177 lines
3.4 KiB
C++
177 lines
3.4 KiB
C++
#ifdef WITH_TESTS
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#include "../Tests.h"
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#include "../../geo/volume/BVH.h"
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#include "../../geo/volume/BVHDebug.h"
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#include "../../geo/BBox2.h"
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#include "../../geo/Line2.h"
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#include "../../floorplan/v2/Floorplan.h"
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#include "../../floorplan/v2/FloorplanReader.h"
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//#include "../../wifi/estimate/ray3/ModelFactory.h"
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struct WrapperBBox2 {
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static std::vector<Point2> getVertices(const BBox2& bbox) {
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return {bbox.getMin(), bbox.getMax()};
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}
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static std::vector<Point2> getDebugLines(const BBox2& bbox) {
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Point2 p1(bbox.getMin().x, bbox.getMin().y);
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Point2 p2(bbox.getMax().x, bbox.getMin().y);
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Point2 p3(bbox.getMax().x, bbox.getMax().y);
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Point2 p4(bbox.getMin().x, bbox.getMax().y);
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std::vector<Point2> res;
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res.push_back(p1); res.push_back(p2);
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res.push_back(p2); res.push_back(p3);
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res.push_back(p3); res.push_back(p4);
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res.push_back(p4); res.push_back(p1);
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return res;
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}
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};
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struct WrapperLine2 {
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static std::vector<Point2> getVertices(const Line2& l) {
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return {l.p1, l.p2};
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}
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static std::vector<Point2> getDebugLines(const Line2& l) {
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return {l.p1, l.p2};
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}
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};
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/*
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TEST(Geo_BVH2, tree) {
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BVH3Debug<BBox3, BoundingVolumeSphere3, Wrapper> tree;
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BBox3 bb1(Point3(0,0,0), Point3(1,1,1));
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tree.add(bb1);
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BBox3 bb2(Point3(-1,-1,-1), Point3(0,0,0));
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tree.add(bb2);
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tree.optimize();
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tree.show();
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int i = 0; (void) i;
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}
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TEST(Geo_BVH2, tree2) {
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BVH3Debug<BBox3, BoundingVolumeSphere3, Wrapper> tree;
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BBox3 bb1(Point3(0,0,0), Point3(1,1,1));
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tree.add(bb1);
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BBox3 bb2(Point3(-1,0,0), Point3(0,1,1));
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tree.add(bb2);
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tree.optimize();
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tree.show();
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int i = 0; (void) i;
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}
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TEST(Geo_BVH2, tree3) {
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BVH3Debug<BBox3, BoundingVolumeSphere3, Wrapper> tree;
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BBox3 bb1 = BBox3::around(Point3(+0.5, +0.5, 0.0), Point3(0.25, 0.25, 0.25));
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tree.add(bb1);
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BBox3 bb2 = BBox3::around(Point3(-0.5, +0.5, 0.0), Point3(0.25, 0.25, 0.25));
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tree.add(bb2);
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BBox3 bb3 = BBox3::around(Point3(-0.0, +0.5, 0.0), Point3(0.36, 0.36, 0.36));
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tree.add(bb3);
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BBox3 bb4 = BBox3::around(Point3(-0.0, +0.0, 0.0), Point3(0.5, 0.5, 0.5));
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tree.add(bb4);
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tree.optimize(1);
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tree.show();
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tree.optimize(1);
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tree.show();
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tree.optimize(1);
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tree.show();
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int i = 0; (void) i;
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}
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TEST(Geo_BVH2, treeMap) {
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std::string file = "/apps/SHL39.xml";
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Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
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ModelFactory fac(map);
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fac.setExportCeilings(false);
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fac.setFloors({map->floors[3]});
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std::vector<Obstacle3D> obs = fac.triangulize();
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BVH3Debug<Obstacle3D, BoundingVolumeSphere3, WrapperObs3D> tree;
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for (const Obstacle3D& o : obs) {
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tree.add(o);
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}
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//tree.show(150);
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//int rounds = tree.optimize();
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for (int i = 0; i < 200; ++i) {
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tree.optimize(1);
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//if (i%3==0) {
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tree.show(250, false);
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//}
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}
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int i = 0; (void) i;
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}
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*/
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TEST(Geo_BVH2, treeRandom) {
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//BVH2Debug<Line2, BoundingVolumeCircle2, WrapperLine2> tree;
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BVH2Debug<Line2, BoundingVolumeAABB2, WrapperLine2> tree;
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std::minstd_rand gen;
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std::uniform_real_distribution<float> dPos(-4.0, +4.0);
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std::uniform_real_distribution<float> dDir(+0.1, +0.5);
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for (int i = 0; i < 50; ++i) {
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const Point2 pos(dPos(gen), dPos(gen));
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const Point2 dir(dDir(gen), dDir(gen));
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const Line2 line(pos, pos+dir);
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tree.add(line);
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}
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tree.show();
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if (1 == 0) {
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for (int i = 0; i < 100; ++i) {
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tree.optimize(1);
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tree.show();
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usleep(1000*100);
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}
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}
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int i = 0; (void) i;
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}
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#endif
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