From 0fc46fc9590912bf6925c899edd02d7a2cdf5f79 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 04:28:53 +0000 Subject: adding ode source to /libraries --- "libraries/ode-0.9\\/ode/demo/demo_ode.cpp" | 1128 +++++++++++++++++++++++++++ 1 file changed, 1128 insertions(+) create mode 100755 "libraries/ode-0.9\\/ode/demo/demo_ode.cpp" (limited to 'libraries/ode-0.9\/ode/demo/demo_ode.cpp') diff --git "a/libraries/ode-0.9\\/ode/demo/demo_ode.cpp" "b/libraries/ode-0.9\\/ode/demo/demo_ode.cpp" new file mode 100755 index 0000000..bd22ac1 --- /dev/null +++ "b/libraries/ode-0.9\\/ode/demo/demo_ode.cpp" @@ -0,0 +1,1128 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 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. * + * * + *************************************************************************/ + +#include +#include + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +//**************************************************************************** +// matrix accessors + +#define _A(i,j) A[(i)*4+(j)] +#define _I(i,j) I[(i)*4+(j)] +#define _R(i,j) R[(i)*4+(j)] + +//**************************************************************************** +// tolerances + +#ifdef dDOUBLE +const double tol = 1e-10; +#endif + +#ifdef dSINGLE +const double tol = 1e-5; +#endif + +//**************************************************************************** +// misc messages and error handling + +#ifdef __GNUC__ +#define HEADER printf ("%s()\n", __FUNCTION__); +#else +#define HEADER printf ("%s:%d\n",__FILE__,__LINE__); +#endif + +static jmp_buf jump_buffer; + + +void myMessageFunction (int num, const char *msg, va_list ap) +{ + printf ("(Message %d: ",num); + vprintf (msg,ap); + printf (")"); + dSetMessageHandler (0); + longjmp (jump_buffer,1); +} + + +#define TRAP_MESSAGE(do,ifnomsg,ifmsg) \ + dSetMessageHandler (&myMessageFunction); \ + if (setjmp (jump_buffer)) { \ + dSetMessageHandler (0); \ + ifmsg ; \ + } \ + else { \ + dSetMessageHandler (&myMessageFunction); \ + do ; \ + ifnomsg ; \ + } \ + dSetMessageHandler (0); + +//**************************************************************************** +// utility stuff + +// compare two numbers, within a threshhold, return 1 if approx equal + +int cmp (dReal a, dReal b) +{ + return (fabs(a-b) < tol); +} + +//**************************************************************************** +// matrix utility stuff + +// compare a 3x3 matrix with the identity + +int cmpIdentityMat3 (dMatrix3 A) +{ + return + (cmp(_A(0,0),1.0) && cmp(_A(0,1),0.0) && cmp(_A(0,2),0.0) && + cmp(_A(1,0),0.0) && cmp(_A(1,1),1.0) && cmp(_A(1,2),0.0) && + cmp(_A(2,0),0.0) && cmp(_A(2,1),0.0) && cmp(_A(2,2),1.0)); +} + + +// transpose a 3x3 matrix in-line + +void transpose3x3 (dMatrix3 A) +{ + dReal tmp; + tmp=A[4]; A[4]=A[1]; A[1]=tmp; + tmp=A[8]; A[8]=A[2]; A[2]=tmp; + tmp=A[9]; A[9]=A[6]; A[6]=tmp; +} + +//**************************************************************************** +// test miscellaneous math functions + +void testRandomNumberGenerator() +{ + HEADER; + if (dTestRand()) printf ("\tpassed\n"); + else printf ("\tFAILED\n"); +} + + +void testInfinity() +{ + HEADER; + if (1e10 < dInfinity && -1e10 > -dInfinity && -dInfinity < dInfinity) + printf ("\tpassed\n"); + else printf ("\tFAILED\n"); +} + + +void testPad() +{ + HEADER; + char s[100]; + s[0]=0; + for (int i=0; i<=16; i++) sprintf (s+strlen(s),"%d ",dPAD(i)); + printf ("\t%s\n", strcmp(s,"0 1 4 4 4 8 8 8 8 12 12 12 12 16 16 16 16 ") ? + "FAILED" : "passed"); +} + + +void testCrossProduct() +{ + HEADER; + + dVector3 a1,a2,b,c; + dMatrix3 B; + dMakeRandomVector (b,3,1.0); + dMakeRandomVector (c,3,1.0); + + dCROSS (a1,=,b,c); + + dSetZero (B,12); + dCROSSMAT (B,b,4,+,-); + dMultiply0 (a2,B,c,3,3,1); + + dReal diff = dMaxDifference(a1,a2,3,1); + printf ("\t%s\n", diff > tol ? "FAILED" : "passed"); +} + + +void testSetZero() +{ + HEADER; + dReal a[100]; + dMakeRandomVector (a,100,1.0); + dSetZero (a,100); + for (int i=0; i<100; i++) if (a[i] != 0.0) { + printf ("\tFAILED\n"); + return; + } + printf ("\tpassed\n"); +} + + +void testNormalize3() +{ + HEADER; + int i,j,bad=0; + dVector3 n1,n2; + for (i=0; i<1000; i++) { + dMakeRandomVector (n1,3,1.0); + for (j=0; j<3; j++) n2[j]=n1[j]; + dNormalize3 (n2); + if (dFabs(dDOT(n2,n2) - 1.0) > tol) bad |= 1; + if (dFabs(n2[0]/n1[0] - n2[1]/n1[1]) > tol) bad |= 2; + if (dFabs(n2[0]/n1[0] - n2[2]/n1[2]) > tol) bad |= 4; + if (dFabs(n2[1]/n1[1] - n2[2]/n1[2]) > tol) bad |= 8; + if (dFabs(dDOT(n2,n1) - dSqrt(dDOT(n1,n1))) > tol) bad |= 16; + if (bad) { + printf ("\tFAILED (code=%x)\n",bad); + return; + } + } + printf ("\tpassed\n"); +} + + +/* +void testReorthonormalize() +{ + HEADER; + dMatrix3 R,I; + dMakeRandomMatrix (R,3,3,1.0); + for (int i=0; i<30; i++) dReorthonormalize (R); + dMultiply2 (I,R,R,3,3,3); + printf ("\t%s\n",cmpIdentityMat3 (I) ? "passed" : "FAILED"); +} +*/ + + +void testPlaneSpace() +{ + HEADER; + dVector3 n,p,q; + int bad = 0; + for (int i=0; i<1000; i++) { + dMakeRandomVector (n,3,1.0); + dNormalize3 (n); + dPlaneSpace (n,p,q); + if (fabs(dDOT(n,p)) > tol) bad = 1; + if (fabs(dDOT(n,q)) > tol) bad = 1; + if (fabs(dDOT(p,q)) > tol) bad = 1; + if (fabs(dDOT(p,p)-1) > tol) bad = 1; + if (fabs(dDOT(q,q)-1) > tol) bad = 1; + } + printf ("\t%s\n", bad ? "FAILED" : "passed"); +} + +//**************************************************************************** +// test matrix functions + +#define MSIZE 21 +#define MSIZE4 24 // MSIZE rounded up to 4 + + +void testMatrixMultiply() +{ + // A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4 + dReal A[8],B[12],A2[12],B2[16],C[8]; + int i; + + HEADER; + dSetZero (A,8); + for (i=0; i<3; i++) A[i] = i+2; + for (i=0; i<3; i++) A[i+4] = i+3+2; + for (i=0; i<12; i++) B[i] = i+8; + dSetZero (A2,12); + for (i=0; i<6; i++) A2[i+2*(i/2)] = A[i+i/3]; + dSetZero (B2,16); + for (i=0; i<12; i++) B2[i+i/3] = B[i]; + + dMultiply0 (C,A,B,2,3,4); + if (C[0] != 116 || C[1] != 125 || C[2] != 134 || C[3] != 143 || + C[4] != 224 || C[5] != 242 || C[6] != 260 || C[7] != 278) + printf ("\tFAILED (1)\n"); else printf ("\tpassed (1)\n"); + + dMultiply1 (C,A2,B,2,3,4); + if (C[0] != 160 || C[1] != 172 || C[2] != 184 || C[3] != 196 || + C[4] != 196 || C[5] != 211 || C[6] != 226 || C[7] != 241) + printf ("\tFAILED (2)\n"); else printf ("\tpassed (2)\n"); + + dMultiply2 (C,A,B2,2,3,4); + if (C[0] != 83 || C[1] != 110 || C[2] != 137 || C[3] != 164 || + C[4] != 164 || C[5] != 218 || C[6] != 272 || C[7] != 326) + printf ("\tFAILED (3)\n"); else printf ("\tpassed (3)\n"); +} + + +void testSmallMatrixMultiply() +{ + dMatrix3 A,B,C,A2; + dVector3 a,a2,x; + + HEADER; + dMakeRandomMatrix (A,3,3,1.0); + dMakeRandomMatrix (B,3,3,1.0); + dMakeRandomMatrix (C,3,3,1.0); + dMakeRandomMatrix (x,3,1,1.0); + + // dMULTIPLY0_331() + dMULTIPLY0_331 (a,B,x); + dMultiply0 (a2,B,x,3,3,1); + printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : + "passed"); + + // dMULTIPLY1_331() + dMULTIPLY1_331 (a,B,x); + dMultiply1 (a2,B,x,3,3,1); + printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : + "passed"); + + // dMULTIPLY0_133 + dMULTIPLY0_133 (a,x,B); + dMultiply0 (a2,x,B,1,3,3); + printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" : + "passed"); + + // dMULTIPLY0_333() + dMULTIPLY0_333 (A,B,C); + dMultiply0 (A2,B,C,3,3,3); + printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : + "passed"); + + // dMULTIPLY1_333() + dMULTIPLY1_333 (A,B,C); + dMultiply1 (A2,B,C,3,3,3); + printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : + "passed"); + + // dMULTIPLY2_333() + dMULTIPLY2_333 (A,B,C); + dMultiply2 (A2,B,C,3,3,3); + printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : + "passed"); +} + + +void testCholeskyFactorization() +{ + dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE], C[MSIZE4*MSIZE], diff; + HEADER; + dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); + dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE); + memcpy (A,B,MSIZE4*MSIZE*sizeof(dReal)); + if (dFactorCholesky (B,MSIZE)) printf ("\tpassed (1)\n"); + else printf ("\tFAILED (1)\n"); + dClearUpperTriangle (B,MSIZE); + dMultiply2 (C,B,B,MSIZE,MSIZE,MSIZE); + diff = dMaxDifference(A,C,MSIZE,MSIZE); + printf ("\tmaximum difference = %.6e - %s (2)\n",diff, + diff > tol ? "FAILED" : "passed"); +} + + +void testCholeskySolve() +{ + dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], b[MSIZE],x[MSIZE],btest[MSIZE],diff; + HEADER; + + // get A,L = PD matrix + dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); + dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); + memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); + + // get b,x = right hand side + dMakeRandomMatrix (b,MSIZE,1,1.0); + memcpy (x,b,MSIZE*sizeof(dReal)); + + // factor L + if (dFactorCholesky (L,MSIZE)) printf ("\tpassed (1)\n"); + else printf ("\tFAILED (1)\n"); + dClearUpperTriangle (L,MSIZE); + + // solve A*x = b + dSolveCholesky (L,x,MSIZE); + + // compute A*x and compare it with b + dMultiply2 (btest,A,x,MSIZE,MSIZE,1); + diff = dMaxDifference(b,btest,MSIZE,1); + printf ("\tmaximum difference = %.6e - %s (2)\n",diff, + diff > tol ? "FAILED" : "passed"); +} + + +void testInvertPDMatrix() +{ + int i,j,ok; + dReal A[MSIZE4*MSIZE], Ainv[MSIZE4*MSIZE], I[MSIZE4*MSIZE]; + HEADER; + + dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); + dMultiply2 (Ainv,A,A,MSIZE,MSIZE,MSIZE); + memcpy (A,Ainv,MSIZE4*MSIZE*sizeof(dReal)); + dSetZero (Ainv,MSIZE4*MSIZE); + + if (dInvertPDMatrix (A,Ainv,MSIZE)) + printf ("\tpassed (1)\n"); else printf ("\tFAILED (1)\n"); + dMultiply0 (I,A,Ainv,MSIZE,MSIZE,MSIZE); + + // compare with identity + ok = 1; + for (i=0; i tol ? "FAILED" : "passed"); +} + + +void testSolveLDLT() +{ + dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], x[MSIZE], + b[MSIZE], btest[MSIZE], diff; + HEADER; + dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); + dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); + memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); + + dMakeRandomMatrix (b,MSIZE,1,1.0); + memcpy (x,b,MSIZE*sizeof(dReal)); + + dFactorLDLT (L,d,MSIZE,MSIZE4); + dSolveLDLT (L,d,x,MSIZE,MSIZE4); + + dMultiply2 (btest,A,x,MSIZE,MSIZE,1); + diff = dMaxDifference(b,btest,MSIZE,1); + printf ("\tmaximum difference = %.6e - %s\n",diff, + diff > tol ? "FAILED" : "passed"); +} + + +void testLDLTAddTL() +{ + int i,j; + dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], a[MSIZE], + DL[MSIZE4*MSIZE], ATEST[MSIZE4*MSIZE], diff; + HEADER; + + dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); + dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); + memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); + dFactorLDLT (L,d,MSIZE,MSIZE4); + + // delete first row and column of factorization + for (i=0; i tol ? "FAILED" : "passed"); +} + + +void testLDLTRemove() +{ + int i,j,r,p[MSIZE]; + dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], + L2[MSIZE4*MSIZE], d2[MSIZE], DL2[MSIZE4*MSIZE], + Atest1[MSIZE4*MSIZE], Atest2[MSIZE4*MSIZE], diff, maxdiff; + HEADER; + + // make array of A row pointers + dReal *Arows[MSIZE]; + for (i=0; i= r) ii--; + if (jj >= r) jj--; + if (A[i*MSIZE4+j] != Atest1[ii*MSIZE4+jj]) bad = 1; + } + } + } + if (bad) printf ("\trow/col removal FAILED for row %d\n",r); + + // zero out last row/column of Atest1 + for (i=0; i tol ? "FAILED" : "passed"); +} + +//**************************************************************************** +// test mass stuff + +#define NUMP 10 // number of particles + + +void printMassParams (dMass *m) +{ + printf ("mass = %.4f\n",m->mass); + printf ("com = (%.4f,%.4f,%.4f)\n",m->c[0],m->c[1],m->c[2]); + printf ("I = [ %10.4f %10.4f %10.4f ]\n" + " [ %10.4f %10.4f %10.4f ]\n" + " [ %10.4f %10.4f %10.4f ]\n", + m->_I(0,0),m->_I(0,1),m->_I(0,2), + m->_I(1,0),m->_I(1,1),m->_I(1,2), + m->_I(2,0),m->_I(2,1),m->_I(2,2)); +} + + +void compareMassParams (dMass *m1, dMass *m2, char *msg) +{ + int i,j,ok = 1; + if (!(cmp(m1->mass,m2->mass) && cmp(m1->c[0],m2->c[0]) && + cmp(m1->c[1],m2->c[1]) && cmp(m1->c[2],m2->c[2]))) + ok = 0; + for (i=0; i<3; i++) for (j=0; j<3; j++) + if (cmp (m1->_I(i,j),m2->_I(i,j))==0) ok = 0; + if (ok) printf ("\tpassed (%s)\n",msg); else printf ("\tFAILED (%s)\n",msg); +} + + +// compute the mass parameters of a particle set + +void computeMassParams (dMass *m, dReal q[NUMP][3], dReal pm[NUMP]) +{ + int i,j; + dMassSetZero (m); + for (i=0; imass += pm[i]; + for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j]; + m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]); + m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]); + m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]); + m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]); + m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]); + m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]); + } + for (j=0; j<3; j++) m->c[j] /= m->mass; + m->_I(1,0) = m->_I(0,1); + m->_I(2,0) = m->_I(0,2); + m->_I(2,1) = m->_I(1,2); +} + + +void testMassFunctions() +{ + dMass m; + int i,j; + dReal q[NUMP][3]; // particle positions + dReal pm[NUMP]; // particle masses + dMass m1,m2; + dMatrix3 R; + + HEADER; + + printf ("\t"); + dMassSetZero (&m); + TRAP_MESSAGE (dMassSetParameters (&m,10, 0,0,0, 1,2,3, 4,5,6), + printf (" FAILED (1)\n"), printf (" passed (1)\n")); + + printf ("\t"); + dMassSetZero (&m); + TRAP_MESSAGE (dMassSetParameters (&m,10, 0.1,0.2,0.15, 3,5,14, 3.1,3.2,4), + printf (" passed (2)\n") , printf (" FAILED (2)\n")); + if (m.mass==10 && m.c[0]==REAL(0.1) && m.c[1]==REAL(0.2) && + m.c[2]==REAL(0.15) && m._I(0,0)==3 && m._I(1,1)==5 && m._I(2,2)==14 && + m._I(0,1)==REAL(3.1) && m._I(0,2)==REAL(3.2) && m._I(1,2)==4 && + m._I(1,0)==REAL(3.1) && m._I(2,0)==REAL(3.2) && m._I(2,1)==4) + printf ("\tpassed (3)\n"); else printf ("\tFAILED (3)\n"); + + dMassSetZero (&m); + dMassSetSphere (&m,1.4, 0.86); + if (cmp(m.mass,3.73002719949386) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && + cmp(m._I(0,0),1.10349124669826) && + cmp(m._I(1,1),1.10349124669826) && + cmp(m._I(2,2),1.10349124669826) && + m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && + m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) + printf ("\tpassed (4)\n"); else printf ("\tFAILED (4)\n"); + + dMassSetZero (&m); + dMassSetCapsule (&m,1.3,1,0.76,1.53); + if (cmp(m.mass,5.99961928996029) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && + cmp(m._I(0,0),1.59461986077384) && + cmp(m._I(1,1),4.57537403079093) && + cmp(m._I(2,2),4.57537403079093) && + m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && + m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) + printf ("\tpassed (5)\n"); else printf ("\tFAILED (5)\n"); + + dMassSetZero (&m); + dMassSetBox (&m,0.27,3,4,5); + if (cmp(m.mass,16.2) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && + cmp(m._I(0,0),55.35) && cmp(m._I(1,1),45.9) && cmp(m._I(2,2),33.75) && + m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && + m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) + printf ("\tpassed (6)\n"); else printf ("\tFAILED (6)\n"); + + // test dMassAdjust? + + // make random particles and compute the mass, COM and inertia, then + // translate and repeat. + for (i=0; i Q -> R works + dReal maxdiff=0; + for (i=0; i<100; i++) { + makeRandomRotation (R); + dRtoQ (R,q); + dQtoR (q,R2); + dReal diff = dMaxDifference (R,R2,3,3); + if (diff > maxdiff) maxdiff = diff; + } + printf ("\tmaximum difference = %e - %s (3)\n",maxdiff, + (maxdiff > tol) ? "FAILED" : "passed"); +} + + +void testQuaternionMultiply() +{ + HEADER; + dMatrix3 RA,RB,RC,Rtest; + dQuaternion qa,qb,qc; + dReal diff,maxdiff=0; + + for (int i=0; i<100; i++) { + makeRandomRotation (RB); + makeRandomRotation (RC); + dRtoQ (RB,qb); + dRtoQ (RC,qc); + + dMultiply0 (RA,RB,RC,3,3,3); + dQMultiply0 (qa,qb,qc); + dQtoR (qa,Rtest); + diff = dMaxDifference (Rtest,RA,3,3); + if (diff > maxdiff) maxdiff = diff; + + dMultiply1 (RA,RB,RC,3,3,3); + dQMultiply1 (qa,qb,qc); + dQtoR (qa,Rtest); + diff = dMaxDifference (Rtest,RA,3,3); + if (diff > maxdiff) maxdiff = diff; + + dMultiply2 (RA,RB,RC,3,3,3); + dQMultiply2 (qa,qb,qc); + dQtoR (qa,Rtest); + diff = dMaxDifference (Rtest,RA,3,3); + if (diff > maxdiff) maxdiff = diff; + + dMultiply0 (RA,RC,RB,3,3,3); + transpose3x3 (RA); + dQMultiply3 (qa,qb,qc); + dQtoR (qa,Rtest); + diff = dMaxDifference (Rtest,RA,3,3); + if (diff > maxdiff) maxdiff = diff; + } + printf ("\tmaximum difference = %e - %s\n",maxdiff, + (maxdiff > tol) ? "FAILED" : "passed"); +} + + +void testRotationFunctions() +{ + dMatrix3 R1; + HEADER; + + printf ("\tdRSetIdentity - "); + dMakeRandomMatrix (R1,3,3,1.0); + dRSetIdentity (R1); + if (cmpIdentityMat3(R1)) printf ("passed\n"); else printf ("FAILED\n"); + + printf ("\tdRFromAxisAndAngle - "); + + printf ("\n"); + printf ("\tdRFromEulerAngles - "); + + printf ("\n"); + printf ("\tdRFrom2Axes - "); + + printf ("\n"); +} + +//**************************************************************************** + +#include "../src/array.h" +#include "../src/array.cpp" + +// matrix header on the stack + +class dMatrixComparison { + struct dMatInfo; + dArray mat; + int afterfirst,index; + +public: + dMatrixComparison(); + ~dMatrixComparison(); + + dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...); + // add a new n*m matrix A to the sequence. the name of the matrix is given + // by the printf-style arguments (name,...). if this is the first sequence + // then this object will simply record the matrices and return 0. + // if this the second or subsequent sequence then this object will compare + // the matrices with the first sequence, and report any differences. + // the matrix error will be returned. if `lower_tri' is 1 then only the + // lower triangle of the matrix (including the diagonal) will be compared + // (the matrix must be square). + + void end(); + // end a sequence. + + void reset(); + // restarts the object, so the next sequence will be the first sequence. + + void dump(); + // print out info about all the matrices in the sequence +}; + +struct dMatrixComparison::dMatInfo { + int n,m; // size of matrix + char name[128]; // name of the matrix + dReal *data; // matrix data + int size; // size of `data' +}; + + + +dMatrixComparison::dMatrixComparison() +{ + afterfirst = 0; + index = 0; +} + + +dMatrixComparison::~dMatrixComparison() +{ + reset(); +} + + +dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri, + char *name, ...) +{ + if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix"); + int num = n*dPAD(m); + + if (afterfirst==0) { + dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo)); + mi->n = n; + mi->m = m; + mi->size = num * sizeof(dReal); + mi->data = (dReal*) dAlloc (mi->size); + memcpy (mi->data,A,mi->size); + + va_list ap; + va_start (ap,name); + vsprintf (mi->name,name,ap); + if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long"); + + mat.push (mi); + return 0; + } + else { + if (lower_tri && n != m) + dDebug (0,"dMatrixComparison, lower triangular matrix must be square"); + if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices"); + dMatInfo *mp = mat[index]; + index++; + + dMatInfo mi; + va_list ap; + va_start (ap,name); + vsprintf (mi.name,name,ap); + if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long"); + + if (strcmp(mp->name,mi.name) != 0) + dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")", + mp->name,mi.name); + if (mp->n != n || mp->m != m) + dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)", + mp->n,mp->m,n,m); + + dReal maxdiff; + if (lower_tri) { + maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n); + } + else { + maxdiff = dMaxDifference (A,mp->data,n,m); + } + if (maxdiff > tol) + dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", " + "error=%.4e)",n,m,mi.name,maxdiff); + return maxdiff; + } +} + + +void dMatrixComparison::end() +{ + if (mat.size() <= 0) dDebug (0,"no matrices in sequence"); + afterfirst = 1; + index = 0; +} + + +void dMatrixComparison::reset() +{ + for (int