1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | /* |
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24 | |
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25 | testing procedure: |
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26 | * create a bunch of random boxes |
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27 | * test for intersections directly, put results in n^2 array |
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28 | * get space to report collisions: |
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29 | - all correct collisions reported |
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30 | - no pair reported more than once |
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31 | - no incorrect collisions reported |
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32 | |
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33 | */ |
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34 | |
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35 | |
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36 | #include <ode/ode.h> |
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37 | #include <drawstuff/drawstuff.h> |
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38 | |
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39 | #ifdef _MSC_VER |
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40 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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41 | #endif |
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42 | |
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43 | // select correct drawing functions |
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44 | |
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45 | #ifdef dDOUBLE |
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46 | #define dsDrawBox dsDrawBoxD |
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47 | #define dsDrawSphere dsDrawSphereD |
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48 | #define dsDrawCylinder dsDrawCylinderD |
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49 | #define dsDrawCapsule dsDrawCapsuleD |
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50 | #endif |
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51 | |
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52 | |
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53 | // some constants |
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54 | |
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55 | #define NUM 20 // number of boxes to test |
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56 | |
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57 | |
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58 | // collision objects and globals |
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59 | |
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60 | static dSpaceID space; |
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61 | static dGeomID geom[NUM]; |
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62 | static dReal bounds[NUM][6]; |
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63 | static size_t good_matrix[NUM][NUM]; // correct collision matrix |
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64 | static size_t test_matrix[NUM][NUM]; // testing collision matrix |
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65 | static size_t hits[NUM]; // number of collisions a box has |
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66 | static unsigned long seed=37; |
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67 | |
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68 | |
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69 | static void init_test() |
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70 | { |
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71 | int i,j; |
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72 | const dReal scale = 0.5; |
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73 | |
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74 | // set random boxes |
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75 | dRandSetSeed (seed); |
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76 | for (i=0; i < NUM; i++) { |
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77 | bounds[i][0] = dRandReal()*2-1; |
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78 | bounds[i][1] = bounds[i][0] + dRandReal()*scale; |
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79 | bounds[i][2] = dRandReal()*2-1; |
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80 | bounds[i][3] = bounds[i][2] + dRandReal()*scale; |
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81 | bounds[i][4] = dRandReal()*2; |
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82 | bounds[i][5] = bounds[i][4] + dRandReal()*scale; |
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83 | |
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84 | if (geom[i]) dGeomDestroy (geom[i]); |
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85 | geom[i] = dCreateBox (space, |
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86 | bounds[i][1] - bounds[i][0], |
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87 | bounds[i][3] - bounds[i][2], |
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88 | bounds[i][5] - bounds[i][4]); |
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89 | dGeomSetPosition (geom[i], |
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90 | (bounds[i][0] + bounds[i][1])*0.5, |
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91 | (bounds[i][2] + bounds[i][3])*0.5, |
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92 | (bounds[i][4] + bounds[i][5])*0.5); |
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93 | dGeomSetData (geom[i],(void*)(size_t)(i)); |
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94 | } |
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95 | |
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96 | // compute all intersections and put the results in "good_matrix" |
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97 | for (i=0; i < NUM; i++) { |
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98 | for (j=0; j < NUM; j++) good_matrix[i][j] = 0; |
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99 | } |
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100 | for (i=0; i < NUM; i++) hits[i] = 0; |
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101 | |
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102 | for (i=0; i < NUM; i++) { |
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103 | for (j=i+1; j < NUM; j++) { |
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104 | dReal *bounds1 = &bounds[i][0]; |
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105 | dReal *bounds2 = &bounds[j][0]; |
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106 | if (bounds1[0] > bounds2[1] || |
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107 | bounds1[1] < bounds2[0] || |
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108 | bounds1[2] > bounds2[3] || |
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109 | bounds1[3] < bounds2[2] || |
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110 | bounds1[4] > bounds2[5] || |
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111 | bounds1[5] < bounds2[4]) continue; |
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112 | good_matrix[i][j] = 1; |
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113 | good_matrix[j][i] = 1; |
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114 | hits[i]++; |
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115 | hits[j]++; |
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116 | } |
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117 | } |
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118 | } |
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119 | |
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120 | |
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121 | // this is called by dSpaceCollide when two objects in space are |
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122 | // potentially colliding. |
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123 | |
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124 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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125 | { |
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126 | size_t i,j; |
