386 lines
14 KiB
C++
386 lines
14 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** @author Jia Pan */
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#include <gtest/gtest.h>
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#include "fcl/config.h"
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#include "fcl/broadphase/broadphase_bruteforce.h"
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#include "fcl/broadphase/broadphase_spatialhash.h"
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#include "fcl/broadphase/broadphase_SaP.h"
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#include "fcl/broadphase/broadphase_SSaP.h"
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#include "fcl/broadphase/broadphase_interval_tree.h"
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#include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
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#include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
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#include "fcl/broadphase/detail/sparse_hash_table.h"
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#include "fcl/broadphase/detail/spatial_hash.h"
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#include "fcl/geometry/geometric_shape_to_BVH_model.h"
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#include "test_fcl_utility.h"
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#if USE_GOOGLEHASH
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#include <sparsehash/sparse_hash_map>
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#include <sparsehash/dense_hash_map>
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#include <hash_map>
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#endif
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#include <iostream>
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#include <iomanip>
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using namespace fcl;
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/// @brief test for broad phase collision and self collision
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template <typename S>
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void broad_phase_collision_test(S env_scale, std::size_t env_size, std::size_t query_size, std::size_t num_max_contacts = 1, bool exhaustive = false, bool use_mesh = false);
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#if USE_GOOGLEHASH
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template<typename U, typename V>
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struct GoogleSparseHashTable : public google::sparse_hash_map<U, V, std::tr1::hash<size_t>, std::equal_to<size_t> > {};
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template<typename U, typename V>
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struct GoogleDenseHashTable : public google::dense_hash_map<U, V, std::tr1::hash<size_t>, std::equal_to<size_t> >
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{
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GoogleDenseHashTable() : google::dense_hash_map<U, V, std::tr1::hash<size_t>, std::equal_to<size_t> >()
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{
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this->set_empty_key(nullptr);
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}
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};
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#endif
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/// check broad phase collision for empty collision object set and queries
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GTEST_TEST(FCL_BROADPHASE, test_core_bf_broad_phase_collision_empty)
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{
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#ifdef NDEBUG
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broad_phase_collision_test<double>(2000, 0, 0, 10, false, false);
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broad_phase_collision_test<double>(2000, 0, 1000, 10, false, false);
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broad_phase_collision_test<double>(2000, 100, 0, 10, false, false);
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broad_phase_collision_test<double>(2000, 0, 0, 10, false, true);
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broad_phase_collision_test<double>(2000, 0, 1000, 10, false, true);
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broad_phase_collision_test<double>(2000, 100, 0, 10, false, true);
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broad_phase_collision_test<double>(2000, 0, 0, 10, true, false);
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broad_phase_collision_test<double>(2000, 0, 1000, 10, true, false);
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broad_phase_collision_test<double>(2000, 100, 0, 10, true, false);
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broad_phase_collision_test<double>(2000, 0, 0, 10, true, true);
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broad_phase_collision_test<double>(2000, 0, 1000, 10, true, true);
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broad_phase_collision_test<double>(2000, 100, 0, 10, true, true);
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#else
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broad_phase_collision_test<double>(2000, 0, 0, 10, false, false);
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broad_phase_collision_test<double>(2000, 0, 5, 10, false, false);
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broad_phase_collision_test<double>(2000, 2, 0, 10, false, false);
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broad_phase_collision_test<double>(2000, 0, 0, 10, false, true);
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broad_phase_collision_test<double>(2000, 0, 5, 10, false, true);
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broad_phase_collision_test<double>(2000, 2, 0, 10, false, true);
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broad_phase_collision_test<double>(2000, 0, 0, 10, true, false);
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broad_phase_collision_test<double>(2000, 0, 5, 10, true, false);
