Commit 707d2a01 authored by Kelvin Rodriguez's avatar Kelvin Rodriguez Committed by Jesse Mapel
Browse files

Multisegment DSK support for Bullet engine (#2791) 

* Merged multisegment DSKs for Bullet

* basic tests

* removed original tests
parent 776a65e3

isis/src/base/objs/BulletDskShape/BulletDskShape.cpp

+102 −88
Original line number Diff line number Diff line
@@ -157,12 +157,7 @@ namespace Isis { 
  void BulletDskShape::loadFromDsk(const QString &dskfile) {



    /** NAIF DSK parameter setup   */

    SpiceInt      v_handle;   //!< The DAS file handle of the DSK file.

    SpiceDLADescr v_dladsc;   /**< The DLA descriptor of the DSK segment representing the 

                                   target surface.*/

    SpiceDSKDescr v_dskdsc;   //!< The DSK descriptor.

    SpiceInt      v_plates;   //!< Number of Plates in the model.

    SpiceInt      v_vertices; //!< Number of vertices defining the plate.

    SpiceInt                   handle;   //!< The DAS file handle of the DSK file.



    // Sanity check

    FileName dskFile(dskfile);
@@ -172,65 +167,84 @@ namespace Isis { 
    }



    // Open the NAIF Digital Shape Kernel (DSK)

    dasopr_c( dskFile.expanded().toLatin1().data(), &v_handle );

    dasopr_c( dskFile.expanded().toLatin1().data(), &handle );

    NaifStatus::CheckErrors();



    // Search to the first DLA segment

    SpiceBoolean  found;

    dlabfs_c( v_handle, &v_dladsc, &found );

    SpiceDLADescr segment;

    dlabfs_c( handle, &segment, &found );

    NaifStatus::CheckErrors();

    if ( !found ) {

      QString mess = "No segments found in DSK file " + dskfile ;

      throw IException(IException::User, mess, _FILEINFO_);

    }



    dskgd_c( v_handle, &v_dladsc, &v_dskdsc );

    NaifStatus::CheckErrors();

    std::vector<SpiceDLADescr> segments;

    segments.push_back(segment);



    // Get size/counts

    dskz02_c( v_handle, &v_dladsc, &v_vertices, &v_plates );

    // Iterate until you find no more segments.

    while(found) {

      dlafns_c(handle, &segments.back(), &segment, &found);

      NaifStatus::CheckErrors();



      segments.push_back(segment);

    }



    // dskgd_c( v_handle, &v_dladsc, &v_dskdsc );

    // NaifStatus::CheckErrors();



    // Now allocate a new indexed mesh to contain all the DSK data

    btIndexedMesh i_mesh;

    m_mesh.reset( new btTriangleIndexVertexArray());



    for (size_t i = 0; i < segments.size(); i++) {

      SpiceInt nplates;

      SpiceInt nvertices;



      btIndexedMesh i_mesh;



      // Get size/counts

      dskz02_c( handle, &segments[i], &nvertices, &nplates);

      NaifStatus::CheckErrors();



      m_mesh->addIndexedMesh(i_mesh, PHY_INTEGER);



      // Get internal mesh reference and set parameters appropriately

    btIndexedMesh &v_mesh = m_mesh->getIndexedMeshArray()[0];

      btIndexedMesh &v_mesh = m_mesh->getIndexedMeshArray()[i];

      v_mesh.m_vertexType = PHY_DOUBLE;



      // Set and allocate data for triangle indexes

    v_mesh.m_numTriangles = v_plates;

    v_mesh.m_triangleIndexBase = new unsigned char[v_plates * 3 * sizeof(int)];

      v_mesh.m_numTriangles = nplates;

      v_mesh.m_triangleIndexBase = new unsigned char[nplates * 3 * sizeof(int)];

      v_mesh.m_triangleIndexStride = (sizeof(int) * 3);



      // Set and allocate vertex data

    v_mesh.m_numVertices = v_vertices;

    v_mesh.m_vertexBase = new unsigned char[v_vertices * 3 * sizeof(double)];

      v_mesh.m_numVertices = nvertices;

      v_mesh.m_vertexBase = new unsigned char[nvertices * 3 * sizeof(double)];

      v_mesh.m_vertexStride = (sizeof(double) * 3);



      SpiceInt n;

    (void) dskv02_c(v_handle, &v_dladsc, 1, v_vertices, &n, 

      (void) dskv02_c(handle, &segments[i], 1, nvertices, &n,

                      ( SpiceDouble(*)[3] ) (v_mesh.m_vertexBase));

