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OpenSimMirror/libraries/ode-0.9/ode/demo/demo_ode.cpp

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from the start... checking in ode-0.9
2007-10-19 05:24:38 +00:00
/*************************************************************************
* *
* 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 <setjmp.h>
#include <ode/ode.h>
#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<MSIZE; i++) {
for (j=0; j<MSIZE; j++) {
if (i != j) if (cmp (I[i*MSIZE4+j],0.0)==0) ok = 0;
}
}
for (i=0; i<MSIZE; i++) {
if (cmp (I[i*MSIZE4+i],1.0)==0) ok = 0;
}
if (ok) printf ("\tpassed (2)\n"); else printf ("\tFAILED (2)\n");
}
void testIsPositiveDefinite()
{
dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE];
HEADER;
dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE);
printf ("\t%s\n",dIsPositiveDefinite(A,MSIZE) ? "FAILED (1)":"passed (1)");
printf ("\t%s\n",dIsPositiveDefinite(B,MSIZE) ? "passed (2)":"FAILED (2)");
}
void testFastLDLTFactorization()
{
int i,j;
dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], DL[MSIZE4*MSIZE],
ATEST[MSIZE4*MSIZE], d[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);
dClearUpperTriangle (L,MSIZE);
for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
dSetZero (DL,MSIZE4*MSIZE);
for (i=0; i<MSIZE; i++) {
for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j];
}
dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE);
diff = dMaxDifference(A,ATEST,MSIZE,MSIZE);
printf ("\tmaximum difference = %.6e - %s\n",diff,
diff > 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<MSIZE; i++) a[i] = -A[i*MSIZE4];
a[0] += 1;
dLDLTAddTL (L,d,a,MSIZE,MSIZE4);
for (i=1; i<MSIZE; i++) L[i*MSIZE4] = 0;
d[0] = 1;
// get modified L*D*L'
dClearUpperTriangle (L,MSIZE);
for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
dSetZero (DL,MSIZE4*MSIZE);
for (i=0; i<MSIZE; i++) {
for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j];
}
dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE);
// compare it to A with its first row/column removed
for (i=1; i<MSIZE; i++) A[i*MSIZE4] = A[i] = 0;
A[0] = 1;
diff = dMaxDifference(A,ATEST,MSIZE,MSIZE);
printf ("\tmaximum difference = %.6e - %s\n",diff,
diff > 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<MSIZE; i++) Arows[i] = A+i*MSIZE4;
// fill permutation vector
for (i=0; i<MSIZE; i++) p[i]=i;
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);
maxdiff = 1e10;
for (r=0; r<MSIZE; r++) {
// get Atest1 = A with row/column r removed
memcpy (Atest1,A,MSIZE4*MSIZE*sizeof(dReal));
dRemoveRowCol (Atest1,MSIZE,MSIZE4,r);
// test that the row/column removal worked
int bad = 0;
for (i=0; i<MSIZE; i++) {
for (j=0; j<MSIZE; j++) {
if (i != r && j != r) {
int ii = i;
int jj = j;
if (ii >= 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<MSIZE; i++) {
Atest1[(MSIZE-1)*MSIZE4+i] = 0;
Atest1[i*MSIZE4+MSIZE-1] = 0;
}
// get L2*D2*L2' = adjusted factorization to remove that row
memcpy (L2,L,MSIZE4*MSIZE*sizeof(dReal));
memcpy (d2,d,MSIZE*sizeof(dReal));
