591 lines
24 KiB
C++
591 lines
24 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 Generate environment with 3 * n objects for self distance, so we try to make sure none of them collide with each other.
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template <typename S>
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void generateSelfDistanceEnvironments(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n);
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/// @brief Generate environment with 3 * n objects for self distance, but all in meshes.
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template <typename S>
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void generateSelfDistanceEnvironmentsMesh(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n);
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/// @brief test for broad phase distance
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template <typename S>
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void broad_phase_distance_test(S env_scale, std::size_t env_size, std::size_t query_size, bool use_mesh = false);
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/// @brief test for broad phase self distance
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template <typename S>
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void broad_phase_self_distance_test(S env_scale, std::size_t env_size, bool use_mesh = false);
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template <typename S>
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S getDELTA() { return 0.01; }
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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 distance
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GTEST_TEST(FCL_BROADPHASE, test_core_bf_broad_phase_distance)
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{
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#ifdef NDEBUG
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broad_phase_distance_test<double>(200, 100, 100);
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broad_phase_distance_test<double>(200, 1000, 100);
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broad_phase_distance_test<double>(2000, 100, 100);
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broad_phase_distance_test<double>(2000, 1000, 100);
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#else
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broad_phase_distance_test<double>(200, 10, 10);
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broad_phase_distance_test<double>(200, 100, 10);
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broad_phase_distance_test<double>(2000, 10, 10);
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broad_phase_distance_test<double>(2000, 100, 10);
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#endif
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}
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/// check broad phase self distance
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GTEST_TEST(FCL_BROADPHASE, test_core_bf_broad_phase_self_distance)
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{
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#ifdef NDEBUG
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broad_phase_self_distance_test<double>(200, 512);
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broad_phase_self_distance_test<double>(200, 1000);
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broad_phase_self_distance_test<double>(200, 5000);
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#else
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broad_phase_self_distance_test<double>(200, 256);
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broad_phase_self_distance_test<double>(200, 500);
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broad_phase_self_distance_test<double>(200, 2500);
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#endif
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}
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/// check broad phase distance
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GTEST_TEST(FCL_BROADPHASE, test_core_mesh_bf_broad_phase_distance_mesh)
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{
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#ifdef NDEBUG
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broad_phase_distance_test<double>(200, 100, 100, true);
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broad_phase_distance_test<double>(200, 1000, 100, true);
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broad_phase_distance_test<double>(2000, 100, 100, true);
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broad_phase_distance_test<double>(2000, 1000, 100, true);
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#else
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broad_phase_distance_test<double>(200, 2, 2, true);
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broad_phase_distance_test<double>(200, 4, 2, true);
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broad_phase_distance_test<double>(2000, 2, 2, true);
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broad_phase_distance_test<double>(2000, 4, 2, true);
