bool VoxelmapTest::runTest()
{
std::vector<bool> testResults;
{
{
// Basic Test, simple grid.
std::vector<float> boxVert;
std::vector<size_t> boxInd;
makeBoxVertexIndices(Vector3(1.2f), Vector3(0.0f), boxVert, boxInd);
float voxelWidth = 1.0f; // With box size 1.2f, we should have center voxel empty, but immediately surrounded voxels full.
{
VoxelGrid* resultGrid = VoxelGridFactory::generateVoxelGridFromMesh((const float*)&boxVert[0], boxVert.size() / 3, &boxInd[0], boxInd.size() / 3, voxelWidth);
int numVoxels = resultGrid->numVoxels();
bool hasCorrectNumEntries = numVoxels == 26; //27 - 1 [This test is set up so that the central box is empty]
assert(hasCorrectNumEntries);
testResults.push_back(hasCorrectNumEntries);
}
{
// Add another box around 4.0, 4.0, 4.0
makeBoxVertexIndices(Vector3(1.2f), Vector3(4.0f), boxVert, boxInd);
VoxelGrid* resultGrid = VoxelGridFactory::generateVoxelGridFromMesh((const float*)&boxVert[0], boxVert.size() / 3, &boxInd[0], boxInd.size() / 3, voxelWidth);
int numVoxels = resultGrid->numVoxels();
bool hasCorrectNumEntries = numVoxels == 52; //27 - 1 [This test is set up so that the central box is empty]
assert(hasCorrectNumEntries);
testResults.push_back(hasCorrectNumEntries);
}
}
{
// Finer grid test
// Basic Test, simple grid.
std::vector<float> boxVert;
std::vector<size_t> boxInd;
makeBoxVertexIndices(Vector3(1.2f), Vector3(0.0f), boxVert, boxInd);
float voxelWidth = 0.2f; // With box size 1.2f, we should have center voxel empty, but immediately surrounded voxels full.
{
VoxelGrid* resultGrid = VoxelGridFactory::generateVoxelGridFromMesh((const float*)&boxVert[0], boxVert.size() / 3, &boxInd[0], boxInd.size() / 3, voxelWidth);
int numVoxels = resultGrid->numVoxels();
bool hasCorrectNumEntries = numVoxels == 7 * 7 * 7 - 5 * 5 * 5;
assert(hasCorrectNumEntries);
testResults.push_back(hasCorrectNumEntries);
}
}
}
for (auto testResult : testResults)
{
if (!testResult)
{
return false;
}
}
return true;
}
