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Update raycasting test code for convex mesh and remove commented code

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This commit is contained in:
Daniel Chappuis 2017-08-22 07:38:22 +02:00
parent 624e01b595
commit e725af80b6
2 changed files with 46 additions and 108 deletions
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147
test/tests/collision/TestRaycast.h
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@ -110,7 +110,6 @@ class TestRaycast : public Test {
CollisionBody* mSphereBody;
CollisionBody* mCapsuleBody;
CollisionBody* mConvexMeshBody;
CollisionBody* mConvexMeshBodyEdgesInfo;
CollisionBody* mCylinderBody;
CollisionBody* mCompoundBody;
CollisionBody* mTriangleBody;
@ -128,7 +127,6 @@ class TestRaycast : public Test {
SphereShape* mSphereShape;
CapsuleShape* mCapsuleShape;
ConvexMeshShape* mConvexMeshShape;
ConvexMeshShape* mConvexMeshShapeEdgesInfo;
TriangleShape* mTriangleShape;
ConcaveShape* mConcaveMeshShape;
HeightFieldShape* mHeightFieldShape;
@ -138,7 +136,6 @@ class TestRaycast : public Test {
ProxyShape* mSphereProxyShape;
ProxyShape* mCapsuleProxyShape;
ProxyShape* mConvexMeshProxyShape;
ProxyShape* mConvexMeshProxyShapeEdgesInfo;
ProxyShape* mCompoundSphereProxyShape;
ProxyShape* mCompoundCapsuleProxyShape;
ProxyShape* mTriangleProxyShape;
@ -152,6 +149,11 @@ class TestRaycast : public Test {
std::vector<uint> mConcaveMeshIndices;
TriangleVertexArray* mConcaveMeshVertexArray;
float mHeightFieldData[100];
PolygonVertexArray::PolygonFace mPolygonFaces[6];
PolygonVertexArray* mPolygonVertexArray;
PolyhedronMesh* mPolyhedronMesh;
Vector3 mPolyhedronVertices[8];
int mPolyhedronIndices[4 * 6];
public :
@ -175,7 +177,6 @@ class TestRaycast : public Test {
mSphereBody = mWorld->createCollisionBody(mBodyTransform);
mCapsuleBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(mBodyTransform);
mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
mTriangleBody = mWorld->createCollisionBody(mBodyTransform);
@ -200,51 +201,47 @@ class TestRaycast : public Test {
const Vector3 triangleVertex1(100, 100, 0);
const Vector3 triangleVertex2(105, 100, 0);
const Vector3 triangleVertex3(100, 103, 0);
mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3);
Vector3 triangleVerticesNormals[3] = {Vector3(0, 0, 1), Vector3(0, 0, 1), Vector3(0, 0, 1)};
mTriangleShape = new TriangleShape(triangleVertex1, triangleVertex2, triangleVertex3, triangleVerticesNormals, 0, 0);
mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, mShapeTransform);
mCapsuleShape = new CapsuleShape(2, 5);
mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
// TODO : Create convex mesh shape with new way (polyhedron mesh) to add test again
// Box of dimension (2, 3, 4)
/*mConvexMeshShape = new ConvexMeshShape(0.0);
mConvexMeshShape->addVertex(Vector3(-2, -3, -4));
mConvexMeshShape->addVertex(Vector3(2, -3, -4));
mConvexMeshShape->addVertex(Vector3(2, -3, 4));
mConvexMeshShape->addVertex(Vector3(-2, -3, 4));
mConvexMeshShape->addVertex(Vector3(-2, 3, -4));
mConvexMeshShape->addVertex(Vector3(2, 3, -4));
mConvexMeshShape->addVertex(Vector3(2, 3, 4));
mConvexMeshShape->addVertex(Vector3(-2, 3, 4));
mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
// Box of extents (2, 3, 4)
mPolyhedronVertices[0] = Vector3(-2, -3, -4);
mPolyhedronVertices[1] = Vector3(2, -3, -4);
mPolyhedronVertices[2] = Vector3(2, -3, 4);
mPolyhedronVertices[3] = Vector3(-2, -3, 4);
mPolyhedronVertices[4] = Vector3(-2, 3, -4);
mPolyhedronVertices[5] = Vector3(2, 3, -4);
