int main() {
WorldParameters parameters;
parameters.setWorldMinMax(Vector3(-1000, -1000, -1000), Vector3(50000, 50000, 50000));
World world(parameters);
std::vector<Proxy*> boxes;
int countPerDimension = 10;
int proxyCount = countPerDimension * countPerDimension * countPerDimension;
Vector3 boxSize = Vector3(10.0, 10.0, 10.0);
Vector3 boxOffset = Vector3(10.0, 10.0, 10.0); // distance between two boxes
boxes = createManyRigidBoxes(&world, boxSize, proxyCount);
int box = 0;
Vector3 dist = boxSize + boxOffset;
for (int x = 0; x < countPerDimension; x++) {
for (int y = 0; y < countPerDimension; y++) {
for (int z = 0; z < countPerDimension; z++) {
Proxy* p = boxes.at(box);
p->translate(dist.getX() * x,
dist.getY() * y,
dist.getZ() * z);
box++;
}
}
}
world.prepareSimulation();
std::vector<Vector3> translationPerStep;
translationPerStep.reserve(proxyCount);
/*
* 0 = constant translation for all proxies
* 1 = disable movement
*/
int translationMode = 0;
switch (translationMode) {
case 0: // constant translation
{
Vector3 translation = Vector3(1.0, 1.0, 1.0);
for (int i = 0; i < proxyCount; i++) {
translationPerStep.push_back(translation);
}
break;
}
case 1:
break;
default:
error() << "unknown translationMode " << translationMode;
return 1;
}
/*
* >= 0: do that many iterations
* < 0: do infinite iterations
*/
int maxIterations = 20;
bool useThreads = true;
debug() << "starting collision detection with " << proxyCount << " proxies";
int reverseMovementCounter = 0;
for (int iteration = 0; maxIterations < 0 || iteration < maxIterations; iteration++) {
// move all proxies by one step
for (int i = 0; i < proxyCount; i++) {
boxes[i]->translate(translationPerStep[i]);
}
reverseMovementCounter++;
if (reverseMovementCounter > 100) {
reverseMovementCounter = 0;
for (std::vector<Vector3>::iterator it = translationPerStep.begin(); it != translationPerStep.end(); ++it) {
(*it) = (*it) * -1;
}
}
unsigned int flags = World::COLLISIONFLAG_SKIP_MIDDLE_PHASE;
if (useThreads) {
flags |= World::COLLISIONFLAG_USE_THREADS;
}
world.calculateAllCollisions(flags);
if (world.getDebugLog()) {
// world.getDebugLog()->printSummary();
}
}
return 0;
}
void WorldTest::simulationTestUncached() {
World* world = new World(Vector3(200000, 200000, 200000));
world->setUseCollisionCaching(false);
Vector3 boxDimensions(10, 10, 10);
Proxy* box1 = world->createProxy(new Box(boxDimensions));
//Proxy* childBox = world->createProxy(new Box(boxDimensions));
//childBox->translate(5, 5, 5);
//box->addChild(childBox);
world->addProxy(box1);
Proxy* box2 = world->createProxy(new Box(boxDimensions));
box2->translate(0, -20, 0);
world->addProxy(box2);
Proxy* box3 = world->createProxy(new Box(boxDimensions)); //always colliding with box2
box3->translate(5, -25, 0);
world->addProxy(box3);
Proxy* moveBox = world->createProxy(new Box(Vector3(10, 50, 10)));
moveBox->translate(20, -25, 0); //starting in no-collision state
world->addProxy(moveBox);
//WorldCollisions coll;
world->prepareSimulation();
//std::cout << "-----------Starting simulation test-----------"<<std::endl;
//std::cout << "doing pre-move collisionCheck"<<std::endl;
//test and ensure 1 BPC and rigid C
WorldCollisions coll0 = world->calculateAllCollisions();
CPPUNIT_ASSERT_EQUAL(1,
(int)coll0.getBroadPhaseCollisions()->getResults().size());
CPPUNIT_ASSERT_EQUAL(1, (int)coll0.getRigidBoundingVolumeCollisions().size());
//Step 1 -> move moveBox to collidy with box3
//std::cout <<std::endl<< "doing step 1 - move in to collide with box3"<<std::endl;
moveBox->translate(-6, 0, 0);
//ensure 2 BPC/RC
WorldCollisions coll1 = world->calculateAllCollisions();
CPPUNIT_ASSERT_EQUAL(2,
(int)coll1.getBroadPhaseCollisions()->getResults().size());
CPPUNIT_ASSERT_EQUAL(2, (int)coll1.getRigidBoundingVolumeCollisions().size());
//Step 2-> move to collide with all boxes
//std::cout <<std::endl<<"doing step 2 - move further to collide with all"<<std::endl;
moveBox->translate(-5, 0, 0);
//ensure 4 collisions
WorldCollisions coll2 = world->calculateAllCollisions();
CPPUNIT_ASSERT_EQUAL(4,
(int)coll2.getBroadPhaseCollisions()->getResults().size());
CPPUNIT_ASSERT_EQUAL(4, (int)coll2.getRigidBoundingVolumeCollisions().size());
//Step 3-> move out again
//std::cout << std::endl<<"doing step 3 - moving out"<<std::endl;
moveBox->translate(11, 0, 0);
//ensure 1 collisions
WorldCollisions coll3 = world->calculateAllCollisions();
CPPUNIT_ASSERT_EQUAL(1,
(int)coll3.getBroadPhaseCollisions()->getResults().size());