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broad_phase_collision_test<double>(2000, 2, 0, 10, true, false);
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broad_phase_collision_test<double>(2000, 0, 0, 10, true, true);
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broad_phase_collision_test<double>(2000, 0, 5, 10, true, true);
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broad_phase_collision_test<double>(2000, 2, 0, 10, true, true);
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#endif
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}
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/// check broad phase collision and self collision, only return collision or not
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GTEST_TEST(FCL_BROADPHASE, test_core_bf_broad_phase_collision_binary)
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{
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#ifdef NDEBUG
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broad_phase_collision_test<double>(2000, 100, 1000, 1, false);
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broad_phase_collision_test<double>(2000, 1000, 1000, 1, false);
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broad_phase_collision_test<double>(2000, 100, 1000, 1, true);
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broad_phase_collision_test<double>(2000, 1000, 1000, 1, true);
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#else
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broad_phase_collision_test<double>(2000, 10, 100, 1, false);
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broad_phase_collision_test<double>(2000, 100, 100, 1, false);
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broad_phase_collision_test<double>(2000, 10, 100, 1, true);
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broad_phase_collision_test<double>(2000, 100, 100, 1, true);
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#endif
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}
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/// check broad phase collision and self collision, return 10 contacts
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GTEST_TEST(FCL_BROADPHASE, test_core_bf_broad_phase_collision)
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{
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#ifdef NDEBUG
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broad_phase_collision_test<double>(2000, 100, 1000, 10, false);
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broad_phase_collision_test<double>(2000, 1000, 1000, 10, false);
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#else
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broad_phase_collision_test<double>(2000, 10, 100, 10, false);
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broad_phase_collision_test<double>(2000, 100, 100, 10, false);
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#endif
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}
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/// check broad phase collision and self collision, return only collision or not, in mesh
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GTEST_TEST(FCL_BROADPHASE, test_core_mesh_bf_broad_phase_collision_mesh_binary)
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{
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#ifdef NDEBUG
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broad_phase_collision_test<double>(2000, 100, 1000, 1, false, true);
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broad_phase_collision_test<double>(2000, 1000, 1000, 1, false, true);
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#else
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broad_phase_collision_test<double>(2000, 2, 5, 1, false, true);
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broad_phase_collision_test<double>(2000, 5, 5, 1, false, true);
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#endif
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}
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/// check broad phase collision and self collision, return 10 contacts, in mesh
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GTEST_TEST(FCL_BROADPHASE, test_core_mesh_bf_broad_phase_collision_mesh)
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{
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#ifdef NDEBUG
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broad_phase_collision_test<double>(2000, 100, 1000, 10, false, true);
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broad_phase_collision_test<double>(2000, 1000, 1000, 10, false, true);
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#else
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broad_phase_collision_test<double>(2000, 2, 5, 10, false, true);
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broad_phase_collision_test<double>(2000, 5, 5, 10, false, true);
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#endif
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}
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/// check broad phase collision and self collision, exhaustive, in mesh
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GTEST_TEST(FCL_BROADPHASE, test_core_mesh_bf_broad_phase_collision_mesh_exhaustive)
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{
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#ifdef NDEBUG
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broad_phase_collision_test<double>(2000, 100, 1000, 1, true, true);
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broad_phase_collision_test<double>(2000, 1000, 1000, 1, true, true);
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#else
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broad_phase_collision_test<double>(2000, 2, 5, 1, true, true);
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broad_phase_collision_test<double>(2000, 5, 5, 1, true, true);
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#endif
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}
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template <typename S>
