GCC Code Coverage Report

Directory: ./
File: test/broadphase.cpp
Date: 2025-04-01 09:23:31
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
36 /** \author Jia Pan */
37
38 #define BOOST_TEST_MODULE COAL_BROADPHASE
39 #include <boost/test/included/unit_test.hpp>
40
41 #include "coal/config.hh"
42 #include "coal/broadphase/broadphase.h"
43 #include "coal/shape/geometric_shape_to_BVH_model.h"
44 #include "coal/math/transform.h"
45 #include "utility.h"
46
47 #if USE_GOOGLEHASH
48 #include <sparsehash/sparse_hash_map>
49 #include <sparsehash/dense_hash_map>
50 #include <hash_map>
51 #endif
52
53 #include <boost/math/constants/constants.hpp>
54 #include <iostream>
55 #include <iomanip>
56
57 using namespace coal;
58 using namespace coal::detail;
59
60 /// @brief Generate environment with 3 * n objects for self distance, so we try
61 /// to make sure none of them collide with each other.
62 void generateSelfDistanceEnvironments(std::vector<CollisionObject*>& env,
63 Scalar env_scale, std::size_t n);
64
65 /// @brief Generate environment with 3 * n objects for self distance, but all in
66 /// meshes.
67 void generateSelfDistanceEnvironmentsMesh(std::vector<CollisionObject*>& env,
68 Scalar env_scale, std::size_t n);
69
70 /// @brief test for broad phase distance
71 void broad_phase_distance_test(Scalar env_scale, std::size_t env_size,
72 std::size_t query_size, bool use_mesh = false);
73
74 /// @brief test for broad phase self distance
75 void broad_phase_self_distance_test(Scalar env_scale, std::size_t env_size,
76 bool use_mesh = false);
77
78 Scalar DELTA = Scalar(0.01);
79
80 #if USE_GOOGLEHASH
81 template <typename U, typename V>
82 struct GoogleSparseHashTable
83 : public google::sparse_hash_map<U, V, std::tr1::hash<size_t>,
84 std::equal_to<size_t> > {};
85
86 template <typename U, typename V>
87 struct GoogleDenseHashTable
88 : public google::dense_hash_map<U, V, std::tr1::hash<size_t>,
89 std::equal_to<size_t> > {
90 GoogleDenseHashTable()
91 : google::dense_hash_map<U, V, std::tr1::hash<size_t>,
92 std::equal_to<size_t> >() {
93 this->set_empty_key(NULL);
94 }
95 };
96 #endif
97
98 // TODO(jcarpent): fix this test
99 // - test_core_bf_broad_phase_distance
100
101 /// check broad phase distance
102
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 4 BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_distance) {
103 #ifndef NDEBUG
104 2 broad_phase_distance_test(200, 100, 10);
105 2 broad_phase_distance_test(200, 1000, 10);
106 2 broad_phase_distance_test(2000, 100, 10);
107 2 broad_phase_distance_test(2000, 1000, 10);
108 #else
109 broad_phase_distance_test(200, 100, 100);
110 broad_phase_distance_test(200, 1000, 100);
111 broad_phase_distance_test(2000, 100, 100);
112 broad_phase_distance_test(2000, 1000, 100);
113 #endif
114 2 }
115
116 /// check broad phase self distance
117
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 4 BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_self_distance) {
118 2 broad_phase_self_distance_test(200, 512);
119 2 broad_phase_self_distance_test(200, 1000);
120 2 broad_phase_self_distance_test(200, 5000);
121 2 }
122
123 /// check broad phase distance
124
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 4 BOOST_AUTO_TEST_CASE(test_core_mesh_bf_broad_phase_distance_mesh) {
125 #ifndef NDEBUG
126 2 broad_phase_distance_test(200, 10, 10, true);
127 2 broad_phase_distance_test(200, 100, 10, true);
128 2 broad_phase_distance_test(2000, 10, 10, true);
129 2 broad_phase_distance_test(2000, 100, 10, true);
130 #else
131 broad_phase_distance_test(200, 100, 100, true);
132 broad_phase_distance_test(200, 1000, 100, true);
133 broad_phase_distance_test(2000, 100, 100, true);
134 broad_phase_distance_test(2000, 1000, 100, true);
135 #endif
136 2 }
137
138 /// check broad phase self distance
139
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 4 BOOST_AUTO_TEST_CASE(test_core_mesh_bf_broad_phase_self_distance_mesh) {
140 2 broad_phase_self_distance_test(200, 512, true);
141 2 broad_phase_self_distance_test(200, 1000, true);
142 2 broad_phase_self_distance_test(200, 5000, true);
143 2 }
144
145 3 void generateSelfDistanceEnvironments(std::vector<CollisionObject*>& env,
146 Scalar env_scale, std::size_t n) {
147 3 int n_edge = static_cast<int>(std::floor(std::pow(n, 1 / 3.0)));
148
149 3 Scalar step_size = env_scale * 2 / Scalar(n_edge);
150 3 Scalar delta_size = step_size * Scalar(0.05);
151 3 Scalar single_size = step_size - 2 * delta_size;
152
153 3 int i = 0;
154
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 1498 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
155 1495 int x = i % (n_edge * n_edge);
156 1495 int y = (i - n_edge * n_edge * x) % n_edge;
157 1495 int z = i - n_edge * n_edge * x - n_edge * y;
158
159
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 1495 Box* box = new Box(single_size, single_size, single_size);
160 1495 const Scalar half = Scalar(0.5);
161
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 1495 env.push_back(new CollisionObject(
162 1495 shared_ptr<CollisionGeometry>(box),
163
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 1495 Transform3s(Vec3s(
164 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
165 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
166