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#endif
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}
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/// check broad phase self distance
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GTEST_TEST(FCL_BROADPHASE, test_core_mesh_bf_broad_phase_self_distance_mesh)
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{
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#ifdef NDEBUG
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broad_phase_self_distance_test<double>(200, 512, true);
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broad_phase_self_distance_test<double>(200, 1000, true);
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broad_phase_self_distance_test<double>(200, 5000, true);
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#else
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broad_phase_self_distance_test<double>(200, 128, true);
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broad_phase_self_distance_test<double>(200, 250, true);
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broad_phase_self_distance_test<double>(200, 1250, true);
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#endif
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}
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template <typename S>
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void generateSelfDistanceEnvironments(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n)
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{
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unsigned int n_edge = std::floor(std::pow(n, 1/3.0));
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S step_size = env_scale * 2 / n_edge;
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S delta_size = step_size * 0.05;
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S single_size = step_size - 2 * delta_size;
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unsigned int i = 0;
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Box<S>* box = new Box<S>(single_size, single_size, single_size);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(box),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Sphere<S>* sphere = new Sphere<S>(single_size / 2);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(sphere),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Ellipsoid<S>* ellipsoid = new Ellipsoid<S>(single_size / 2, single_size / 2, single_size / 2);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(ellipsoid),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Cylinder<S>* cylinder = new Cylinder<S>(single_size / 2, single_size);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(cylinder),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Cone<S>* cone = new Cone<S>(single_size / 2, single_size);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(cone),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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}
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template <typename S>
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void generateSelfDistanceEnvironmentsMesh(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n)
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{
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unsigned int n_edge = std::floor(std::pow(n, 1/3.0));
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S step_size = env_scale * 2 / n_edge;
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S delta_size = step_size * 0.05;
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S single_size = step_size - 2 * delta_size;
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std::size_t i = 0;
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Box<S> box(single_size, single_size, single_size);
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BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
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generateBVHModel(*model, box, Transform3<S>::Identity());
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Sphere<S> sphere(single_size / 2);
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BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
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generateBVHModel(*model, sphere, Transform3<S>::Identity(), 16, 16);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Ellipsoid<S> ellipsoid(single_size / 2, single_size / 2, single_size / 2);
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BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
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generateBVHModel(*model, ellipsoid, Transform3<S>::Identity(), 16, 16);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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for(; i < n_edge * n_edge * n_edge / 4; ++i)
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{
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int x = i % (n_edge * n_edge);
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int y = (i - n_edge * n_edge * x) % n_edge;
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int z = i - n_edge * n_edge * x - n_edge * y;
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Cylinder<S> cylinder(single_size / 2, single_size);
