add ode

1 files changed, 257 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/libccd/src/testsuites/bench.c b/libs/ode-0.16.1/libccd/src/testsuites/bench.c
new file mode 100644
index 0000000..779a8ac
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/bench.c
@@ -0,0 +1,257 @@
+#define CU_ENABLE_TIMER
+#include <cu/cu.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <ccd/ccd.h>
+#include "support.h"
+
+TEST_SUITES {
+    TEST_SUITES_CLOSURE
+};
+
+static int bench_num = 1;
+static size_t cycles = 10000;
+
+static void runBench(const void *o1, const void *o2, const ccd_t *ccd)
+{
+    ccd_real_t depth;
+    ccd_vec3_t dir, pos;
+    int res;
+    size_t i;
+    const struct timespec *timer;
+
+    cuTimerStart();
+    for (i = 0; i < cycles; i++){
+        res = ccdGJKPenetration(o1, o2, ccd, &depth, &dir, &pos);
+    }
+    timer = cuTimerStop();
+    fprintf(stdout, "%02d: %ld %ld\n", bench_num,
+                    (long)timer->tv_sec, (long)timer->tv_nsec);
+    fflush(stdout);
+
+    bench_num++;
+}
+
+static void boxbox(void)
+{
+    fprintf(stdout, "%s:\n", __func__);
+
+    ccd_t ccd;
+    CCD_BOX(box1);
+    CCD_BOX(box2);
+    ccd_vec3_t axis;
+    ccd_quat_t rot;
+
+    box1.x = box1.y = box1.z = 1.;
+    box2.x = 0.5;
+    box2.y = 1.;
+    box2.z = 1.5;
+
+    bench_num = 1;
+
+    CCD_INIT(&ccd);
+    ccd.support1 = ccdSupport;
+    ccd.support2 = ccdSupport;
+
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+    ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+    box1.x = box1.y = box1.z = 1.;
+    box2.x = box2.y = box2.z = 1.;
+    ccdVec3Set(&axis, 0., 0., 1.);
+    ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+    ccdVec3Set(&box1.pos, 0., 0., 0.);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+    box1.x = box1.y = box1.z = 1.;
+    box2.x = box2.y = box2.z = 1.;
+    ccdVec3Set(&axis, 0., 0., 1.);
+    ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+    ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+    box1.x = box1.y = box1.z = 1.;
+    box2.x = box2.y = box2.z = 1.;
+    ccdVec3Set(&axis, 0., 0., 1.);
+    ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+    ccdVec3Set(&box1.pos, -0.5, 0.5, 0.);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+    box1.x = box1.y = box1.z = 1.;
+    ccdVec3Set(&axis, 0., 1., 1.);
+    ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+    ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+    box1.x = box1.y = box1.z = 1.;
+    ccdVec3Set(&axis, 0., 1., 1.);
+    ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+    ccdVec3Set(&axis, 1., 1., 1.);
+    ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+    ccdQuatMul(&box1.quat, &rot);
+    ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+
+    box1.x = box1.y = box1.z = 1.;
+    box2.x = 0.2; box2.y = 0.5; box2.z = 1.;
+    box2.x = box2.y = box2.z = 1.;
+
+    ccdVec3Set(&axis, 0., 0., 1.);
+    ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+    ccdVec3Set(&axis, 1., 0., 0.);
+    ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+    ccdQuatMul(&box1.quat, &rot);
+    ccdVec3Set(&box1.pos, -1.3, 0., 0.);
+
+    ccdVec3Set(&box2.pos, 0., 0., 0.);
+    runBench(&box1, &box2, &ccd);
+    runBench(&box2, &box1, &ccd);
+
+
+    fprintf(stdout, "\n----\n\n");
+}
+
+void cylcyl(void)
+{
+    fprintf(stdout, "%s:\n", __func__);
+
+    ccd_t ccd;
+    CCD_CYL(cyl1);
+    CCD_CYL(cyl2);
+    ccd_vec3_t axis;
+
+    cyl1.radius = 0.35;
+    cyl1.height = 0.5;
+    cyl2.radius = 0.5;
+    cyl2.height = 1.;
+
+    CCD_INIT(&ccd);
+    ccd.support1 = ccdSupport;
+    ccd.support2 = ccdSupport;
+
+    runBench(&cyl1, &cyl2, &ccd);
+    runBench(&cyl2, &cyl1, &ccd);
+
+    ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
+    runBench(&cyl1, &cyl2, &ccd);
+    runBench(&cyl2, &cyl1, &ccd);
+
+    ccdVec3Set(&axis, 0., 1., 1.);
+    ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+    ccdVec3Set(&cyl2.pos, 0., 0., 0.);
+    runBench(&cyl1, &cyl2, &ccd);
+    runBench(&cyl2, &cyl1, &ccd);
+
+    ccdVec3Set(&axis, 0., 1., 1.);
+    ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+    ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
+    runBench(&cyl1, &cyl2, &ccd);
+    runBench(&cyl2, &cyl1, &ccd);
+
+    ccdVec3Set(&axis, 0.567, 1.2, 1.);
+    ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+    ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+    runBench(&cyl1, &cyl2, &ccd);
+    runBench(&cyl2, &cyl1, &ccd);
+
+    ccdVec3Set(&axis, -4.567, 1.2, 0.);
+    ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
+    ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+    runBench(&cyl1, &cyl2, &ccd);
+    runBench(&cyl2, &cyl1, &ccd);
+
+    fprintf(stdout, "\n----\n\n");
+}
+
+void boxcyl(void)
+{
+    fprintf(stdout, "%s:\n", __func__);
+
+    ccd_t ccd;
+    CCD_BOX(box);
+    CCD_CYL(cyl);
+    ccd_vec3_t axis;
+
+    box.x = 0.5;
+    box.y = 1.;
+    box.z = 1.5;
+    cyl.radius = 0.4;
+    cyl.height = 0.7;
+
+    CCD_INIT(&ccd);
+    ccd.support1 = ccdSupport;
+    ccd.support2 = ccdSupport;
+
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&cyl.pos, .6, 0., 0.);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&axis, 0., 1., 0.);
+    ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+    ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+    ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+    ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&axis, -0.1, 2.2, -1.);
+    ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+    ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+    ccdVec3Set(&axis, 1., 1., 0.);
+    ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+    ccdVec3Set(&box.pos, .6, 0., 0.5);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    ccdVec3Set(&axis, -0.1, 2.2, -1.);
+    ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+    ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+    ccdVec3Set(&axis, 1., 1., 0.);
+    ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+    ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+    runBench(&box, &cyl, &ccd);
+    runBench(&cyl, &box, &ccd);
+
+    fprintf(stdout, "\n----\n\n");
+}
+
+int main(int argc, char *argv[])
+{
+    if (argc > 1){
+        cycles = atol(argv[1]);
+    }
+
+    fprintf(stdout, "Cycles: %zu\n", cycles);
+    fprintf(stdout, "\n");
+
+    boxbox();
+    cylcyl();
+    boxcyl();
+
+    return 0;
+}