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/*************************************************************************
* *
* 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;
}
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