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void broad_phase_collision_test(S env_scale, std::size_t env_size, std::size_t query_size, std::size_t num_max_contacts, bool exhaustive, bool use_mesh)
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{
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std::vector<test::TStruct> ts;
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std::vector<test::Timer> timers;
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std::vector<CollisionObject<S>*> env;
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if(use_mesh)
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test::generateEnvironmentsMesh(env, env_scale, env_size);
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else
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test::generateEnvironments(env, env_scale, env_size);
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std::vector<CollisionObject<S>*> query;
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if(use_mesh)
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test::generateEnvironmentsMesh(query, env_scale, query_size);
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else
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test::generateEnvironments(query, env_scale, query_size);
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std::vector<BroadPhaseCollisionManager<S>*> managers;
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managers.push_back(new NaiveCollisionManager<S>());
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managers.push_back(new SSaPCollisionManager<S>());
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managers.push_back(new SaPCollisionManager<S>());
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managers.push_back(new IntervalTreeCollisionManager<S>());
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Vector3<S> lower_limit, upper_limit;
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SpatialHashingCollisionManager<S>::computeBound(env, lower_limit, upper_limit);
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// S ncell_per_axis = std::pow((S)env_size / 10, 1 / 3.0);
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S ncell_per_axis = 20;
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S cell_size = std::min(std::min((upper_limit[0] - lower_limit[0]) / ncell_per_axis, (upper_limit[1] - lower_limit[1]) / ncell_per_axis), (upper_limit[2] - lower_limit[2]) / ncell_per_axis);
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// managers.push_back(new SpatialHashingCollisionManager<S>(cell_size, lower_limit, upper_limit));
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managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >(cell_size, lower_limit, upper_limit));
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#if USE_GOOGLEHASH
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managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>, GoogleSparseHashTable> >(cell_size, lower_limit, upper_limit));
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managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>, GoogleDenseHashTable> >(cell_size, lower_limit, upper_limit));
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#endif
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managers.push_back(new DynamicAABBTreeCollisionManager<S>());
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managers.push_back(new DynamicAABBTreeCollisionManager_Array<S>());
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{
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DynamicAABBTreeCollisionManager<S>* m = new DynamicAABBTreeCollisionManager<S>();
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m->tree_init_level = 2;
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managers.push_back(m);
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}
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{
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DynamicAABBTreeCollisionManager_Array<S>* m = new DynamicAABBTreeCollisionManager_Array<S>();
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m->tree_init_level = 2;
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managers.push_back(m);
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}
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ts.resize(managers.size());
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timers.resize(managers.size());
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for(size_t i = 0; i < managers.size(); ++i)
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{
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timers[i].start();
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managers[i]->registerObjects(env);
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timers[i].stop();
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ts[i].push_back(timers[i].getElapsedTime());
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}
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for(size_t i = 0; i < managers.size(); ++i)
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{
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timers[i].start();
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managers[i]->setup();
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timers[i].stop();
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ts[i].push_back(timers[i].getElapsedTime());
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}
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std::vector<test::CollisionData<S>> self_data(managers.size());
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for(size_t i = 0; i < managers.size(); ++i)
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{
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if(exhaustive) self_data[i].request.num_max_contacts = 100000;
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else self_data[i].request.num_max_contacts = num_max_contacts;
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}
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for(size_t i = 0; i < managers.size(); ++i)
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{
