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Some unit tests for heightfield filtering functions (#682)

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This adds some unit tests for the functions in RecastFilter.cpp, and updates docs around these functions. This also splits up the Tests_Recast.cpp file into a few smaller, more focused files.
This commit is contained in:
Graham Pentheny
2023-12-31 14:55:41 -05:00
committed by GitHub
parent 3e94c3b6fc
commit fc18ed8194
6 changed files with 872 additions and 467 deletions
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32
Recast/Source/RecastFilter.cpp
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@@ -21,6 +21,11 @@
#include <stdlib.h>
namespace
{
const int MAX_HEIGHTFIELD_HEIGHT = 0xffff; // TODO (graham): Move this to a more visible constant and update usages.
}
void rcFilterLowHangingWalkableObstacles(rcContext* context, const int walkableClimb, rcHeightfield& heightfield)
{
rcAssert(context);
@@ -59,8 +64,7 @@ void rcFilterLowHangingWalkableObstacles(rcContext* context, const int walkableC
}
}
void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int walkableClimb,
rcHeightfield& heightfield)
void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int walkableClimb, rcHeightfield& heightfield)
{
rcAssert(context);
@@ -68,7 +72,6 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
const int xSize = heightfield.width;
const int zSize = heightfield.height;
const int MAX_HEIGHT = 0xffff; // TODO (graham): Move this to a more visible constant and update usages.
// Mark border spans.
for (int z = 0; z < zSize; ++z)
@@ -84,10 +87,10 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
}
const int bot = (int)(span->smax);
const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHTFIELD_HEIGHT;
// Find neighbours minimum height.
int minNeighborHeight = MAX_HEIGHT;
int minNeighborHeight = MAX_HEIGHTFIELD_HEIGHT;
// Min and max height of accessible neighbours.
int accessibleNeighborMinHeight = span->smax;
@@ -106,7 +109,7 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
// From minus infinity to the first span.
const rcSpan* neighborSpan = heightfield.spans[dx + dz * xSize];
int neighborTop = neighborSpan ? (int)neighborSpan->smin : MAX_HEIGHT;
int neighborTop = neighborSpan ? (int)neighborSpan->smin : MAX_HEIGHTFIELD_HEIGHT;
// Skip neighbour if the gap between the spans is too small.
if (rcMin(top, neighborTop) - bot >= walkableHeight)
@@ -119,7 +122,7 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
for (neighborSpan = heightfield.spans[dx + dz * xSize]; neighborSpan; neighborSpan = neighborSpan->next)
{
int neighborBot = (int)neighborSpan->smax;
neighborTop = neighborSpan->next ? (int)neighborSpan->next->smin : MAX_HEIGHT;
neighborTop = neighborSpan->next ? (int)neighborSpan->next->smin : MAX_HEIGHTFIELD_HEIGHT;
// Skip neighbour if the gap between the spans is too small.
if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) >= walkableHeight)
@@ -137,19 +140,16 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
{
break;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
// The current span is close to a ledge if the drop to any neighbour span is less than the walkableClimb.
if (minNeighborHeight < -walkableClimb)
{
span->area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
// If the difference between all neighbours is too large, we are at steep slope, mark the span as ledge.
else if ((accessibleNeighborMaxHeight - accessibleNeighborMinHeight) > walkableClimb)
{
span->area = RC_NULL_AREA;
@@ -162,13 +162,11 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
void rcFilterWalkableLowHeightSpans(rcContext* context, const int walkableHeight, rcHeightfield& heightfield)
{
rcAssert(context);
rcScopedTimer timer(context, RC_TIMER_FILTER_WALKABLE);
const int xSize = heightfield.width;
const int zSize = heightfield.height;
const int MAX_HEIGHT = 0xffff;
// Remove walkable flag from spans which do not have enough
// space above them for the agent to stand there.
for (int z = 0; z < zSize; ++z)
@@ -178,7 +176,7 @@ void rcFilterWalkableLowHeightSpans(rcContext* context, const int walkableHeight
for (rcSpan* span = heightfield.spans[x + z*xSize]; span; span = span->next)
{
const int bot = (int)(span->smax);
const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHTFIELD_HEIGHT;
if ((top - bot) < walkableHeight)
{
span->area = RC_NULL_AREA;