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