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167
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 1495 env_scale))));
168 1495 env.back()->collisionGeometry()->computeLocalAABB();
169 }
170
171
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 3 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
172 ✗ int x = i % (n_edge * n_edge);
173 ✗ int y = (i - n_edge * n_edge * x) % n_edge;
174 ✗ int z = i - n_edge * n_edge * x - n_edge * y;
175
176 ✗ Sphere* sphere = new Sphere(single_size / 2);
177 ✗ const Scalar half = Scalar(0.5);
178 ✗ env.push_back(new CollisionObject(
179 ✗ shared_ptr<CollisionGeometry>(sphere),
180 ✗ Transform3s(Vec3s(
181 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
182 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
183 ✗ Scalar(z) * step_size + delta_size + half * single_size -
184 ✗ env_scale))));
185 ✗ env.back()->collisionGeometry()->computeLocalAABB();
186 }
187
188
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 3 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
189 ✗ int x = i % (n_edge * n_edge);
190 ✗ int y = (i - n_edge * n_edge * x) % n_edge;
191 ✗ int z = i - n_edge * n_edge * x - n_edge * y;
192
193 ✗ Cylinder* cylinder = new Cylinder(single_size / 2, single_size);
194 ✗ const Scalar half = Scalar(0.5);
195 ✗ env.push_back(new CollisionObject(
196 ✗ shared_ptr<CollisionGeometry>(cylinder),
197 ✗ Transform3s(Vec3s(
198 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
199 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
200 ✗ Scalar(z) * step_size + delta_size + half * single_size -
201 ✗ env_scale))));
202 ✗ env.back()->collisionGeometry()->computeLocalAABB();
203 }
204
205
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 3 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
206 ✗ int x = i % (n_edge * n_edge);
207 ✗ int y = (i - n_edge * n_edge * x) % n_edge;
208 ✗ int z = i - n_edge * n_edge * x - n_edge * y;
209
210 ✗ Cone* cone = new Cone(single_size / 2, single_size);
211 ✗ const Scalar half = Scalar(0.5);
212 ✗ env.push_back(new CollisionObject(
213 ✗ shared_ptr<CollisionGeometry>(cone),
214 ✗ Transform3s(Vec3s(
215 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
216 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
217 ✗ Scalar(z) * step_size + delta_size + half * single_size -
218 ✗ env_scale))));
219 ✗ env.back()->collisionGeometry()->computeLocalAABB();
220 }
221 3 }
222
223 3 void generateSelfDistanceEnvironmentsMesh(std::vector<CollisionObject*>& env,
224 Scalar env_scale, std::size_t n) {
225 3 int n_edge = static_cast<int>(std::floor(std::pow(n, 1 / 3.0)));
226
227 3 Scalar step_size = env_scale * 2 / Scalar(n_edge);
228 3 Scalar delta_size = step_size * Scalar(0.05);
229 3 Scalar single_size = step_size - 2 * delta_size;
230
231 3 int i = 0;
232
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 1498 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
233 1495 int x = i % (n_edge * n_edge);
234 1495 int y = (i - n_edge * n_edge * x) % n_edge;
235 1495 int z = i - n_edge * n_edge * x - n_edge * y;
236
237
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 1495 Box box(single_size, single_size, single_size);
238
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 1495 BVHModel<OBBRSS>* model = new BVHModel<OBBRSS>();
239
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 1495 generateBVHModel(*model, box, Transform3s());
240 1495 const Scalar half = Scalar(0.5);
241
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 1495 env.push_back(new CollisionObject(
242
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 1495 shared_ptr<CollisionGeometry>(model),
243
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 1495 Transform3s(Vec3s(
244 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
245 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
246
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247
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 1495 env_scale))));
248
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 1495 env.back()->collisionGeometry()->computeLocalAABB();
249 1495 }
250
251
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 3 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
252 ✗ int x = i % (n_edge * n_edge);
253 ✗ int y = (i - n_edge * n_edge * x) % n_edge;
254 ✗ int z = i - n_edge * n_edge * x - n_edge * y;
255
256 ✗ Sphere sphere(single_size / 2);
257 ✗ BVHModel<OBBRSS>* model = new BVHModel<OBBRSS>();
258 ✗ generateBVHModel(*model, sphere, Transform3s(), 16, 16);
259 ✗ const Scalar half = Scalar(0.5);
260 ✗ env.push_back(new CollisionObject(
261 ✗ shared_ptr<CollisionGeometry>(model),
262 ✗ Transform3s(Vec3s(
263 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
264 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
265 ✗ Scalar(z) * step_size + delta_size + half * single_size -
266 ✗ env_scale))));
267 ✗ env.back()->collisionGeometry()->computeLocalAABB();
268 }
269
270
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 3 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
271 ✗ int x = i % (n_edge * n_edge);
272 ✗ int y = (i - n_edge * n_edge * x) % n_edge;
273 ✗ int z = i - n_edge * n_edge * x - n_edge * y;
274
275 ✗ Cylinder cylinder(single_size / 2, single_size);
276 ✗ BVHModel<OBBRSS>* model = new BVHModel<OBBRSS>();