mPolyhedronVertices[6] = Vector3(2, 3, 4);
mPolyhedronVertices[7] = Vector3(-2, 3, 4);
mConvexMeshShapeEdgesInfo = new ConvexMeshShape(0.0);
mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, -4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, -4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, -3, 4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, -3, 4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, -4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, -4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(2, 3, 4));
mConvexMeshShapeEdgesInfo->addVertex(Vector3(-2, 3, 4));
mConvexMeshShapeEdgesInfo->addEdge(0, 1);
mConvexMeshShapeEdgesInfo->addEdge(1, 2);
mConvexMeshShapeEdgesInfo->addEdge(2, 3);
mConvexMeshShapeEdgesInfo->addEdge(0, 3);
mConvexMeshShapeEdgesInfo->addEdge(4, 5);
mConvexMeshShapeEdgesInfo->addEdge(5, 6);
mConvexMeshShapeEdgesInfo->addEdge(6, 7);
mConvexMeshShapeEdgesInfo->addEdge(4, 7);
mConvexMeshShapeEdgesInfo->addEdge(0, 4);
mConvexMeshShapeEdgesInfo->addEdge(1, 5);
mConvexMeshShapeEdgesInfo->addEdge(2, 6);
mConvexMeshShapeEdgesInfo->addEdge(3, 7);
mConvexMeshShapeEdgesInfo->setIsEdgesInformationUsed(true);
mConvexMeshProxyShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
mConvexMeshShapeEdgesInfo,
mShapeTransform);
*/
mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 1; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 3;
mPolyhedronIndices[4] = 1; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 2;
mPolyhedronIndices[8] = 0; mPolyhedronIndices[9] = 4; mPolyhedronIndices[10] = 5; mPolyhedronIndices[11] = 1;
mPolyhedronIndices[12] = 0; mPolyhedronIndices[13] = 3; mPolyhedronIndices[14] = 7; mPolyhedronIndices[15] = 4;
mPolyhedronIndices[16] = 3; mPolyhedronIndices[17] = 2; mPolyhedronIndices[18] = 6; mPolyhedronIndices[19] = 7;
mPolyhedronIndices[20] = 2; mPolyhedronIndices[21] = 5; mPolyhedronIndices[22] = 4; mPolyhedronIndices[23] = 7;
// Polygon faces descriptions for the polyhedron
for (int f=0; f < 8; f++) {
PolygonVertexArray::PolygonFace& face = mPolygonFaces[f];
face.indexBase = f * 4;
face.nbVertices = 4;
}
// Create the polygon vertex array
mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, sizeof(Vector3),
mPolyhedronIndices, sizeof(int), 6, mPolygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
mPolyhedronMesh = new PolyhedronMesh(mPolygonVertexArray);
mConvexMeshShape = new ConvexMeshShape(mPolyhedronMesh);
mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
// Compound shape is a cylinder and a sphere
Vector3 positionShape2(Vector3(4, 2, -3));
@ -300,8 +297,7 @@ class TestRaycast : public Test {
mBoxProxyShape->setCollisionCategoryBits(CATEGORY1);
mSphereProxyShape->setCollisionCategoryBits(CATEGORY1);
mCapsuleProxyShape->setCollisionCategoryBits(CATEGORY1);
//mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
//mConvexMeshProxyShapeEdgesInfo->setCollisionCategoryBits(CATEGORY2);
mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2);
mCompoundCapsuleProxyShape->setCollisionCategoryBits(CATEGORY2);
mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1);
@ -314,13 +310,15 @@ class TestRaycast : public Test {
delete mBoxShape;
delete mSphereShape;
delete mCapsuleShape;
//delete mConvexMeshShape;
//delete mConvexMeshShapeEdgesInfo;
delete mConvexMeshShape;
delete mTriangleShape;
delete mConcaveMeshShape;
delete mHeightFieldShape;
delete mConcaveMeshVertexArray;
delete mPolygonVertexArray;
delete mPolyhedronMesh;
}
/// Run the tests
@ -1299,7 +1297,6 @@ class TestRaycast : public Test {
/// CollisionWorld::raycast() methods.