CPPUNIT_ASSERT_EQUAL(1, (int)coll3.getRigidBoundingVolumeCollisions().size());
//Step 4-> move in again
//std::cout << std::endl<<"doing step 4 - moving back in"<<std::endl;
moveBox->translate(-11, 0, 0);
//ensure 4 collisions
WorldCollisions coll4 = world->calculateAllCollisions();
CPPUNIT_ASSERT_EQUAL(4,
(int)coll4.getBroadPhaseCollisions()->getResults().size());
CPPUNIT_ASSERT_EQUAL(4, (int)coll4.getRigidBoundingVolumeCollisions().size());
delete world;
}
void UndoTest::testUndo() {
// we maintain 2 World objects, a "undo" World and a "reference" world
//
// we will do some changes on both worlds and then do some changes on
// the "undo" world only. after calling undo, both worlds should be
// synced again.
//
// whenever we start tests, both worlds should be synced.
World undoWorld;
World referenceWorld;
// add simple proxies and never move them
// this tests in particular that a undoStep() call does not change
// things that shouldnt change
undoWorld.addProxy(undoWorld.createProxy(new Box(10, 10, 10)));
referenceWorld.addProxy(referenceWorld.createProxy(new Box(10, 10, 10)));
// add simple proxies, move them before adding, never move them
// afterwards
// this tests in particular that a undoStep() call does not change
// things that shouldnt change
Proxy* staticUndoProxy = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* staticRefereceProxy = referenceWorld.createProxy(new Box(10, 10, 10));
staticUndoProxy->translate(-10, 10, 5);
staticRefereceProxy->translate(-10, 10, 5);
undoWorld.addProxy(staticUndoProxy);
referenceWorld.addProxy(staticRefereceProxy);
// add simple proxies, but move them before adding
Proxy* proxyUndoWorld = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* proxyReferenceWorld = referenceWorld.createProxy(new Box(10, 10, 10));
proxyUndoWorld->translate(-10, 10, 5);
proxyReferenceWorld->translate(-10, 10, 5);
undoWorld.addProxy(proxyUndoWorld);
referenceWorld.addProxy(proxyReferenceWorld);
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
undoWorld.startNextStep();
referenceWorld.startNextStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo simple translations
proxyUndoWorld->translate(100, 100, 100);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo multiple translations
proxyUndoWorld->translate(100, 100, 100);
proxyUndoWorld->translate(100, 300, 200);
proxyUndoWorld->translate(100, 400, 500);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo simple rotations
proxyUndoWorld->rotate(45, 1, 0, 0);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo multiple simple rotations
proxyUndoWorld->rotate(45, 1, 0, 0);
proxyUndoWorld->rotate(15, 1, 0, 0);
proxyUndoWorld->rotate(45, 0, 1, 0);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo translations and rotations
proxyUndoWorld->translate(100, 100, 100);
proxyUndoWorld->rotate(45, 1, 0, 0);
proxyUndoWorld->translate(100, 1, 100);
proxyUndoWorld->rotate(15, 1, 0, 0);
proxyUndoWorld->translate(100, 20, 100);
proxyUndoWorld->rotate(45, 0, 1, 0);
proxyUndoWorld->translate(100, 100, 400);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo setTransformation()
Matrix m;
m.translate(100, 0, 0);
proxyUndoWorld->setTransformation(m);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo multiple setTransformation()
m = Matrix();
m.translate(100, 0, 0);
proxyUndoWorld->setTransformation(m);
m.translate(0, 50, 0);
proxyUndoWorld->setTransformation(m);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo setProxyType()
proxyUndoWorld->setProxyType(PROXYTYPE_DEFORMABLE);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// undo multiple setProxyType()
proxyUndoWorld->setProxyType(PROXYTYPE_DEFORMABLE);
proxyUndoWorld->setProxyType(PROXYTYPE_FIXED);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
////////////////////////////////////////////////////////////////
// build up a simple hierarchy with static + non-static children
////////////////////////////////////////////////////////////////
Proxy* staticChildUndoWorld = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* staticChildReferenceWorld = referenceWorld.createProxy(new Box(10, 10, 10));
staticChildUndoWorld->translate(40, 10, 10);
staticChildReferenceWorld->translate(40, 10, 10);
proxyUndoWorld->addChild(staticChildUndoWorld);
proxyReferenceWorld->addChild(staticChildReferenceWorld);
Proxy* childUndoWorld = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* childReferenceWorld = referenceWorld.createProxy(new Box(10, 10, 10));