277 ✗ generateBVHModel(*model, cylinder, Transform3s(), 16, 16);
278 ✗ const Scalar half = Scalar(0.5);
279 ✗ env.push_back(new CollisionObject(
280 ✗ shared_ptr<CollisionGeometry>(model),
281 ✗ Transform3s(Vec3s(
282 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
283 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
284 ✗ Scalar(z) * step_size + delta_size + half * single_size -
285 ✗ env_scale))));
286 ✗ env.back()->collisionGeometry()->computeLocalAABB();
287 }
288
289
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 3 for (; i < n_edge * n_edge * n_edge / 4; ++i) {
290 ✗ int x = i % (n_edge * n_edge);
291 ✗ int y = (i - n_edge * n_edge * x) % n_edge;
292 ✗ int z = i - n_edge * n_edge * x - n_edge * y;
293
294 ✗ Cone cone(single_size / 2, single_size);
295 ✗ BVHModel<OBBRSS>* model = new BVHModel<OBBRSS>();
296 ✗ generateBVHModel(*model, cone, Transform3s(), 16, 16);
297 ✗ const Scalar half = Scalar(0.5);
298 ✗ env.push_back(new CollisionObject(
299 ✗ shared_ptr<CollisionGeometry>(model),
300 ✗ Transform3s(Vec3s(
301 ✗ Scalar(x) * step_size + delta_size + half * single_size - env_scale,
302 ✗ Scalar(y) * step_size + delta_size + half * single_size - env_scale,
303 ✗ Scalar(z) * step_size + delta_size + half * single_size -
304 ✗ env_scale))));
305 ✗ env.back()->collisionGeometry()->computeLocalAABB();
306 }
307 3 }
308
309 6 void broad_phase_self_distance_test(Scalar env_scale, std::size_t env_size,
310 bool use_mesh) {
311 6 std::vector<TStruct> ts;
312 6 std::vector<BenchTimer> timers;
313
314 6 std::vector<CollisionObject*> env;
315
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316
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317 else
318
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 3 generateSelfDistanceEnvironments(env, env_scale, env_size);
319
320 6 std::vector<BroadPhaseCollisionManager*> managers;
321
322
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323
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324
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326
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 6 Vec3s lower_limit, upper_limit;
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 6 SpatialHashingCollisionManager<>::computeBound(env, lower_limit, upper_limit);
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330
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 6 (upper_limit[1] - lower_limit[1]) / 5),
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 6 (upper_limit[2] - lower_limit[2]) / 5);
332 // managers.push_back(new SpatialHashingCollisionManager<>(cell_size,
333 // lower_limit, upper_limit));
334
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 6 managers.push_back(new SpatialHashingCollisionManager<
335 SparseHashTable<AABB, CollisionObject*, SpatialHash> >(
336
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 6 cell_size, lower_limit, upper_limit));
337 #if USE_GOOGLEHASH
338 managers.push_back(
339 new SpatialHashingCollisionManager<SparseHashTable<
340 AABB, CollisionObject*, SpatialHash, GoogleSparseHashTable> >(
341 cell_size, lower_limit, upper_limit));
342 managers.push_back(
343 new SpatialHashingCollisionManager<SparseHashTable<
344 AABB, CollisionObject*, SpatialHash, GoogleDenseHashTable> >(
345 cell_size, lower_limit, upper_limit));
346 #endif
347
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349
350 {
351
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352 6 m->tree_init_level = 2;
353
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354 }
355
356 {
357 DynamicAABBTreeArrayCollisionManager* m =
358
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359 6 m->tree_init_level = 2;
360
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361 }
362
363
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364
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365
366
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 60 for (size_t i = 0; i < managers.size(); ++i) {
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 54 managers[i]->registerObjects(env);
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370
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 54 ts[i].push_back(timers[i].getElapsedTime());
371 }
372
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 54 ts[i].push_back(timers[i].getElapsedTime());
378 }
379
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 6 std::vector<DistanceCallBackDefault> self_callbacks(managers.size());
381
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 60 for (size_t i = 0; i < self_callbacks.size(); ++i) {
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 54 managers[i]->distance(&self_callbacks[i]);
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386
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 54 ts[i].push_back(timers[i].getElapsedTime());
387 // std::cout << self_data[i].result.min_distance << " ";
388 }
389 // std::cout << std::endl;
390
391
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392
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 48 BOOST_CHECK(fabs(self_callbacks[0].data.result.min_distance -
393 self_callbacks[i].data.result.min_distance) < DELTA ||
394 fabs(self_callbacks[0].data.result.min_distance -
395 self_callbacks[i].data.result.min_distance) /