void testConvexMesh() {
/*
// ----- Test feedback data ----- //
Vector3 point1 = mLocalShapeToWorld * Vector3(1 , 2, 6);
Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
@ -1339,16 +1336,6 @@ class TestRaycast : public Test {
test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
// ProxyCollisionShape::raycast()
RaycastInfo raycastInfo3;
test(mConvexMeshBodyEdgesInfo->raycast(ray, raycastInfo3));
test(raycastInfo3.body == mConvexMeshBodyEdgesInfo);
test(raycastInfo3.proxyShape == mConvexMeshProxyShapeEdgesInfo);
test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
// ProxyCollisionShape::raycast()
RaycastInfo raycastInfo4;
test(mConvexMeshProxyShape->raycast(ray, raycastInfo4));
@ -1359,16 +1346,6 @@ class TestRaycast : public Test {
test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon));
// ProxyCollisionShape::raycast()
RaycastInfo raycastInfo5;
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray, raycastInfo5));
test(raycastInfo5.body == mConvexMeshBodyEdgesInfo);
test(raycastInfo5.proxyShape == mConvexMeshProxyShapeEdgesInfo);
test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon));
test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon));
test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon));
test(approxEqual(raycastInfo5.worldPoint.z, hitPoint.z, epsilon));
Ray ray1(mLocalShapeToWorld * Vector3(0, 0, 0), mLocalShapeToWorld * Vector3(5, 7, -1));
Ray ray2(mLocalShapeToWorld * Vector3(5, 11, 7), mLocalShapeToWorld * Vector3(17, 29, 28));
Ray ray3(mLocalShapeToWorld * Vector3(1, 2, 3), mLocalShapeToWorld * Vector3(-11, 2, 24));
@ -1387,10 +1364,9 @@ class TestRaycast : public Test {
Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30));
// ----- Test raycast miss ----- //
RaycastInfo raycastInfo3;
test(!mConvexMeshBody->raycast(ray1, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray1, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray1, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray1, &mCallback);
test(!mCallback.isHit);
@ -1402,73 +1378,55 @@ class TestRaycast : public Test {
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray2, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray2, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray2, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray2, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray2, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray3, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray3, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray3, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray3, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray3, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray4, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray4, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray4, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray4, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray4, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray5, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray5, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray5, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray5, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray5, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray6, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray6, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray6, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray6, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray6, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray7, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray7, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray7, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray7, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray7, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray8, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray8, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray8, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray8, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray8, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray9, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray9, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray9, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray9, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray9, &mCallback);
test(!mCallback.isHit);
test(!mConvexMeshBody->raycast(ray10, raycastInfo3));
test(!mConvexMeshBodyEdgesInfo->raycast(ray10, raycastInfo3));
test(!mConvexMeshProxyShape->raycast(ray10, raycastInfo3));
test(!mConvexMeshProxyShapeEdgesInfo->raycast(ray10, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray10, &mCallback);
test(!mCallback.isHit);
@ -1494,10 +1452,8 @@ class TestRaycast : public Test {
// ----- Test raycast hits ----- //
test(mConvexMeshBody->raycast(ray11, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray11, raycastInfo3));
test(mConvexMeshProxyShape->raycast(ray11, raycastInfo3));
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray11, raycastInfo3));
mCallback.reset();
mCallback.reset();
mWorld->raycast(ray11, &mCallback);
test(mCallback.isHit);
mCallback.reset();
@ -1505,9 +1461,7 @@ class TestRaycast : public Test {
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray12, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray12, raycastInfo3));
test(mConvexMeshProxyShape->raycast(ray12, raycastInfo3));
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray12, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray12, &mCallback);
test(mCallback.isHit);
@ -1516,9 +1470,7 @@ class TestRaycast : public Test {
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray13, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray13, raycastInfo3));
test(mConvexMeshProxyShape->raycast(ray13, raycastInfo3));
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray13, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray13, &mCallback);
test(mCallback.isHit);
@ -1527,9 +1479,7 @@ class TestRaycast : public Test {
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray14, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray14, raycastInfo3));
test(mConvexMeshProxyShape->raycast(ray14, raycastInfo3));
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray14, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray14, &mCallback);
test(mCallback.isHit);
@ -1538,9 +1488,7 @@ class TestRaycast : public Test {
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray15, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray15, raycastInfo3));
test(mConvexMeshProxyShape->raycast(ray15, raycastInfo3));
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray15, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray15, &mCallback);
test(mCallback.isHit);
@ -1549,16 +1497,13 @@ class TestRaycast : public Test {
test(mCallback.isHit);
test(mConvexMeshBody->raycast(ray16, raycastInfo3));
test(mConvexMeshBodyEdgesInfo->raycast(ray16, raycastInfo3));
test(mConvexMeshProxyShape->raycast(ray16, raycastInfo3));
test(mConvexMeshProxyShapeEdgesInfo->raycast(ray16, raycastInfo3));
mCallback.reset();
mWorld->raycast(ray16, &mCallback);
test(mCallback.isHit);
mCallback.reset();
mWorld->raycast(Ray(ray16.point1, ray16.point2, decimal(0.8)), &mCallback);
test(mCallback.isHit);
*/
}
/// Test the CollisionBody::raycast() and

7
testbed/common/ConvexMesh.cpp
View File

@ -40,13 +40,6 @@ ConvexMesh::ConvexMesh(const openglframework::Vector3 &position,
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4::identity();
// Vertex and Indices array for the triangle mesh (data in shared and not copied)
/*mPolygonVertexArray =
new rp3d::TriangleVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
getNbFaces(0), &(mIndices[0][0]), sizeof(int),
rp3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
rp3d::TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);*/
// Polygon faces descriptions for the polyhedron
mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;