/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) The GNU Lesser General Public License as published by the Free * * Software Foundation; either version 2.1 of the License, or (at * * your option) any later version. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ /* testing procedure: * create a bunch of random boxes * test for intersections directly, put results in n^2 array * get space to report collisions: - all correct collisions reported - no pair reported more than once - no incorrect collisions reported */ #include #include #ifdef _MSC_VER #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints #endif // select correct drawing functions #ifdef dDOUBLE #define dsDrawBox dsDrawBoxD #define dsDrawSphere dsDrawSphereD #define dsDrawCylinder dsDrawCylinderD #define dsDrawCapsule dsDrawCapsuleD #endif // some constants #define NUM 20 // number of boxes to test // collision objects and globals static dSpaceID space; static dGeomID geom[NUM]; static dReal bounds[NUM][6]; static size_t good_matrix[NUM][NUM]; // correct collision matrix static size_t test_matrix[NUM][NUM]; // testing collision matrix static size_t hits[NUM]; // number of collisions a box has static unsigned long seed=37; static void init_test() { int i,j; const dReal scale = 0.5; // set random boxes dRandSetSeed (seed); for (i=0; i < NUM; i++) { bounds[i][0] = dRandReal()*2-1; bounds[i][1] = bounds[i][0] + dRandReal()*scale; bounds[i][2] = dRandReal()*2-1; bounds[i][3] = bounds[i][2] + dRandReal()*scale; bounds[i][4] = dRandReal()*2; bounds[i][5] = bounds[i][4] + dRandReal()*scale; if (geom[i]) dGeomDestroy (geom[i]); geom[i] = dCreateBox (space, bounds[i][1] - bounds[i][0], bounds[i][3] - bounds[i][2], bounds[i][5] - bounds[i][4]); dGeomSetPosition (geom[i], (bounds[i][0] + bounds[i][1])*0.5, (bounds[i][2] + bounds[i][3])*0.5, (bounds[i][4] + bounds[i][5])*0.5); dGeomSetData (geom[i],(void*)(size_t)(i)); } // compute all intersections and put the results in "good_matrix" for (i=0; i < NUM; i++) { for (j=0; j < NUM; j++) good_matrix[i][j] = 0; } for (i=0; i < NUM; i++) hits[i] = 0; for (i=0; i < NUM; i++) { for (j=i+1; j < NUM; j++) { dReal *bounds1 = &bounds[i][0]; dReal *bounds2 = &bounds[j][0]; if (bounds1[0] > bounds2[1] || bounds1[1] < bounds2[0] || bounds1[2] > bounds2[3] || bounds1[3] < bounds2[2] || bounds1[4] > bounds2[5] || bounds1[5] < bounds2[4]) continue; good_matrix[i][j] = 1; good_matrix[j][i] = 1; hits[i]++; hits[j]++; } } } // this is called by dSpaceCollide when two objects in space are // potentially colliding. static void nearCallback (void *data, dGeomID o1, dGeomID o2) { size_t i,j; i = (size_t) dGeomGetData (o1); j = (size_t) dGeomGetData (o2); if (i==j) printf ("collision (%d,%d) is between the same object\n",i,j); if (!good_matrix[i][j] || !good_matrix[j][i]) printf ("collision (%d,%d) is incorrect\n",i,j); if (test_matrix[i][j] || test_matrix[j][i]) printf ("collision (%d,%d) reported more than once\n",i,j); test_matrix[i][j] = 1; test_matrix[j][i] = 1; } // start simulation - set viewpoint static void start() { static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; dsSetViewpoint (xyz,hpr); } static void command (int cmd) { if (cmd == ' ') { seed++; init_test(); } } // simulation loop static void simLoop (int pause) { int i,j; for (i=0; i < NUM; i++) { for (j=0; j < NUM; j++) test_matrix[i][j] = 0; } dSpaceCollide (space,0,&nearCallback); for (i=0; i < NUM; i++) { for (j=i+1; j < NUM; j++) { if (good_matrix[i][j] && !test_matrix[i][j]) { printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed); } } } seed++; init_test(); for (i=0; i 0) dsSetColor (1,0,0); else dsSetColor (1,1,0); dsDrawBox (pos,R,side); } } int main (int argc, char **argv) { int i; // setup pointers to drawstuff callback functions dsFunctions fn; fn.version = DS_VERSION; fn.start = &start; fn.step = &simLoop; fn.command = &command; fn.stop = 0; fn.path_to_textures = "../../drawstuff/textures"; if(argc==2) { fn.path_to_textures = argv[1]; } dInitODE(); // test the simple space: // space = dSimpleSpaceCreate(); // test the hash space: // space = dHashSpaceCreate (0); // dHashSpaceSetLevels (space,-10,10); // test the quadtree space dVector3 Center = {0, 0, 0, 0}; dVector3 Extents = {10, 0, 10, 0}; space = dQuadTreeSpaceCreate(0, Center, Extents, 7); for (i=0; i < NUM; i++) geom[i] = 0; init_test(); // run simulation dsSimulationLoop (argc,argv,352,288,&fn); dSpaceDestroy (space); dCloseODE(); return 0; }