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127 | i = (size_t) dGeomGetData (o1); |
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128 | j = (size_t) dGeomGetData (o2); |
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129 | if (i==j) |
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130 | printf ("collision (%d,%d) is between the same object\n",i,j); |
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131 | if (!good_matrix[i][j] || !good_matrix[j][i]) |
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132 | printf ("collision (%d,%d) is incorrect\n",i,j); |
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133 | if (test_matrix[i][j] || test_matrix[j][i]) |
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134 | printf ("collision (%d,%d) reported more than once\n",i,j); |
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135 | test_matrix[i][j] = 1; |
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136 | test_matrix[j][i] = 1; |
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137 | } |
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138 | |
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139 | |
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140 | // start simulation - set viewpoint |
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141 | |
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142 | static void start() |
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143 | { |
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144 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; |
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145 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; |
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146 | dsSetViewpoint (xyz,hpr); |
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147 | } |
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148 | |
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149 | |
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150 | static void command (int cmd) |
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151 | { |
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152 | if (cmd == ' ') { |
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153 | seed++; |
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154 | init_test(); |
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155 | } |
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156 | } |
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157 | |
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158 | |
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159 | // simulation loop |
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160 | |
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161 | static void simLoop (int pause) |
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162 | { |
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163 | int i,j; |
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164 | |
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165 | for (i=0; i < NUM; i++) { |
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166 | for (j=0; j < NUM; j++) test_matrix[i][j] = 0; |
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167 | } |
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168 | dSpaceCollide (space,0,&nearCallback); |
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169 | for (i=0; i < NUM; i++) { |
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170 | for (j=i+1; j < NUM; j++) { |
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171 | if (good_matrix[i][j] && !test_matrix[i][j]) { |
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172 | printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed); |
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173 | } |
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174 | } |
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175 | } |
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176 | |
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177 | seed++; |
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178 | init_test(); |
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179 | |
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180 | for (i=0; i<NUM; i++) { |
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181 | dVector3 pos,side; |
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182 | dMatrix3 R; |
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183 | dRSetIdentity (R); |
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184 | for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5; |
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185 | for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2]; |
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186 | if (hits[i] > 0) dsSetColor (1,0,0); |
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187 | else dsSetColor (1,1,0); |
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188 | dsDrawBox (pos,R,side); |
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189 | } |
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190 | } |
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191 | |
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192 | |
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193 | int main (int argc, char **argv) |
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194 | { |
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195 | int i; |
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196 | |
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197 | // setup pointers to drawstuff callback functions |
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198 | dsFunctions fn; |
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199 | fn.version = DS_VERSION; |
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200 | fn.start = &start; |
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201 | fn.step = &simLoop; |
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202 | fn.command = &command; |
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203 | fn.stop = 0; |
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204 | fn.path_to_textures = "../../drawstuff/textures"; |
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205 | if(argc==2) |
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206 | { |
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207 | fn.path_to_textures = argv[1]; |
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208 | } |
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209 | |
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210 | dInitODE(); |
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211 | |
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212 | // test the simple space: |
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213 | // space = dSimpleSpaceCreate(); |
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214 | |
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215 | // test the hash space: |
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216 | // space = dHashSpaceCreate (0); |
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217 | // dHashSpaceSetLevels (space,-10,10); |
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218 | |
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219 | // test the quadtree space |
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220 | dVector3 Center = {0, 0, 0, 0}; |
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221 | dVector3 Extents = {10, 0, 10, 0}; |
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222 | space = dQuadTreeSpaceCreate(0, Center, Extents, 7); |
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223 | |
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224 | for (i=0; i < NUM; i++) geom[i] = 0; |
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225 | init_test(); |
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226 | |
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227 | // run simulation |
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228 | dsSimulationLoop (argc,argv,352,288,&fn); |
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229 | |
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230 | dSpaceDestroy (space); |
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231 | dCloseODE(); |
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232 | return 0; |
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233 | } |
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