i=0; idata,mat[i]->size); + dFree (mat[i],sizeof(dMatInfo)); + } + mat.setSize (0); + afterfirst = 0; + index = 0; +} + + +void dMatrixComparison::dump() +{ + for (int i=0; iname,mat[i]->n,mat[i]->m); +} + +//**************************************************************************** +// unit test + +#include + +// static jmp_buf jump_buffer; + +static void myDebug (int num, const char *msg, va_list ap) +{ + // printf ("(Error %d: ",num); + // vprintf (msg,ap); + // printf (")\n"); + longjmp (jump_buffer,1); +} + + +extern "C" void dTestMatrixComparison() +{ + volatile int i; + printf ("dTestMatrixComparison()\n"); + dMessageFunction *orig_debug = dGetDebugHandler(); + + dMatrixComparison mc; + dReal A[50*50]; + + // make first sequence + unsigned long seed = dRandGetSeed(); + for (i=1; i<49; i++) { + dMakeRandomMatrix (A,i,i+1,1.0); + mc.nextMatrix (A,i,i+1,0,"A%d",i); + } + mc.end(); + + //mc.dump(); + + // test identical sequence + dSetDebugHandler (&myDebug); + dRandSetSeed (seed); + if (setjmp (jump_buffer)) { + printf ("\tFAILED (1)\n"); + } + else { + for (i=1; i<49; i++) { + dMakeRandomMatrix (A,i,i+1,1.0); + mc.nextMatrix (A,i,i+1,0,"A%d",i); + } + mc.end(); + printf ("\tpassed (1)\n"); + } + dSetDebugHandler (orig_debug); + + // test broken sequences (with matrix error) + dRandSetSeed (seed); + volatile int passcount = 0; + for (i=1; i<49; i++) { + if (setjmp (jump_buffer)) { + passcount++; + } + else { + dSetDebugHandler (&myDebug); + dMakeRandomMatrix (A,i,i+1,1.0); + A[(i-1)*dPAD(i+1)+i] += REAL(0.01); + mc.nextMatrix (A,i,i+1,0,"A%d",i); + dSetDebugHandler (orig_debug); + } + } + mc.end(); + printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED"); + + // test broken sequences (with name error) + dRandSetSeed (seed); + passcount = 0; + for (i=1; i<49; i++) { + if (setjmp (jump_buffer)) { + passcount++; + } + else { + dSetDebugHandler (&myDebug); + dMakeRandomMatrix (A,i,i+1,1.0); + mc.nextMatrix (A,i,i+1,0,"B%d",i); + dSetDebugHandler (orig_debug); + } + } + mc.end(); + printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED"); + + // test identical sequence again + dSetDebugHandler (&myDebug); + dRandSetSeed (seed); + if (setjmp (jump_buffer)) { + printf ("\tFAILED (4)\n"); + } + else { + for (i=1; i<49; i++) { + dMakeRandomMatrix (A,i,i+1,1.0); + mc.nextMatrix (A,i,i+1,0,"A%d",i); + } + mc.end(); + printf ("\tpassed (4)\n"); + } + dSetDebugHandler (orig_debug); +} + +//**************************************************************************** + +// internal unit tests +extern "C" void dTestDataStructures(); +extern "C" void dTestMatrixComparison(); +extern "C" void dTestSolveLCP(); + + +int main() +{ + dInitODE(); + testRandomNumberGenerator(); + testInfinity(); + testPad(); + testCrossProduct(); + testSetZero(); + testNormalize3(); + //testReorthonormalize(); ... not any more + testPlaneSpace(); + testMatrixMultiply(); + testSmallMatrixMultiply(); + testCholeskyFactorization(); + testCholeskySolve(); + testInvertPDMatrix(); + testIsPositiveDefinite(); + testFastLDLTFactorization(); + testSolveLDLT(); + testLDLTAddTL(); + testLDLTRemove(); + testMassFunctions(); + testRtoQandQtoR(); + testQuaternionMultiply(); + testRotationFunctions(); + dTestMatrixComparison(); + dTestSolveLCP(); + // dTestDataStructures(); + dCloseODE(); + return 0; +} -- cgit v1.1