mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-06-08 08:13:49 +00:00
Added unit tests file to match RecastRasterization.cpp. Moved rcAddSpan tests there.
Also added a bunch of new tests that should cover most cases. The test that checks invalid spans is currently failing
This commit is contained in:
Graham Pentheny
@@ -22,6 +22,7 @@ target_sources(Tests PRIVATE
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Recast/Tests_Alloc.cpp
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Recast/Tests_Recast.cpp
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Recast/Tests_RecastFilter.cpp
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Recast/Tests_RecastRasterization.cpp
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)
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target_link_libraries(Tests PRIVATE Recast Detour DetourCrowd)
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@@ -511,94 +511,6 @@ TEST_CASE("rcClearUnwalkableTriangles", "[recast]")
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}
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}
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TEST_CASE("rcAddSpan", "[recast]")
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{
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rcContext ctx(false);
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float verts[] = {
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1, 2, 3,
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0, 2, 6
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};
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float bmin[3];
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float bmax[3];
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rcCalcBounds(verts, 2, bmin, bmax);
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float cellSize = 1.5f;
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float cellHeight = 2;
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int width;
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int height;
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rcCalcGridSize(bmin, bmax, cellSize, &width, &height);
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rcHeightfield hf;
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REQUIRE(rcCreateHeightfield(&ctx, hf, width, height, bmin, bmax, cellSize, cellHeight));
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int x = 0;
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int y = 0;
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unsigned short smin = 0;
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unsigned short smax = 1;
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unsigned char area = 42;
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int flagMergeThr = 1;
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SECTION("Add a span to an empty heightfield.")
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{
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bool result = rcAddSpan(&ctx, hf, x, y, smin, smax, area, flagMergeThr);
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REQUIRE(result);
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REQUIRE(hf.spans[0] != 0);
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REQUIRE(hf.spans[0]->smin == smin);
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REQUIRE(hf.spans[0]->smax == smax);
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REQUIRE(hf.spans[0]->area == area);
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}
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SECTION("Add a span that gets merged with an existing span.")
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{
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bool result = rcAddSpan(&ctx, hf, x, y, smin, smax, area, flagMergeThr);
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REQUIRE(result);
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REQUIRE(hf.spans[0] != 0);
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REQUIRE(hf.spans[0]->smin == smin);
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REQUIRE(hf.spans[0]->smax == smax);
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REQUIRE(hf.spans[0]->area == area);
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smin = 1;
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smax = 2;
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result = rcAddSpan(&ctx, hf, x, y, smin, smax, area, flagMergeThr);
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REQUIRE(result);
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REQUIRE(hf.spans[0] != 0);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 2);
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REQUIRE(hf.spans[0]->area == area);
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}
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SECTION("Add a span that merges with two spans above and below.")
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{
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smin = 0;
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smax = 1;
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REQUIRE(rcAddSpan(&ctx, hf, x, y, smin, smax, area, flagMergeThr));
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REQUIRE(hf.spans[0] != 0);
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REQUIRE(hf.spans[0]->smin == smin);
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REQUIRE(hf.spans[0]->smax == smax);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == 0);
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smin = 2;
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smax = 3;
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REQUIRE(rcAddSpan(&ctx, hf, x, y, smin, smax, area, flagMergeThr));
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REQUIRE(hf.spans[0]->next != 0);
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REQUIRE(hf.spans[0]->next->smin == smin);
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REQUIRE(hf.spans[0]->next->smax == smax);
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REQUIRE(hf.spans[0]->next->area == area);
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smin = 1;
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smax = 2;
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REQUIRE(rcAddSpan(&ctx, hf, x, y, smin, smax, area, flagMergeThr));
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REQUIRE(hf.spans[0] != 0);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 3);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == 0);
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}
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}
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TEST_CASE("rcRasterizeTriangle", "[recast]")
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{
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195
Tests/Recast/Tests_RecastRasterization.cpp
Normal file
195
Tests/Recast/Tests_RecastRasterization.cpp
Normal file
@@ -0,0 +1,195 @@
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#include "Recast.h"
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#include "catch2/catch_amalgamated.hpp"
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TEST_CASE("rcAddSpan", "[recast][rasterization]")
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{
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rcContext ctx(false);
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constexpr int xSize = 4;
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constexpr int ySize = 10;
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constexpr int zSize = 4;
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constexpr float cellSize = 1.0f;
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constexpr float cellHeight = 2.0f;
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constexpr float minBounds[3] {0.0f, 0.0f, 0.0f};
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constexpr float maxBounds[3] {cellSize * xSize, cellHeight * ySize, cellSize * zSize};
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rcHeightfield hf;
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REQUIRE(rcCreateHeightfield(&ctx, hf, xSize, zSize, minBounds, maxBounds, cellSize, cellHeight));
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constexpr unsigned char area = 42;
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constexpr int flagMergeThr = 1;
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SECTION("Add a span to an empty heightfield.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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SECTION("Adding invalid or zero-size spans does nothing.")