396 fabs(self_callbacks[0].data.result.min_distance) <
397 DELTA);
398
399
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 2996 for (size_t i = 0; i < env.size(); ++i) delete env[i];
400
401
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 60 for (size_t i = 0; i < managers.size(); ++i) delete managers[i];
402
403 6 std::cout.setf(std::ios_base::left, std::ios_base::adjustfield);
404 6 int w = 7;
405
406
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 6 std::cout << env.size() << " objs" << std::endl;
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 54 std::cout << std::setw(w) << ts[i].records[0] << " ";
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412
413
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414
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417
418
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422
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427
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 6 std::cout << std::endl;
428 6 }
429
430 8 void broad_phase_distance_test(Scalar env_scale, std::size_t env_size,
431 std::size_t query_size, bool use_mesh) {
432 8 std::vector<TStruct> ts;
433 8 std::vector<BenchTimer> timers;
434
435 8 std::vector<CollisionObject*> env;
436
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437
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438 else
439
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440
441 8 std::vector<CollisionObject*> query;
442
443
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444
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 7268 for (std::size_t i = 0; i < env.size(); ++i) manager->registerObject(env[i]);
445
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446
447 while (1) {
448 32 std::vector<CollisionObject*> candidates;
449
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 32 if (use_mesh)
450
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451 else
452
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 28 generateEnvironments(candidates, env_scale, query_size);
453
454
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 848 for (std::size_t i = 0; i < candidates.size(); ++i) {
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 824 CollisionCallBackDefault callback;
456
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457
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 824 if (callback.data.result.numContacts() == 0)
458
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 80 query.push_back(candidates[i]);
459 else
460
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461
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 824 if (query.size() == query_size) break;
462
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 824 }
463
464
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 32 if (query.size() == query_size) break;
465
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 56 }
466
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 8 delete manager;
468
469 8 std::vector<BroadPhaseCollisionManager*> managers;
470
471
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475
476
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 8 Vec3s lower_limit, upper_limit;
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 8 SpatialHashingCollisionManager<>::computeBound(env, lower_limit, upper_limit);
478
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479
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 8 (upper_limit[1] - lower_limit[1]) / 20),
480
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 8 (upper_limit[2] - lower_limit[2]) / 20);
481 // managers.push_back(new SpatialHashingCollisionManager<>(cell_size,
482 // lower_limit, upper_limit));
483
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484 SparseHashTable<AABB, CollisionObject*, SpatialHash> >(
485
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 8 cell_size, lower_limit, upper_limit));
486 #if USE_GOOGLEHASH
487 managers.push_back(
488 new SpatialHashingCollisionManager<SparseHashTable<
489 AABB, CollisionObject*, SpatialHash, GoogleSparseHashTable> >(
490 cell_size, lower_limit, upper_limit));
491 managers.push_back(
492 new SpatialHashingCollisionManager<SparseHashTable<
493 AABB, CollisionObject*, SpatialHash, GoogleDenseHashTable> >(
494 cell_size, lower_limit, upper_limit));
495 #endif
496
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497
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498
499 {
500
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 8 DynamicAABBTreeCollisionManager* m = new DynamicAABBTreeCollisionManager();
501 8 m->tree_init_level = 2;
502
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503 }
504
505 {
506 DynamicAABBTreeArrayCollisionManager* m =
507
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508 8 m->tree_init_level = 2;
509
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510 }
511
512
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 8 ts.resize(managers.size());
513
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 8 timers.resize(managers.size());
514
515
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 80 for (size_t i = 0; i < managers.size(); ++i) {
516
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517
