broadphase_collision_2.cpp

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#define BOOST_TEST_MODULE BROADPHASE_COLLISION_2
#include <boost/test/included/unit_test.hpp>
 
#include "hpp/fcl/broadphase/broadphase_bruteforce.h"
#include "hpp/fcl/broadphase/broadphase_spatialhash.h"
#include "hpp/fcl/broadphase/broadphase_SaP.h"
#include "hpp/fcl/broadphase/broadphase_SSaP.h"
#include "hpp/fcl/broadphase/broadphase_interval_tree.h"
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h"
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
#include "hpp/fcl/broadphase/default_broadphase_callbacks.h"
#include "hpp/fcl/broadphase/detail/sparse_hash_table.h"
#include "hpp/fcl/broadphase/detail/spatial_hash.h"
#include "utility.h"
 
#if USE_GOOGLEHASH
#include <sparsehash/sparse_hash_map>
#include <sparsehash/dense_hash_map>
#include <hash_map>
#endif
 
#include <iostream>
#include <iomanip>
 
using namespace hpp::fcl;
 
void broad_phase_collision_test(FCL_REAL env_scale, std::size_t env_size,
                                std::size_t query_size,
                                std::size_t num_max_contacts = 1,
                                bool exhaustive = false, bool use_mesh = false);
 
#if USE_GOOGLEHASH
template <typename U, typename V>
struct GoogleSparseHashTable
    : public google::sparse_hash_map<U, V, std::tr1::hash<size_t>,
                                     std::equal_to<size_t> > {};
 
template <typename U, typename V>
struct GoogleDenseHashTable
    : public google::dense_hash_map<U, V, std::tr1::hash<size_t>,
                                    std::equal_to<size_t> > {
  GoogleDenseHashTable()
      : google::dense_hash_map<U, V, std::tr1::hash<size_t>,
                               std::equal_to<size_t> >() {
    this->set_empty_key(nullptr);
  }
};
#endif
 
BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_collision_empty) {
#ifdef NDEBUG
  broad_phase_collision_test(2000, 0, 0, 10, false, false);
  broad_phase_collision_test(2000, 0, 1000, 10, false, false);
  broad_phase_collision_test(2000, 100, 0, 10, false, false);
 
  broad_phase_collision_test(2000, 0, 0, 10, false, true);
  broad_phase_collision_test(2000, 0, 1000, 10, false, true);
  broad_phase_collision_test(2000, 100, 0, 10, false, true);
 
  broad_phase_collision_test(2000, 0, 0, 10, true, false);
  broad_phase_collision_test(2000, 0, 1000, 10, true, false);
  broad_phase_collision_test(2000, 100, 0, 10, true, false);
 
  broad_phase_collision_test(2000, 0, 0, 10, true, true);
  broad_phase_collision_test(2000, 0, 1000, 10, true, true);
  broad_phase_collision_test(2000, 100, 0, 10, true, true);
#else
  broad_phase_collision_test(2000, 0, 0, 10, false, false);
  broad_phase_collision_test(2000, 0, 5, 10, false, false);
  broad_phase_collision_test(2000, 2, 0, 10, false, false);
 
  broad_phase_collision_test(2000, 0, 0, 10, false, true);
  broad_phase_collision_test(2000, 0, 5, 10, false, true);
  broad_phase_collision_test(2000, 2, 0, 10, false, true);
 
  broad_phase_collision_test(2000, 0, 0, 10, true, false);
  broad_phase_collision_test(2000, 0, 5, 10, true, false);
  broad_phase_collision_test(2000, 2, 0, 10, true, false);
 
  broad_phase_collision_test(2000, 0, 0, 10, true, true);
  broad_phase_collision_test(2000, 0, 5, 10, true, true);
  broad_phase_collision_test(2000, 2, 0, 10, true, true);
#endif
}
 
BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_collision_binary) {
#ifdef NDEBUG
  broad_phase_collision_test(2000, 100, 1000, 1, false);
  broad_phase_collision_test(2000, 1000, 1000, 1, false);
  broad_phase_collision_test(2000, 100, 1000, 1, true);
  broad_phase_collision_test(2000, 1000, 1000, 1, true);
#else
  broad_phase_collision_test(2000, 10, 100, 1, false);
  broad_phase_collision_test(2000, 100, 100, 1, false);
  broad_phase_collision_test(2000, 10, 100, 1, true);
  broad_phase_collision_test(2000, 100, 100, 1, true);
#endif
}
 
BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_collision) {
#ifdef NDEBUG
  broad_phase_collision_test(2000, 100, 1000, 10, false);
  broad_phase_collision_test(2000, 1000, 1000, 10, false);
#else
  broad_phase_collision_test(2000, 10, 100, 10, false);
  broad_phase_collision_test(2000, 100, 100, 10, false);
#endif
}
 
