234 lines
6.4 KiB
C++
234 lines
6.4 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/*
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testing procedure:
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* create a bunch of random boxes
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* test for intersections directly, put results in n^2 array
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* get space to report collisions:
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- all correct collisions reported
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- no pair reported more than once
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- no incorrect collisions reported
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*/
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#include <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#ifdef _MSC_VER
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#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
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#endif
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// select correct drawing functions
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#ifdef dDOUBLE
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#define dsDrawBox dsDrawBoxD
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#define dsDrawSphere dsDrawSphereD
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#define dsDrawCylinder dsDrawCylinderD
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#define dsDrawCapsule dsDrawCapsuleD
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#endif
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// some constants
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#define NUM 20 // number of boxes to test
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// collision objects and globals
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static dSpaceID space;
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static dGeomID geom[NUM];
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static dReal bounds[NUM][6];
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static size_t good_matrix[NUM][NUM]; // correct collision matrix
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static size_t test_matrix[NUM][NUM]; // testing collision matrix
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static size_t hits[NUM]; // number of collisions a box has
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static unsigned long seed=37;
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static void init_test()
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{
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int i,j;
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const dReal scale = 0.5;
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// set random boxes
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dRandSetSeed (seed);
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for (i=0; i < NUM; i++) {
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bounds[i][0] = dRandReal()*2-1;
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bounds[i][1] = bounds[i][0] + dRandReal()*scale;
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bounds[i][2] = dRandReal()*2-1;
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bounds[i][3] = bounds[i][2] + dRandReal()*scale;
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bounds[i][4] = dRandReal()*2;
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bounds[i][5] = bounds[i][4] + dRandReal()*scale;
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if (geom[i]) dGeomDestroy (geom[i]);
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geom[i] = dCreateBox (space,
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bounds[i][1] - bounds[i][0],
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bounds[i][3] - bounds[i][2],
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bounds[i][5] - bounds[i][4]);
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dGeomSetPosition (geom[i],
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(bounds[i][0] + bounds[i][1])*0.5,
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(bounds[i][2] + bounds[i][3])*0.5,
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(bounds[i][4] + bounds[i][5])*0.5);
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dGeomSetData (geom[i],(void*)(size_t)(i));
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}
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// compute all intersections and put the results in "good_matrix"
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for (i=0; i < NUM; i++) {
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for (j=0; j < NUM; j++) good_matrix[i][j] = 0;
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}
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for (i=0; i < NUM; i++) hits[i] = 0;
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for (i=0; i < NUM; i++) {
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for (j=i+1; j < NUM; j++) {
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dReal *bounds1 = &bounds[i][0];
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dReal *bounds2 = &bounds[j][0];
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if (bounds1[0] > bounds2[1] ||
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bounds1[1] < bounds2[0] ||
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bounds1[2] > bounds2[3] ||
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bounds1[3] < bounds2[2] ||
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bounds1[4] > bounds2[5] ||
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bounds1[5] < bounds2[4]) continue;
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good_matrix[i][j] = 1;
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good_matrix[j][i] = 1;
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hits[i]++;
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hits[j]++;
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}
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}
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}
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// this is called by dSpaceCollide when two objects in space are
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// potentially colliding.
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static void nearCallback (void *data, dGeomID o1, dGeomID o2)
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{
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size_t i,j;
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i = (size_t) dGeomGetData (o1);
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j = (size_t) dGeomGetData (o2);
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if (i==j)
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printf ("collision (%d,%d) is between the same object\n",i,j);
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if (!good_matrix[i][j] || !good_matrix[j][i])
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printf ("collision (%d,%d) is incorrect\n",i,j);
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if (test_matrix[i][j] || test_matrix[j][i])
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printf ("collision (%d,%d) reported more than once\n",i,j);
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test_matrix[i][j] = 1;
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test_matrix[j][i] = 1;
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}
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// start simulation - set viewpoint
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static void start()
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{
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static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
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static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
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dsSetViewpoint (xyz,hpr);
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}
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static void command (int cmd)
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{
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if (cmd == ' ') {
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seed++;
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init_test();
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}
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}
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// simulation loop
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static void simLoop (int pause)
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{
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int i,j;
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for (i=0; i < NUM; i++) {
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for (j=0; j < NUM; j++) test_matrix[i][j] = 0;
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}
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dSpaceCollide (space,0,&nearCallback);
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for (i=0; i < NUM; i++) {
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for (j=i+1; j < NUM; j++) {
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if (good_matrix[i][j] && !test_matrix[i][j]) {
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printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed);
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}
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}
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}
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seed++;
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init_test();
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for (i=0; i<NUM; i++) {
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dVector3 pos,side;
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dMatrix3 R;
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dRSetIdentity (R);
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for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
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for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
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if (hits[i] > 0) dsSetColor (1,0,0);
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else dsSetColor (1,1,0);
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dsDrawBox (pos,R,side);
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}
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}
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int main (int argc, char **argv)
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{
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int i;
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// setup pointers to drawstuff callback functions
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dsFunctions fn;
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fn.version = DS_VERSION;
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fn.start = &start;
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fn.step = &simLoop;
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fn.command = &command;
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fn.stop = 0;
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fn.path_to_textures = "../../drawstuff/textures";
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if(argc==2)
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{
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fn.path_to_textures = argv[1];
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}
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dInitODE();
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// test the simple space:
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// space = dSimpleSpaceCreate();
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// test the hash space:
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// space = dHashSpaceCreate (0);
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// dHashSpaceSetLevels (space,-10,10);
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// test the quadtree space
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dVector3 Center = {0, 0, 0, 0};
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dVector3 Extents = {10, 0, 10, 0};
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space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
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for (i=0; i < NUM; i++) geom[i] = 0;
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init_test();
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// run simulation
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dsSimulationLoop (argc,argv,352,288,&fn);
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dSpaceDestroy (space);
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dCloseODE();
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return 0;
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}
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