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 72 managers[i]->registerObjects(env);
518
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519
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 72 ts[i].push_back(timers[i].getElapsedTime());
520 }
521
522
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 80 for (size_t i = 0; i < managers.size(); ++i) {
523
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524
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525
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526
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 72 ts[i].push_back(timers[i].getElapsedTime());
527 }
528
529
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 88 for (size_t i = 0; i < query.size(); ++i) {
530
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 80 std::vector<DistanceCallBackDefault> query_callbacks(managers.size());
531
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 800 for (size_t j = 0; j < managers.size(); ++j) {
532
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 720 timers[j].start();
533
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534
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535
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536
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 720 std::cout << query_callbacks[j].data.result.min_distance << " ";
537 }
538
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 80 std::cout << std::endl;
539
540
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 720 for (size_t j = 1; j < managers.size(); ++j) {
541 640 bool test = fabs(query_callbacks[0].data.result.min_distance -
542
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 792 query_callbacks[j].data.result.min_distance) < DELTA ||
543 152 fabs(query_callbacks[0].data.result.min_distance -
544 152 query_callbacks[j].data.result.min_distance) /
545
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 152 fabs(query_callbacks[0].data.result.min_distance) <
546 640 DELTA;
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 640 BOOST_CHECK(test);
548
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 640 if (!test) {
550 151 const BroadPhaseCollisionManager& self = *managers[j];
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 151 std::cout << "j: " << typeid(self).name() << std::endl;
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 151 std::cout << "query_callbacks[0].data.result.min_distance: "
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 151 << query_callbacks[0].data.result.min_distance << std::endl;
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 151 std::cout << "query_callbacks[j].data.result.min_distance: "
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 151 << query_callbacks[j].data.result.min_distance << std::endl;
556 }
557 }
558 80 }
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 7268 for (std::size_t i = 0; i < env.size(); ++i) delete env[i];
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 88 for (std::size_t i = 0; i < query.size(); ++i) delete query[i];
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 80 for (size_t i = 0; i < managers.size(); ++i) delete managers[i];
564
565 8 std::cout.setf(std::ios_base::left, std::ios_base::adjustfield);
566 8 int w = 7;
567
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 8 std::cout << "distance timing summary" << std::endl;
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 8 std::cout << env_size << " objs, " << query_size << " queries" << std::endl;
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 8 std::cout << "register time" << std::endl;
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 80 for (size_t i = 0; i < ts.size(); ++i)
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 72 std::cout << std::setw(w) << ts[i].records[0] << " ";
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 8 std::cout << std::endl;
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 8 std::cout << "setup time" << std::endl;
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 80 for (size_t i = 0; i < ts.size(); ++i)
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 72 std::cout << std::setw(w) << ts[i].records[1] << " ";
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 8 std::cout << std::endl;
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 8 std::cout << "distance time" << std::endl;
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 80 for (size_t i = 0; i < ts.size(); ++i) {
582 72 double tmp = 0;
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 792 for (size_t j = 2; j < ts[i].records.size(); ++j) tmp += ts[i].records[j];
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 72 std::cout << std::setw(w) << tmp << " ";
585 }
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 8 std::cout << std::endl;
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 8 std::cout << "overall time" << std::endl;
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 80 for (size_t i = 0; i < ts.size(); ++i)
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 72 std::cout << std::setw(w) << ts[i].overall_time << " ";
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 8 std::cout << std::endl;
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 8 std::cout << std::endl;
593 8 }
594