      NaifStatus::CheckErrors();



      // Read the indexes from the DSK

    (void) dskp02_c(v_handle, &v_dladsc, 1, v_plates, &n, 

      (void) dskp02_c(handle, &segments[i], 1, nplates, &n,

                      ( SpiceInt(*)[3] ) (v_mesh.m_triangleIndexBase));

      NaifStatus::CheckErrors();



    // Ok, close the DSK...

    dascls_c(v_handle);



      // Got to reset the vertex indexes to 0-based

      int *pindex = static_cast<int *> ((void *) v_mesh.m_triangleIndexBase);

    int nverts = v_plates * 3;

      int nverts = nplates * 3;

      for (int i = 0 ; i < nverts ; i++) {

        pindex[i] -= 1;

        btAssert ( pindex[i] >= 0 );

      btAssert ( pindex[i] < v_vertices );

        btAssert ( pindex[i] < nvertices );

      }

    }



    // Close DSK

    dascls_c(handle);



    bool useQuantizedAabbCompression = true;

    // bool useQuantizedAabbCompression = false;

isis/src/base/objs/BulletDskShape/BulletDskShape.truth

deleted100644 → 0
+0 −29
Original line number Diff line number Diff line 
Testing BulletDskShape





Testing default constructor



Target name:  ""

Maximum distance in kilometers:  0

btCollisionBody pointer is valid?  false

Number of triangles:  0

Number of vertices:  0





Testing DSK file constructor

Testing with  "$base/testData/hay_a_amica_5_itokawashape_v1_0_64q.bds" ...



Target name:  ""

Maximum distance in kilometers:  0.683956

btCollisionBody pointer is valid?  true

Number of triangles:  49152

Number of vertices:  25350



Vertices for triangle 0: ( -0.15153 ,  0.08183 ,  0.07523 )

                         ( -0.05653 ,  0.08832 ,  0.08776 )

                         ( 0.08183 ,  0.07523 ,  -0.14726 )

Normal for triangle 0: ( -0.00136126 ,  0.0240606 ,  -0.00214151 )





Testing loading non-existant file

**USER ERROR** NAIF DSK file [not_a_file] does not exist.

isis/src/base/objs/BulletDskShape/unitTest.cpp

deleted100644 → 0
+0 −90
Original line number Diff line number Diff line 
/**

 * @file

 *

 *   Unless noted otherwise, the portions of Isis written by the USGS are public

 *   domain. See individual third-party library and package descriptions for

 *   intellectual property information,user agreements, and related information.

 *

 *   Although Isis has been used by the USGS, no warranty, expressed or implied,

 *   is made by the USGS as to the accuracy and functioning of such software

 *   and related material nor shall the fact of distribution constitute any such

 *   warranty, and no responsibility is assumed by the USGS in connection

 *   therewith.

 *

 *   For additional information, launch

 *   $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see

 *   the Privacy &amp; Disclaimers page on the Isis website,

 *   http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on

 *   http://www.usgs.gov/privacy.html.

 */



#include <QDebug>



#include "BulletDskShape.h"

#include "IException.h"

#include "Preference.h"



using namespace Isis;



/**

 * Unit test for the BulletDskShape class

 */

int main(int argc, char *argv[]) {

  try {

    Preference::Preferences(true);



    qDebug() << "Testing BulletDskShape";

    qDebug() << endl;



    qDebug() << "Testing default constructor";

    qDebug() << "";

    BulletDskShape defaultDskShape;

    qDebug() << "Target name: " << defaultDskShape.name();

    qDebug() << "Maximum distance in kilometers: " << defaultDskShape.maximumDistance();

    qDebug() << "btCollisionBody pointer is valid? " << (bool) defaultDskShape.body();

    qDebug() << "Number of triangles: " << defaultDskShape.getNumTriangles();

    qDebug() << "Number of vertices: " << defaultDskShape.getNumVertices();

    qDebug() << endl;



    qDebug() << "Testing DSK file constructor";

    QString dskfile("$base/testData/hay_a_amica_5_itokawashape_v1_0_64q.bds");

    qDebug() << "Testing with " << dskfile << "...";

    qDebug() << "";