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timers[i].start();
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managers[i]->collide(&self_data[i], test::defaultCollisionFunction);
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timers[i].stop();
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ts[i].push_back(timers[i].getElapsedTime());
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}
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for(size_t i = 0; i < managers.size(); ++i)
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std::cout << self_data[i].result.numContacts() << " ";
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std::cout << std::endl;
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if(exhaustive)
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{
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for(size_t i = 1; i < managers.size(); ++i)
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EXPECT_TRUE(self_data[i].result.numContacts() == self_data[0].result.numContacts());
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}
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else
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{
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std::vector<bool> self_res(managers.size());
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for(size_t i = 0; i < self_res.size(); ++i)
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self_res[i] = (self_data[i].result.numContacts() > 0);
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for(size_t i = 1; i < self_res.size(); ++i)
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EXPECT_TRUE(self_res[0] == self_res[i]);
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for(size_t i = 1; i < managers.size(); ++i)
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EXPECT_TRUE(self_data[i].result.numContacts() == self_data[0].result.numContacts());
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}
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for(size_t i = 0; i < query.size(); ++i)
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{
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std::vector<test::CollisionData<S>> query_data(managers.size());
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for(size_t j = 0; j < query_data.size(); ++j)
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{
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if(exhaustive) query_data[j].request.num_max_contacts = 100000;
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else query_data[j].request.num_max_contacts = num_max_contacts;
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}
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for(size_t j = 0; j < query_data.size(); ++j)
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{
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timers[j].start();
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managers[j]->collide(query[i], &query_data[j], test::defaultCollisionFunction);
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timers[j].stop();
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ts[j].push_back(timers[j].getElapsedTime());
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}
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// for(size_t j = 0; j < managers.size(); ++j)
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// std::cout << query_data[j].result.numContacts() << " ";
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// std::cout << std::endl;
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||
|
|
if(exhaustive)
|
||
|
|
{
|
||
|
|
for(size_t j = 1; j < managers.size(); ++j)
|
||
|
|
EXPECT_TRUE(query_data[j].result.numContacts() == query_data[0].result.numContacts());
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
std::vector<bool> query_res(managers.size());
|
||
|
|
for(size_t j = 0; j < query_res.size(); ++j)
|
||
|
|
query_res[j] = (query_data[j].result.numContacts() > 0);
|
||
|
|
for(size_t j = 1; j < query_res.size(); ++j)
|
||
|
|
EXPECT_TRUE(query_res[0] == query_res[j]);
|
||
|
|
|
||
|
|
for(size_t j = 1; j < managers.size(); ++j)
|
||
|
|
EXPECT_TRUE(query_data[j].result.numContacts() == query_data[0].result.numContacts());
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
for(size_t i = 0; i < env.size(); ++i)
|
||
|
|
delete env[i];
|
||
|
|
for(size_t i = 0; i < query.size(); ++i)
|
||
|
|
delete query[i];
|
||
|
|
|
||
|
|
for(size_t i = 0; i < managers.size(); ++i)
|
||
|
|
delete managers[i];
|
||
|
|
|
||
|
|
std::cout.setf(std::ios_base::left, std::ios_base::adjustfield);
|
||
|
|
size_t w = 7;
|
||
|
|
|
||
|
|
std::cout << "collision timing summary" << std::endl;
|
||
|
|
std::cout << env_size << " objs, " << query_size << " queries" << std::endl;
|
||
|
|
std::cout << "register time" << std::endl;
|
||
|
|
for(size_t i = 0; i < ts.size(); ++i)
|
||
|
|
std::cout << std::setw(w) << ts[i].records[0] << " ";
|
||
|
|
std::cout << std::endl;
|
||
|
|
|
||
|
|
std::cout << "setup time" << std::endl;
|
||
|
|
for(size_t i = 0; i < ts.size(); ++i)
|
||
|
|
std::cout << std::setw(w) << ts[i].records[1] << " ";
|
||
|
|
std::cout << std::endl;
|
||
|
|
|
||
|
|
std::cout << "self collision time" << std::endl;
|
||
|
|
for(size_t i = 0; i < ts.size(); ++i)
|
||
|
|
std::cout << std::setw(w) << ts[i].records[2] << " ";
|
||
|
|
std::cout << std::endl;
|
||
|
|
|
||
|
|
std::cout << "collision time" << std::endl;
|
||
|
|
for(size_t i = 0; i < ts.size(); ++i)
|
||
|
|
{
|
||
|
|
S tmp = 0;
|
||
|
|
for(size_t j = 3; j < ts[i].records.size(); ++j)
|
||
|
|
tmp += ts[i].records[j];
|
||
|
|
std::cout << std::setw(w) << tmp << " ";
|
||
|
|
}
|
||
|
|
std::cout << std::endl;
|
||
|
|
|
||
|
|
|
||
|
|
std::cout << "overall time" << std::endl;
|
||
|
|
for(size_t i = 0; i < ts.size(); ++i)
|
||
|
|
std::cout << std::setw(w) << ts[i].overall_time << " ";
|
||
|
|
std::cout << std::endl;
|
||
|
|
std::cout << std::endl;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
//==============================================================================
|
||
|
|
int main(int argc, char* argv[])
|
||
|
|
{
|
||
|
|
::testing::InitGoogleTest(&argc, argv);
|
||
|
|
return RUN_ALL_TESTS();
|
||
|
|
}
|