1 files changed, 233 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_space.cpp b/libraries/ode-0.9/ode/demo/demo_space.cpp
new file mode 100644
index 0000000..73101b5
--- /dev/null
+++ b/libraries/ode-0.9/ode/demo/demo_space.cpp
@@ -0,0 +1,233 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+
+#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<NUM; i++) {
+    dVector3 pos,side;
+    dMatrix3 R;
+    dRSetIdentity (R);
+    for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
+    for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
+    if (hits[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;
+}