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BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
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generateBVHModel(*model, cylinder, Transform3<S>::Identity(), 16, 16);
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env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model),
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Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
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y * step_size + delta_size + 0.5 * single_size - env_scale,
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z * step_size + delta_size + 0.5 * single_size - env_scale)))));
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}
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|
|
|
||
|
|
for(; i < n_edge * n_edge * n_edge / 4; ++i)
|
||
|
|
{
|
||
|
|
int x = i % (n_edge * n_edge);
|
||
|
|
int y = (i - n_edge * n_edge * x) % n_edge;
|
||
|
|
int z = i - n_edge * n_edge * x - n_edge * y;
|
||
|
|
|
||
|
|
Cone<S> cone(single_size / 2, single_size);
|
||
|
|
BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
|
||
|
|
generateBVHModel(*model, cone, Transform3<S>::Identity(), 16, 16);
|
||
|
|
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model),
|
||
|
|
Transform3<S>(Translation3<S>(Vector3<S>(x * step_size + delta_size + 0.5 * single_size - env_scale,
|
||
|
|
y * step_size + delta_size + 0.5 * single_size - env_scale,
|
||
|
|
z * step_size + delta_size + 0.5 * single_size - env_scale)))));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void broad_phase_self_distance_test(S env_scale, std::size_t env_size, bool use_mesh)
|
||
|
|
{
|
||
|
|
std::vector<test::TStruct> ts;
|
||
|
|
std::vector<test::Timer> timers;
|
||
|
|
|
||
|
|
std::vector<CollisionObject<S>*> env;
|
||
|
|
if(use_mesh)
|
||
|
|
generateSelfDistanceEnvironmentsMesh(env, env_scale, env_size);
|
||
|
|
else
|
||
|
|
generateSelfDistanceEnvironments(env, env_scale, env_size);
|
||
|
|
|
||
|
|
std::vector<BroadPhaseCollisionManager<S>*> managers;
|
||
|
|
|
||
|
|
managers.push_back(new NaiveCollisionManager<S>());
|
||
|
|
managers.push_back(new SSaPCollisionManager<S>());
|
||
|
|
managers.push_back(new SaPCollisionManager<S>());
|
||
|
|
managers.push_back(new IntervalTreeCollisionManager<S>());
|
||
|
|
|
||
|
|
Vector3<S> lower_limit, upper_limit;
|
||
|
|
SpatialHashingCollisionManager<S>::computeBound(env, lower_limit, upper_limit);
|
||
|
|
S cell_size = std::min(std::min((upper_limit[0] - lower_limit[0]) / 5, (upper_limit[1] - lower_limit[1]) / 5), (upper_limit[2] - lower_limit[2]) / 5);
|
||
|
|
// managers.push_back(new SpatialHashingCollisionManager<S>(cell_size, lower_limit, upper_limit));
|
||
|
|
managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >(cell_size, lower_limit, upper_limit));
|
||
|
|
#if USE_GOOGLEHASH
|
||
|
|
managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>, GoogleSparseHashTable> >(cell_size, lower_limit, upper_limit));
|
||
|
|
managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>, GoogleDenseHashTable> >(cell_size, lower_limit, upper_limit));
|
||
|
|
#endif
|
||
|
|
managers.push_back(new DynamicAABBTreeCollisionManager<S>());
|
||
|
|
managers.push_back(new DynamicAABBTreeCollisionManager_Array<S>());
|
||
|
|
|
||
|
|
{
|
||
|
|
DynamicAABBTreeCollisionManager<S>* m = new DynamicAABBTreeCollisionManager<S>();
|
||
|
|
m->tree_init_level = 2;
|
||
|
|
managers.push_back(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
DynamicAABBTreeCollisionManager_Array<S>* m = new DynamicAABBTreeCollisionManager_Array<S>();
|
||
|
|
m->tree_init_level = 2;
|
||
|
|
managers.push_back(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
ts.resize(managers.size());
|
||
|
|
timers.resize(managers.size());
|
||
|
|
|
||
|
|
for(size_t i = 0; i < managers.size(); ++i)
|
||
|
|
{
|
||
|
|
timers[i].start();
|
||
|
|
managers[i]->registerObjects(env);
|
||
|
|
timers[i].stop();
|
||
|
|
ts[i].push_back(timers[i].getElapsedTime());
|
||
|
|
}
|
||
|
|
|
||
|
|
for(size_t i = 0; i < managers.size(); ++i)
|
||
|
|
{
|
||
|
|
timers[i].start();
|
||
|
|
managers[i]->setup();
|
||
|
|
timers[i].stop();
|
||
|
|
ts[i].push_back(timers[i].getElapsedTime());
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
std::vector<test::DistanceData<S>> self_data(managers.size());
|
||
|
|
|
||
|
|
for(size_t i = 0; i < self_data.size(); ++i)
|
||
|
|
{
|
||
|
|
timers[i].start();
|
||
|
|
managers[i]->distance(&self_data[i], test::defaultDistanceFunction);
|
||
|
|
timers[i].stop();
|
||
|
|
ts[i].push_back(timers[i].getElapsedTime());
|
||
|
|
// std::cout << self_data[i].result.min_distance << " ";
|
||
|
|
}
|
||
|
|
// std::cout << std::endl;
|
||
|
|
|
||
|
|
for(size_t i = 1; i < managers.size(); ++i)
|
||
|
|
EXPECT_TRUE(fabs(self_data[0].result.min_distance - self_data[i].result.min_distance) < getDELTA<S>() ||
|
||
|
|
fabs(self_data[0].result.min_distance - self_data[i].result.min_distance) / fabs(self_data[0].result.min_distance) < getDELTA<S>());
|
||
|
|
|
||
|
|
for(size_t i = 0; i < env.size(); ++i)
|
||
|
|
delete env[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 << "self distance timing summary" << std::endl;
|
||
|
|