BOOST_AUTO_TEST_CASE(test_core_mesh_bf_broad_phase_collision_mesh_binary) {
#ifdef NDEBUG
  broad_phase_collision_test(2000, 100, 1000, 1, false, true);
  broad_phase_collision_test(2000, 1000, 1000, 1, false, true);
#else
  broad_phase_collision_test(2000, 2, 5, 1, false, true);
  broad_phase_collision_test(2000, 5, 5, 1, false, true);
#endif
}
 
BOOST_AUTO_TEST_CASE(test_core_mesh_bf_broad_phase_collision_mesh) {
#ifdef NDEBUG
  broad_phase_collision_test(2000, 100, 1000, 10, false, true);
  broad_phase_collision_test(2000, 1000, 1000, 10, false, true);
#else
  broad_phase_collision_test(2000, 2, 5, 10, false, true);
  broad_phase_collision_test(2000, 5, 5, 10, false, true);
#endif
}
 
BOOST_AUTO_TEST_CASE(test_core_mesh_bf_broad_phase_collision_mesh_exhaustive) {
#ifdef NDEBUG
  broad_phase_collision_test(2000, 100, 1000, 1, true, true);
  broad_phase_collision_test(2000, 1000, 1000, 1, true, true);
#else
  broad_phase_collision_test(2000, 2, 5, 1, true, true);
  broad_phase_collision_test(2000, 5, 5, 1, true, true);
#endif
}
 
void broad_phase_collision_test(FCL_REAL env_scale, std::size_t env_size,
                                std::size_t query_size,
                                std::size_t num_max_contacts, bool exhaustive,
                                bool use_mesh) {
  std::vector<TStruct> ts;
  std::vector<BenchTimer> timers;
 
  std::vector<CollisionObject*> env;
  if (use_mesh)
    generateEnvironmentsMesh(env, env_scale, env_size);
  else
    generateEnvironments(env, env_scale, env_size);
 
  std::vector<CollisionObject*> query;
  if (use_mesh)
    generateEnvironmentsMesh(query, env_scale, query_size);
  else
    generateEnvironments(query, env_scale, query_size);
 
  std::vector<BroadPhaseCollisionManager*> managers;
 
  managers.push_back(new NaiveCollisionManager());
  managers.push_back(new SSaPCollisionManager());
  managers.push_back(new SaPCollisionManager());
  managers.push_back(new IntervalTreeCollisionManager());
 
  Vec3f lower_limit, upper_limit;
  SpatialHashingCollisionManager<>::computeBound(env, lower_limit, upper_limit);
  // FCL_REAL ncell_per_axis = std::pow((S)env_size / 10, 1 / 3.0);
  FCL_REAL ncell_per_axis = 20;
  FCL_REAL cell_size =
      std::min(std::min((upper_limit[0] - lower_limit[0]) / ncell_per_axis,
                        (upper_limit[1] - lower_limit[1]) / ncell_per_axis),
               (upper_limit[2] - lower_limit[2]) / ncell_per_axis);
  // managers.push_back(new SpatialHashingCollisionManager(cell_size,
  // lower_limit, upper_limit));
  managers.push_back(new SpatialHashingCollisionManager<detail::SparseHashTable<
                         AABB, CollisionObject*, detail::SpatialHash> >(
      cell_size, lower_limit, upper_limit));
#if USE_GOOGLEHASH
  managers.push_back(
      new SpatialHashingCollisionManager<detail::SparseHashTable<
          AABB, CollisionObject*, detail::SpatialHash, GoogleSparseHashTable> >(
          cell_size, lower_limit, upper_limit));
  managers.push_back(
      new SpatialHashingCollisionManager<detail::SparseHashTable<
          AABB, CollisionObject*, detail::SpatialHash, GoogleDenseHashTable> >(
          cell_size, lower_limit, upper_limit));
#endif
  managers.push_back(new DynamicAABBTreeCollisionManager());
 
  managers.push_back(new DynamicAABBTreeArrayCollisionManager());
 
  {
    DynamicAABBTreeCollisionManager* m = new DynamicAABBTreeCollisionManager();
    m->tree_init_level = 2;
    managers.push_back(m);
  }
 