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{
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// min == max
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 0, area, flagMergeThr));
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REQUIRE(hf.spans[0] == nullptr);
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// min > maxs
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 1, 0, area, flagMergeThr));
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REQUIRE(hf.spans[0] == nullptr);
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}
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SECTION("Two spans that are not touching are not merged.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 2, 3, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->next != nullptr);
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REQUIRE(hf.spans[0]->next->smin == 2);
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REQUIRE(hf.spans[0]->next->smax == 3);
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REQUIRE(hf.spans[0]->next->area == area);
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REQUIRE(hf.spans[0]->next->next == nullptr);
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}
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SECTION("Two spans with different area ids within the flag merge threshold are merged and the highest area ID is used.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, 42, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == 42);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 1, 2, 24, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 2);
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REQUIRE(hf.spans[0]->area == 42); // Higher area ID takes precedent
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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SECTION("Two spans with different area ids outside the flag merge threshold are merged and the area ID of the last span added is used.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, 42, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == 42);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 1, 8, 24, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 8);
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REQUIRE(hf.spans[0]->area == 24); // Area ID of the last-added span takes precedent
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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SECTION("Add a span that gets merged with an existing span.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 1, 2, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 2);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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SECTION("Add a span that merges with two spans above and below.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 2, 3, area, flagMergeThr));
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REQUIRE(hf.spans[0]->next != nullptr);
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REQUIRE(hf.spans[0]->next->smin == 2);
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REQUIRE(hf.spans[0]->next->smax == 3);
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REQUIRE(hf.spans[0]->next->area == area);
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REQUIRE(hf.spans[0]->next->next == nullptr);
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// After adding the third span, they should all get merged into a single span.
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 1, 2, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 3);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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SECTION("Spans are insertion-sorted in ascending order of Y value.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 2, 3, area, flagMergeThr));
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 1, area, flagMergeThr));
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 6, 7, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 1);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next != nullptr);
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REQUIRE(hf.spans[0]->next->smin == 2);
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REQUIRE(hf.spans[0]->next->smax == 3);
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REQUIRE(hf.spans[0]->next->area == area);
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REQUIRE(hf.spans[0]->next->next != nullptr);
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REQUIRE(hf.spans[0]->next->next->smin == 6);
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REQUIRE(hf.spans[0]->next->next->smax == 7);
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REQUIRE(hf.spans[0]->next->next->area == area);
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REQUIRE(hf.spans[0]->next->next->next == nullptr);
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}
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SECTION("Adding a span inside another span merges them.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 8, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 8);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 2, 3, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 8);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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SECTION("Overlapping spans are merged.")
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{
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 0, 4, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 4);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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REQUIRE(rcAddSpan(&ctx, hf, 0, 0, 2, 6, area, flagMergeThr));
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REQUIRE(hf.spans[0] != nullptr);
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REQUIRE(hf.spans[0]->smin == 0);
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REQUIRE(hf.spans[0]->smax == 6);
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REQUIRE(hf.spans[0]->area == area);
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REQUIRE(hf.spans[0]->next == nullptr);
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}
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}
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