int main (int argc, char **argv) { // setup pointers to drawstuff callback functions dsFunctions fn; fn.version = DS_VERSION; fn.start = &start; fn.step = &simLoop; fn.command = 0; fn.stop = 0; fn.path_to_textures = "../../drawstuff/textures"; if(argc==2) { fn.path_to_textures = argv[1]; } dRandSetSeed (time(0)); reset_test(); // run simulation dsSimulationLoop (argc,argv,352,288,&fn); dWorldDestroy (world); return 0; }
extern "C" void dTestMatrixComparison() { volatile int i; printf ("dTestMatrixComparison()\n"); dMessageFunction *orig_debug = dGetDebugHandler(); dMatrixComparison mc; dReal A[50*50]; // make first sequence unsigned long seed = dRandGetSeed(); for (i=1; i<49; i++) { dMakeRandomMatrix (A,i,i+1,1.0); mc.nextMatrix (A,i,i+1,0,"A%d",i); } mc.end(); //mc.dump(); // test identical sequence dSetDebugHandler (&myDebug); dRandSetSeed (seed); if (setjmp (jump_buffer)) { printf ("\tFAILED (1)\n"); } else { for (i=1; i<49; i++) { dMakeRandomMatrix (A,i,i+1,1.0); mc.nextMatrix (A,i,i+1,0,"A%d",i); } mc.end(); printf ("\tpassed (1)\n"); } dSetDebugHandler (orig_debug); // test broken sequences (with matrix error) dRandSetSeed (seed); volatile int passcount = 0; for (i=1; i<49; i++) { if (setjmp (jump_buffer)) { passcount++; } else { dSetDebugHandler (&myDebug); dMakeRandomMatrix (A,i,i+1,1.0); A[(i-1)*dPAD(i+1)+i] += REAL(0.01); mc.nextMatrix (A,i,i+1,0,"A%d",i); dSetDebugHandler (orig_debug); } } mc.end(); printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED"); // test broken sequences (with name error) dRandSetSeed (seed); passcount = 0; for (i=1; i<49; i++) { if (setjmp (jump_buffer)) { passcount++; } else { dSetDebugHandler (&myDebug); dMakeRandomMatrix (A,i,i+1,1.0); mc.nextMatrix (A,i,i+1,0,"B%d",i); dSetDebugHandler (orig_debug); } } mc.end(); printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED"); // test identical sequence again dSetDebugHandler (&myDebug); dRandSetSeed (seed); if (setjmp (jump_buffer)) { printf ("\tFAILED (4)\n"); } else { for (i=1; i<49; i++) { dMakeRandomMatrix (A,i,i+1,1.0); mc.nextMatrix (A,i,i+1,0,"A%d",i); } mc.end(); printf ("\tpassed (4)\n"); } dSetDebugHandler (orig_debug); }