/false);
std::vector<btVector3> triangles;
TriangleCollector collector(&triangles);
// AABB overlaps with the heightfield on upAxis.
shape.processAllTriangles(&collector, btVector3(0, 0, 0), btVector3(20, 20, 20));
EXPECT_EQ(triangles.size(), 2);
// AABB does not overlap with the heightfield on upAxis.
triangles.clear();
shape.processAllTriangles(&collector, btVector3(0, 0, 0), btVector3(20, 20, 5));
EXPECT_EQ(triangles.size(), 0);
}
} // namespace
int main(int argc, char** argv)
{
#if _MSC_VER