std::cout << env.size() << " objs" << 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 distance 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 << "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;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void broad_phase_distance_test(S env_scale, std::size_t env_size, std::size_t query_size, bool use_mesh)
|
||
|
|
{
|
||
|
|
std::vector<test::TStruct> ts;
|
||
|
|
std::vector<test::Timer> timers;
|
||
|
|
|
||
|
|
std::vector<CollisionObject<S>*> env;
|
||
|
|
if(use_mesh)
|
||
|
|
test::generateEnvironmentsMesh(env, env_scale, env_size);
|
||
|
|
else
|
||
|
|
test::generateEnvironments(env, env_scale, env_size);
|
||
|
|
|
||
|
|
std::vector<CollisionObject<S>*> query;
|
||
|
|
|
||
|
|
BroadPhaseCollisionManager<S>* manager = new NaiveCollisionManager<S>();
|
||
|
|
for(std::size_t i = 0; i < env.size(); ++i)
|
||
|
|
manager->registerObject(env[i]);
|
||
|
|
manager->setup();
|
||
|
|
|
||
|
|
while(1)
|
||
|
|
{
|
||
|
|
std::vector<CollisionObject<S>*> candidates;
|
||
|
|
if(use_mesh)
|
||
|
|
test::generateEnvironmentsMesh(candidates, env_scale, query_size);
|
||
|
|
else
|
||
|
|
test::generateEnvironments(candidates, env_scale, query_size);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < candidates.size(); ++i)
|
||
|
|
{
|
||
|
|
test::CollisionData<S> query_data;
|
||
|
|
manager->collide(candidates[i], &query_data, test::defaultCollisionFunction);
|
||
|
|
if(query_data.result.numContacts() == 0)
|
||
|
|
query.push_back(candidates[i]);
|
||
|
|
else
|
||
|
|
delete candidates[i];
|
||
|
|
if(query.size() == query_size) break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(query.size() == query_size) break;
|
||
|
|
}
|
||
|
|
|
||
|
|
delete manager;
|
||
|
|
|
||
|
|
std::vector<BroadPhaseCollisionManager<S>*> managers;
|
||
|
|
|
||
|
|
managers.push_back(new NaiveCollisionManager<S>());
|
||
|
|
managers.push_back(new SSaPCollisionManager<S>());
|
||
|
|
managers.push_back(new SaPCollisionManager<S>());
|
||
|
|
managers.push_back(new IntervalTreeCollisionManager<S>());
|
||
|
|
|
||
|
|
Vector3<S> lower_limit, upper_limit;
|
||
|
|
SpatialHashingCollisionManager<S>::computeBound(env, lower_limit, upper_limit);
|
||
|
|
S cell_size = std::min(std::min((upper_limit[0] - lower_limit[0]) / 20, (upper_limit[1] - lower_limit[1]) / 20), (upper_limit[2] - lower_limit[2])/20);
|
||
|
|
// managers.push_back(new SpatialHashingCollisionManager<S>(cell_size, lower_limit, upper_limit));
|
||
|
|
managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >(cell_size, lower_limit, upper_limit));
|
||
|
|
#if USE_GOOGLEHASH
|
||
|
|
managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>, GoogleSparseHashTable> >(cell_size, lower_limit, upper_limit));
|
||
|
|
managers.push_back(new SpatialHashingCollisionManager<S, detail::SparseHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>, GoogleDenseHashTable> >(cell_size, lower_limit, upper_limit));
|
||
|
|
#endif
|
||
|
|
managers.push_back(new DynamicAABBTreeCollisionManager<S>());
|
||
|
|
managers.push_back(new DynamicAABBTreeCollisionManager_Array<S>());
|
||
|
|
|
||
|
|
{
|
||
|
|
DynamicAABBTreeCollisionManager<S>* m = new DynamicAABBTreeCollisionManager<S>();
|
||
|
|
m->tree_init_level = 2;
|
||
|
|
managers.push_back(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
DynamicAABBTreeCollisionManager_Array<S>* m = new DynamicAABBTreeCollisionManager_Array<S>();
|
||
|
|
m->tree_init_level = 2;
|
||
|
|
managers.push_back(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
ts.resize(managers.size());
|
||
|
|
timers.resize(managers.size());
|
||
|
|
|
||
|
|
for(size_t i = 0; i < managers.size(); ++i)
|
||
|
|
{
|
||
|
|
timers[i].start();
|
||
|
|
managers[i]->registerObjects(env);
|
||
|
|
timers[i].stop();
|
||
|
|
ts[i].push_back(timers[i].getElapsedTime());
|
||
|
|
}
|
||
|
|
|
||
|
|
for(size_t i = 0; i < managers.size(); ++i)
|
||
|
|
{
|
||
|
|
timers[i].start();
|
||
|
|
managers[i]->setup();
|
||
|
|
timers[i].stop();
|
||
|
|
ts[i].push_back(timers[i].getElapsedTime());
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
for(size_t i = 0; i < query.size(); ++i)
|
||
|
|
{
|
||
|
|
std::vector<test::DistanceData<S>> query_data(managers.size());
|
||
|
|
for(size_t j = 0; j < managers.size(); ++j)
|
||
|
|
{
|
||
|
|
timers[j].start();
|
||
|
|
managers[j]->distance(query[i], &query_data[j], test::defaultDistanceFunction);
|
||
|
|
timers[j].stop();
|
||
|
|
ts[j].push_back(timers[j].getElapsedTime());
|
||
|
|
// std::cout << query_data[j].result.min_distance << " ";
|
||
|
|
}
|
||
|
|
// std::cout << std::endl;
|
||
|
|
|
||
|
|
for(size_t j = 1; j < managers.size(); ++j)
|
||
|
|
EXPECT_TRUE(fabs(query_data[0].result.min_distance - query_data[j].result.min_distance) < getDELTA<S>() ||
|
||
|
|
fabs(query_data[0].result.min_distance - query_data[j].result.min_distance) / fabs(query_data[0].result.min_distance) < getDELTA<S>());
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < env.size(); ++i)
|
||
|
|
delete env[i];
|
||
|
|
for(std::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 << "distance 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 << "distance time" << std::endl;
|
||
|
|
for(size_t i = 0; i < ts.size(); ++i)
|
||
|
|
{
|
||
|
|
S tmp = 0;
|
||
|
|
for(size_t j = 2; 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();
|
||
|
|
}
|