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-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/polytope.c398
1 files changed, 398 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/polytope.c b/libs/ode-0.16.1/libccd/src/testsuites/polytope.c
new file mode 100644
index 0000000..65686fb
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/polytope.c
@@ -0,0 +1,398 @@
+//#undef NDEBUG
+#include <cu/cu.h>
+#include <ccd/polytope.h>
+#include <ccd/dbg.h>
+
+TEST(ptSetUp)
+{
+}
+
+TEST(ptTearDown)
+{
+}
+
+
+TEST(ptCreate1)
+{
+ ccd_pt_t pt;
+ ccd_pt_vertex_t *v[3];
+ ccd_pt_edge_t *e[3];
+ ccd_pt_face_t *f;
+ ccd_vec3_t u;
+ int res;
+ size_t i;
+
+ DBG2("------");
+
+ ccdPtInit(&pt);
+ ccdPtDestroy(&pt);
+
+
+ ccdPtInit(&pt);
+
+ ccdVec3Set(&u, -1., -1., 0.);
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[0]->v.v));
+
+ ccdVec3Set(&u, 1., 0., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[1]->v.v));
+
+ ccdVec3Set(&u, 0., 0., 1.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ assertTrue(ccdVec3Eq(&u, &v[2]->v.v));
+
+ for (i = 0; i < 3; i++){
+ assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v)));
+ }
+
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ for (i = 0; i < 3; i++){
+ DBG("e[%d]->dist: %lf", i, e[i]->dist);
+ DBG_VEC3(&e[i]->witness, " ->witness: ");
+ }
+
+ f = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ DBG("f->dist: %lf", f->dist);
+ DBG_VEC3(&f->witness, " ->witness: ");
+
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertFalse(res == 0);
+ }
+
+ ccdPtDelFace(&pt, f);
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ }
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertTrue(res == 0);
+ }
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertTrue(res == 0);
+ }
+
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+
+ f = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+
+ ccdPtDestroy(&pt);
+}
+
+TEST(ptCreate2)
+{
+ ccd_pt_t pt;
+ ccd_pt_vertex_t *v[4];
+ ccd_pt_edge_t *e[6];
+ ccd_pt_face_t *f[4];
+ ccd_vec3_t u;
+ int res;
+ unsigned int i;
+
+ DBG2("------");
+
+ ccdPtInit(&pt);
+
+ ccdVec3Set(&u, -1., -1., 0.);
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[0]->v.v));
+
+ ccdVec3Set(&u, 1., 0., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[1]->v.v));
+
+ ccdVec3Set(&u, 0., 0., 1.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ assertTrue(ccdVec3Eq(&u, &v[2]->v.v));
+
+ ccdVec3Set(&u, 0., 1., 0.);
+ v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[3]->v.v));
+
+ for (i = 0; i < 4; i++){
+ assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v)));
+ }
+ for (i = 0; i < 4; i++){
+ DBG("v[%d]->dist: %lf", i, v[i]->dist);
+ DBG_VEC3(&v[i]->witness, " ->witness: ");
+ }
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
+ e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
+ e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
+ for (i = 0; i < 6; i++){
+ DBG("e[%d]->dist: %lf", i, e[i]->dist);
+ DBG_VEC3(&e[i]->witness, " ->witness: ");
+ }
+
+ f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
+ f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
+ f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
+ for (i = 0; i < 4; i++){
+ DBG("f[%d]->dist: %lf", i, f[i]->dist);
+ DBG_VEC3(&f[i]->witness, " ->witness: ");
+ }
+
+ for (i = 0; i < 4; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ }
+ for (i = 0; i < 6; i++){
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertFalse(res == 0);
+ }
+
+ res = ccdPtDelFace(&pt, f[0]);
+ for (i = 0; i < 6; i++){
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertFalse(res == 0);
+ }
+
+ res = ccdPtDelFace(&pt, f[1]);
+ assertTrue(ccdPtDelEdge(&pt, e[0]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[1]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[2]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[3]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[4]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[5]) == 0);
+ for (i = 0; i < 4; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ }
+
+ res = ccdPtDelFace(&pt, f[2]);
+ assertTrue(ccdPtDelEdge(&pt, e[1]) == 0);
+ assertTrue(ccdPtDelEdge(&pt, e[4]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[2]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[3]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[5]) == 0);
+
+ assertTrue(ccdPtDelVertex(&pt, v[1]) == 0);
+ assertFalse(ccdPtDelVertex(&pt, v[0]) == 0);
+ assertFalse(ccdPtDelVertex(&pt, v[2]) == 0);
+ assertFalse(ccdPtDelVertex(&pt, v[3]) == 0);
+
+ res = ccdPtDelFace(&pt, f[3]);
+ assertTrue(ccdPtDelEdge(&pt, e[2]) == 0);
+ assertTrue(ccdPtDelEdge(&pt, e[3]) == 0);
+ assertTrue(ccdPtDelEdge(&pt, e[5]) == 0);
+
+ assertTrue(ccdPtDelVertex(&pt, v[0]) == 0);
+ assertTrue(ccdPtDelVertex(&pt, v[2]) == 0);
+ assertTrue(ccdPtDelVertex(&pt, v[3]) == 0);
+
+
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
+ e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
+ e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
+
+ f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
+ f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
+ f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
+
+ ccdPtDestroy(&pt);
+}
+
+TEST(ptNearest)
+{
+ ccd_pt_t pt;
+ ccd_pt_vertex_t *v[4];
+ ccd_pt_edge_t *e[6];
+ ccd_pt_face_t *f[4];
+ ccd_pt_el_t *nearest;
+
+ DBG2("------");
+
+ ccdPtInit(&pt);
+
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
+ e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
+ e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
+
+ f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
+ f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
+ f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertEquals(nearest, (ccd_pt_el_t *)f[1]);
+ assertTrue(ccdPtDelFace(&pt, f[1]) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertTrue(nearest == (ccd_pt_el_t *)f[0]
+ || nearest == (ccd_pt_el_t *)f[3]);
+ assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertTrue(nearest == (ccd_pt_el_t *)f[0]
+ || nearest == (ccd_pt_el_t *)f[3]);
+ assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[0]
+ || nearest == (ccd_pt_el_t *)e[3]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[0]
+ || nearest == (ccd_pt_el_t *)e[3]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertEquals(nearest, (ccd_pt_el_t *)f[2]);
+ assertTrue(ccdPtDelFace(&pt, f[2]) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[1]
+ || nearest == (ccd_pt_el_t *)e[4]
+ || nearest == (ccd_pt_el_t *)e[5]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[1]
+ || nearest == (ccd_pt_el_t *)e[4]
+ || nearest == (ccd_pt_el_t *)e[5]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[1]
+ || nearest == (ccd_pt_el_t *)e[4]
+ || nearest == (ccd_pt_el_t *)e[5]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[2]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[1]
+ || nearest == (ccd_pt_el_t *)v[2]
+ || nearest == (ccd_pt_el_t *)v[3]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[1]
+ || nearest == (ccd_pt_el_t *)v[2]
+ || nearest == (ccd_pt_el_t *)v[3]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[1]
+ || nearest == (ccd_pt_el_t *)v[2]
+ || nearest == (ccd_pt_el_t *)v[3]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[0]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ assertTrue(nearest == NULL);
+
+ ccdPtDestroy(&pt);
+}
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