  {
    DynamicAABBTreeArrayCollisionManager* m =
        new DynamicAABBTreeArrayCollisionManager();
    m->tree_init_level = 2;
    managers.push_back(m);
  }
 
  ts.resize(managers.size());
  timers.resize(managers.size());
 
  for (size_t i = 0; i < managers.size(); ++i) {
    timers[i].start();
    managers[i]->registerObjects(env);
    timers[i].stop();
    ts[i].push_back(timers[i].getElapsedTime());
  }
 
  for (size_t i = 0; i < managers.size(); ++i) {
    timers[i].start();
    managers[i]->setup();
    timers[i].stop();
    ts[i].push_back(timers[i].getElapsedTime());
  }
 
  std::vector<CollisionCallBackDefault> callbacks(managers.size());
  for (size_t i = 0; i < managers.size(); ++i) {
    if (exhaustive)
      callbacks[i].data.request.num_max_contacts = 100000;
    else
      callbacks[i].data.request.num_max_contacts = num_max_contacts;
  }
 
  for (size_t i = 0; i < managers.size(); ++i) {
    timers[i].start();
    managers[i]->collide(&callbacks[i]);
    timers[i].stop();
    ts[i].push_back(timers[i].getElapsedTime());
  }
 
  for (size_t i = 0; i < managers.size(); ++i)
    std::cout << callbacks[i].data.result.numContacts() << " ";
  std::cout << std::endl;
 
  if (exhaustive) {
    for (size_t i = 1; i < managers.size(); ++i)
      BOOST_CHECK(callbacks[i].data.result.numContacts() ==
                  callbacks[0].data.result.numContacts());
  } else {
    std::vector<bool> self_res(managers.size());
    for (size_t i = 0; i < self_res.size(); ++i)
      self_res[i] = (callbacks[i].data.result.numContacts() > 0);
 
    for (size_t i = 1; i < self_res.size(); ++i)
      BOOST_CHECK(self_res[0] == self_res[i]);
 
    for (size_t i = 1; i < managers.size(); ++i)
      BOOST_CHECK(callbacks[i].data.result.numContacts() ==
                  callbacks[0].data.result.numContacts());
  }
 
  for (size_t i = 0; i < query.size(); ++i) {
    std::vector<CollisionCallBackDefault> callbacks(managers.size());
    for (size_t j = 0; j < managers.size(); ++j) {
      if (exhaustive)
        callbacks[j].data.request.num_max_contacts = 100000;
      else
        callbacks[j].data.request.num_max_contacts = num_max_contacts;
    }
 
    for (size_t j = 0; j < managers.size(); ++j) {
      timers[j].start();
      managers[j]->collide(query[i], &callbacks[j]);
      timers[j].stop();
      ts[j].push_back(timers[j].getElapsedTime());
    }
 
    // for(size_t j = 0; j < managers.size(); ++j)
    //   std::cout << callbacks[i].data.result.numContacts() << " ";
    // std::cout << std::endl;
 
    if (exhaustive) {
      for (size_t j = 1; j < managers.size(); ++j)
        BOOST_CHECK(callbacks[j].data.result.numContacts() ==
                    callbacks[0].data.result.numContacts());
    } else {
      std::vector<bool> query_res(managers.size());
      for (size_t j = 0; j < query_res.size(); ++j)
        query_res[j] = (callbacks[j].data.result.numContacts() > 0);
      for (size_t j = 1; j < query_res.size(); ++j)
        BOOST_CHECK(query_res[0] == query_res[j]);
 
      for (size_t j = 1; j < managers.size(); ++j)
        BOOST_CHECK(callbacks[j].data.result.numContacts() ==
                    callbacks[0].data.result.numContacts());
    }
  }
 
  for (size_t i = 0; i < env.size(); ++i) delete env[i];
  for (size_t i = 0; i < query.size(); ++i) delete query[i];
 
  for (size_t i = 0; i < managers.size(); ++i) delete managers[i];
 
  std::cout.setf(std::ios_base::left, std::ios_base::adjustfield);
  int w = 7;
 
  std::cout << "collision timing summary" << std::endl;
  std::cout << env_size << " objs, " << query_size << " queries" << std::endl;
  std::cout << "register time" << std::endl;
  for (size_t i = 0; i < ts.size(); ++i)
    std::cout << std::setw(w) << ts[i].records[0] << " ";
  std::cout << std::endl;
 
  std::cout << "setup time" << std::endl;
  for (size_t i = 0; i < ts.size(); ++i)
    std::cout << std::setw(w) << ts[i].records[1] << " ";
  std::cout << std::endl;
 
  std::cout << "self collision time" << std::endl;
  for (size_t i = 0; i < ts.size(); ++i)
    std::cout << std::setw(w) << ts[i].records[2] << " ";
  std::cout << std::endl;
 
  std::cout << "collision time" << std::endl;
  for (size_t i = 0; i < ts.size(); ++i) {
    FCL_REAL tmp = 0;
    for (size_t j = 3; j < ts[i].records.size(); ++j) tmp += ts[i].records[j];
    std::cout << std::setw(w) << tmp << " ";
  }
  std::cout << std::endl;
 
  std::cout << "overall time" << std::endl;
  for (size_t i = 0; i < ts.size(); ++i)
    std::cout << std::setw(w) << ts[i].overall_time << " ";
  std::cout << std::endl;
  std::cout << std::endl;
}