    BulletDskShape itokawaShape(dskfile);

    qDebug() << "Target name: " << itokawaShape.name();

    qDebug() << "Maximum distance in kilometers: " << itokawaShape.maximumDistance();

    qDebug() << "btCollisionBody pointer is valid? " << (bool) itokawaShape.body();

    qDebug() << "Number of triangles: " << itokawaShape.getNumTriangles();

    qDebug() << "Number of vertices: " << itokawaShape.getNumVertices();

    qDebug() << "";

    btMatrix3x3 triangle = itokawaShape.getTriangle(0);

    qDebug() << "Vertices for triangle 0: (" << triangle[0].x() << ", "

                                            << triangle[0].y() << ", "

                                            << triangle[0].z() << ")";

    qDebug() << "                         (" << triangle[1].x() << ", "

                                            << triangle[1].y() << ", "

                                            << triangle[1].z() << ")";

    qDebug() << "                         (" << triangle[2].x() << ", "

                                            << triangle[2].y() << ", "

                                            << triangle[2].z() << ")";

    btVector3 normal = itokawaShape.getNormal(0);

    qDebug() << "Normal for triangle 0: (" << normal.x() << ", "

                                          << normal.y() << ", "

                                          << normal.z() << ")";

    qDebug() << endl;



    qDebug() << "Testing loading non-existant file";

    try {

      BulletDskShape badShape("not_a_file");

    }

    catch (IException &e) {

      e.print();

    }

  }

  catch (IException &e) {

    qDebug() << "";

    qDebug() << "";

    QString msg = "**************** UNIT TEST FAILED! **************** ";

    IException(e, IException::Unknown, msg, _FILEINFO_).print();

  }

}

isis/tests/BulletDskShapeTests.cpp

0 → 100644
+65 −0
Original line number Diff line number Diff line 
#include "BulletDskShape.h"

#include "IException.h"

#include "SpecialPixel.h"



#include <gtest/gtest.h>



using namespace Isis;



TEST(BulletDskShapeTests, DefaultConstructor) {

  BulletDskShape defaultDskShape;

  EXPECT_EQ(defaultDskShape.name(), "");

  EXPECT_FALSE((bool) defaultDskShape.body());

  EXPECT_EQ(defaultDskShape.getNumTriangles(), 0);

  EXPECT_EQ(defaultDskShape.getNumVertices(), 0);

}



TEST(BulletDskShapeTests, SingleSegment) {

  QString dskfile("$base/testData/hay_a_amica_5_itokawashape_v1_0_64q.bds");



  BulletDskShape itokawaShape(dskfile);

  EXPECT_EQ(itokawaShape.name(), "");

  EXPECT_DOUBLE_EQ(itokawaShape.maximumDistance(), 0.68395571742620886);

  EXPECT_TRUE((bool) itokawaShape.body());

  EXPECT_EQ(itokawaShape.getNumTriangles(), 49152);

  EXPECT_EQ(itokawaShape.getNumVertices(), 25350);



  btMatrix3x3 truthTriangle(-0.15153, 0.08183, 0.07523,

                            -0.05653, 0.08832, 0.08776,

                             0.08183, 0.07523, -0.14726);

  btMatrix3x3 triangle = itokawaShape.getTriangle(0);

  EXPECT_TRUE(triangle == truthTriangle);



  btVector3 truthNormal(-0.0013612620999999992,

                         0.024060550800000004,

                        -0.0021415063999999989);

  btVector3 normal = itokawaShape.getNormal(0);

  EXPECT_TRUE(normal == truthNormal);

}



TEST(BulletDskShapeTests, BadFile) {

  EXPECT_THROW(BulletDskShape("not_a_file"), IException);

}





TEST(BulletDskShapeTests, MutiSegment) {

  QString dskfile("$base/testData/test_shape.bds");



  BulletDskShape multiseg(dskfile);

  EXPECT_EQ(multiseg.name(), "");

  EXPECT_DOUBLE_EQ(multiseg.maximumDistance(), 7.3484692283495345);

  EXPECT_TRUE((bool) multiseg.body());

  EXPECT_EQ(multiseg.getNumTriangles(), 14);

  EXPECT_EQ(multiseg.getNumVertices(), 13);



  btMatrix3x3 truthTriangle(0, 0, 6,

                            0, 6, 1,

                            0, 5, 2);

  btMatrix3x3 triangle = multiseg.getTriangle(0);

  EXPECT_TRUE(triangle == truthTriangle);





  btVector3 truthNormal(1, 0, 0);

  btVector3 normal = multiseg.getNormal(0);

  EXPECT_TRUE(normal == truthNormal);

}