childUndoWorld->translate(0, 0, 10);
childReferenceWorld->translate(0, 0, 10);
childUndoWorld->rotate(100, 0, 0, 1);
childReferenceWorld->rotate(100, 0, 0, 1);
proxyUndoWorld->addChild(childUndoWorld);
proxyReferenceWorld->addChild(childReferenceWorld);
Proxy* staticGrandChildUndoWorld = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* staticGrandChildReferenceWorld = referenceWorld.createProxy(new Box(10, 10, 10));
staticGrandChildUndoWorld->translate(20, 10, 10);
staticGrandChildReferenceWorld->translate(20, 10, 10);
childUndoWorld->addChild(staticGrandChildUndoWorld);
childReferenceWorld->addChild(staticGrandChildReferenceWorld);
////////////////////////////////////
// build up a simple hierarchy (end)
////////////////////////////////////
// sanity check
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// adding child proxies should not have any influence on undo, i.e. undo
// should be a noop here.
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
Proxy* dummyUndoProxy = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* dummyReferenceProxy = referenceWorld.createProxy(new Box(10, 10, 10));
undoWorld.addProxy(dummyUndoProxy);
referenceWorld.addProxy(dummyReferenceProxy);
// another check that the addProxy() did not change anything
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
//////////////////////////////////////
// add grand-children to the hierarchy
//////////////////////////////////////
Proxy* grandChildUndoWorld = undoWorld.createProxy(new Box(10, 10, 10));
Proxy* grandChildReferenceWorld = referenceWorld.createProxy(new Box(10, 10, 10));
grandChildUndoWorld->translate(0, 0, 100);
grandChildReferenceWorld->translate(0, 0, 100);
grandChildUndoWorld->rotate(100, 0, 0, 1);
grandChildReferenceWorld->rotate(100, 0, 0, 1);
childUndoWorld->addChild(grandChildUndoWorld);
childReferenceWorld->addChild(grandChildReferenceWorld);
////////////////////////////////////////////
// add grand-children to the hierarchy (end)
////////////////////////////////////////////
// check that grand-children adding did not change anything
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check for undo on children
childUndoWorld->translate(60, 0, 0);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check for undo on grand-children
grandChildUndoWorld->translate(60, 0, 0);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check for undo on the whole hierarchy
proxyUndoWorld->translate(5, 5, 5);
childUndoWorld->rotate(54, 1, 0, 0);
m = Matrix();
m.translate(10, 10, 10);
m.rotate(44, 1, 0, 0);
grandChildUndoWorld->setTransformation(m);
grandChildUndoWorld->translate(60, 0, 0);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check that removeProxy() is NOT undone
undoWorld.removeProxy(dummyUndoProxy);
referenceWorld.removeProxy(dummyReferenceProxy);
delete dummyUndoProxy;
delete dummyReferenceProxy;
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
proxyUndoWorld->translate(10, 10, 10);
proxyReferenceWorld->translate(10, 10, 10);
// undo should cause the worlds NOT to be equal
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(false, checkWorldsAreEqual(&undoWorld, &referenceWorld));
proxyUndoWorld->translate(10, 10, 10);
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check that that startNextStep() actually works as intended, i.e. we undo
// the things _after_ the startNextStep(), not the ones before
undoWorld.startNextStep();
// startNextStep() should not undo anything (except the moveflags)
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// startNextStep() should clear all possible "undo" values, i.e. this
// should be a noop
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// things _after_ a startNextStep() should be undone again
proxyUndoWorld->translate(10, 10, 10);
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check that removing of grand-children does not change anything
childUndoWorld->removeChild(grandChildUndoWorld);
childReferenceWorld->removeChild(grandChildReferenceWorld);
delete grandChildUndoWorld;
delete grandChildReferenceWorld;
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// check that calls to startNextStep() after removeChild() still works
undoWorld.startNextStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
undoWorld.undoStep();
CPPUNIT_ASSERT_EQUAL(true, checkWorldsAreEqual(&undoWorld, &referenceWorld));
// TODO: check that deformations are un-done?
// open question: do we want to support un-doing of deformations?
}