dLDLTRemove (/*A*/ Arows,p,L2,d2,MSIZE,MSIZE,r,MSIZE4);
// get Atest2 = L2*D2*L2'
dClearUpperTriangle (L2,MSIZE);
for (i=0; i<(MSIZE-1); i++) L2[i*MSIZE4+i] = 1.0;
for (i=0; i<MSIZE; i++) L2[(MSIZE-1)*MSIZE4+i] = 0;
d2[MSIZE-1] = 1;
dSetZero (DL2,MSIZE4*MSIZE);
for (i=0; i<(MSIZE-1); i++) {
for (j=0; j<MSIZE-1; j++) DL2[i*MSIZE4+j] = L2[i*MSIZE4+j] / d2[j];
}
dMultiply2 (Atest2,L2,DL2,MSIZE,MSIZE,MSIZE);
diff = dMaxDifference(Atest1,Atest2,MSIZE,MSIZE);
if (diff < maxdiff) maxdiff = diff;
/*
dPrintMatrix (Atest1,MSIZE,MSIZE);
printf ("\n");
dPrintMatrix (Atest2,MSIZE,MSIZE);
printf ("\n");
*/
}
printf ("\tmaximum difference = %.6e - %s\n",maxdiff,
maxdiff > 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; i<NUMP; i++) {
m->mass += 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<NUMP; i++) {
pm[i] = dRandReal()+0.5;
for (j=0; j<3; j++) {
q[i][j] = 2.0*(dRandReal()-0.5);
}
}
computeMassParams (&m1,q,pm);
memcpy (&m2,&m1,sizeof(dMass));
dMassTranslate (&m2,1,2,-3);
for (i=0; i<NUMP; i++) {
q[i][0] += 1;
q[i][1] += 2;
q[i][2] -= 3;
}
computeMassParams (&m1,q,pm);
compareMassParams (&m1,&m2,"7");
// rotate the masses
_R(0,0) = -0.87919618797635;
_R(0,1) = 0.15278881840384;
_R(0,2) = -0.45129772879842;
_R(1,0) = -0.47307856232664;
_R(1,1) = -0.39258064912909;
_R(1,2) = 0.78871864932708;
_R(2,0) = -0.05666336483842;
_R(2,1) = 0.90693771059546;
_R(2,2) = 0.41743652473765;
dMassRotate (&m2,R);
for (i=0; i<NUMP; i++) {
dReal a[3];
dMultiply0 (a,&_R(0,0),&q[i][0],3,3,1);
q[i][0] = a[0];
q[i][1] = a[1];
q[i][2] = a[2];
}
computeMassParams (&m1,q,pm);
compareMassParams (&m1,&m2,"8");
}
//****************************************************************************
// test rotation stuff
void makeRandomRotation (dMatrix3 R)
{
dReal *u1 = R, *u2=R+4, *u3=R+8;
dMakeRandomVector (u1,3,1.0);
dNormalize3 (u1);
dMakeRandomVector (u2,3,1.0);
dReal d = dDOT(u1,u2);
u2[0] -= d*u1[0];
u2[1] -= d*u1[1];
u2[2] -= d*u1[2];
dNormalize3 (u2);
dCROSS (u3,=,u1,u2);
}
void testRtoQandQtoR()
{
HEADER;
dMatrix3 R,I,R2;
dQuaternion q;
int i;
// test makeRandomRotation()
makeRandomRotation (R);
dMultiply2 (I,R,R,3,3,3);
printf ("\tmakeRandomRotation() - %s (1)\n",
cmpIdentityMat3(I) ? "passed" : "FAILED");
// test QtoR() on random normalized quaternions
int ok = 1;
for (i=0; i<100; i++) {
dMakeRandomVector (q,4,1.0);
dNormalize4 (q);
dQtoR (q,R);
dMultiply2 (I,R,R,3,3,3);
if (cmpIdentityMat3(I)==0) ok = 0;
}
printf ("\tQtoR() orthonormality %s (2)\n", ok ? "passed" : "FAILED");
// test R -> 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<dMatInfo*> 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; i<mat.size(); i++) {
dFree (mat[i]->data,mat[i]->size);
dFree (mat[i],sizeof(dMatInfo));
}
mat.setSize (0);
afterfirst = 0;
index = 0;
}
void dMatrixComparison::dump()
{
for (int i=0; i<mat.size(); i++)
printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
}
//****************************************************************************
// unit test
#include <setjmp.h>
// 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;
}