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test.lisp
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(defpackage #:org.shirakumo.fraf.trial.space.test
(:use #:cl #:parachute #:org.shirakumo.fraf.math.vectors)
(:local-nicknames
(#:space #:org.shirakumo.fraf.trial.space)
(#:bvh2 #:org.shirakumo.fraf.trial.space.bvh2)
(#:quadtree #:org.shirakumo.fraf.trial.space.quadtree)
(#:grid3 #:org.shirakumo.fraf.trial.space.grid3)
(#:kd-tree #:org.shirakumo.fraf.trial.space.kd-tree))
(:export
#:test
#:benchmark-insert
#:benchmark-remove))
(in-package #:org.shirakumo.fraf.trial.space.test)
(define-test 3d-spaces)
(defun set= (a b)
(null (set-exclusive-or a b)))
(define-test 2d
:parent 3d-spaces
(true (space:region-overlaps-p
(box2 (vec 0 0) (vec 10 10))
(space:region -10 -10 0 20 20 0)))
(true (space:region-overlaps-p
(box2 (vec -5 -5) (vec 10 10))
(space:region -10 -10 0 20 20 0)))
(false (space:region-overlaps-p
(box2 (vec 30 30) (vec 10 10))
(space:region -10 -10 0 20 20 0)))
(true (space:region-contains-p
(box2 (vec 0 0) (vec 10 10))
(space:region -10 -10 0 20 20 0)))
(false (space:region-contains-p
(box2 (vec -5 -5) (vec 10 10))
(space:region -10 -10 0 20 20 0)))
(false (space:region-contains-p
(box2 (vec 30 30) (vec 10 10))
(space:region -10 -10 0 20 20 0))))
(define-test 3d
:parent 3d-spaces
(true (space:region-overlaps-p
(box3 (vec 0 0 0) (vec 10 10 10))
(space:region -10 -10 -10 20 20 20)))
(true (space:region-overlaps-p
(box3 (vec -5 -5 -5) (vec 10 10 10))
(space:region -10 -10 -10 20 20 20)))
(false (space:region-overlaps-p
(box3 (vec 30 30 30) (vec 10 10 10))
(space:region -10 -10 -10 20 20 20)))
(true (space:region-contains-p
(box3 (vec 0 0 0) (vec 10 10 10))
(space:region -10 -10 -10 20 20 20)))
(false (space:region-contains-p
(box3 (vec -5 -5 -5) (vec 10 10 10))
(space:region -10 -10 -10 20 20 20)))
(false (space:region-contains-p
(box3 (vec 30 30 30) (vec 10 10 10))
(space:region -10 -10 -10 20 20 20))))
(define-test bvh2
:parent 2d
(test-container-generic #'bvh2:make-bvh #'box2 #'vec2-ignore-z))
(define-test quadtree
:parent 2d
(test-container-generic #'quadtree:make-quadtree #'box2 #'vec2-ignore-z
:random-test-object-count 500))
(define-test kd2
:parent 2d
(test-container-generic (lambda () (kd-tree:make-kd-tree :dimensions 2)) #'box2 #'vec2-ignore-z))
(define-test grid3
:parent 3d
(test-container-generic (lambda () (grid3:make-grid 10)) #'box3 #'vec))
(define-test kd3
:parent 3d
(test-container-generic (lambda () (kd-tree:make-kd-tree :dimensions 3)) #'box3 #'vec))
(defclass box3 ()
((location :initarg :location :initform (vec 0 0 0) :accessor space:location)
(bsize :initarg :bsize :initform (vec 0 0 0) :accessor space:bsize)))
(defmethod print-object ((box box3) stream)
(prin1 (list 'box3 (space:location box) (space:bsize box)) stream))
(defun box3 (&optional (location (vec 0 0 0)) (bsize (vec 0 0 0)))
(make-instance 'box3 :location location :bsize bsize))
(defclass box2 ()
((location :initarg :location :initform (vec 0 0) :accessor space:location)
(bsize :initarg :bsize :initform (vec 0 0) :accessor space:bsize)))
(defmethod print-object ((box box2) stream)
(prin1 (list 'box2 (space:location box) (space:bsize box)) stream))
(defun box2 (&optional (location (vec 0 0)) (bsize (vec 0 0)))
(make-instance 'box2 :location (vxy location) :bsize (vxy bsize)))
(defun vec2-ignore-z (x y z)
(declare (ignore z))
(vec x y))
(defun random* (min max)
(+ min (random (- max min))))
(defun test-print-and-describe (container)
(true (plusp (length (with-output-to-string (stream)
(princ container stream)))))
(true (plusp (length (with-output-to-string (stream)
(let ((*print-right-margin* 80)
(*print-level* 3))
(describe-object container stream)))))))
(defun test-container-generic (constructor object-constructor vector-constructor
&key (random-test-object-count 10000)
(random-test-query-count 10000))
(flet ((make-container ()
(funcall constructor))
(make-object (&rest args)
(apply object-constructor args))
;; MAKE-VEC instead of VEC so that VEC calls in
;; macroexpansions use the correct definition.
(make-vec (x y z)
(funcall vector-constructor x y z)))
(group (empty)
(of-type space:container (make-container))
(finish (space:check (make-container)))
(finish (space:clear (make-container)))
(finish (space:reoptimize (make-container)))
(finish (space:do-all (object (make-container))
(false object)))
(finish (space:do-candidates (object (make-container) (space:region 0 0 0 0 0 0))
(false object)))
(finish (space:do-contained (object (make-container) (space:region 0 0 0 0 0 0))
(false object)))
(finish (space:do-overlapping (object (make-container) (space:region 0 0 0 0 0 0))
(false object))))
(group (single)
(let ((container (make-container))
(box (make-object)))
(finish (space:enter box container))
(test-print-and-describe container)
(finish (space:do-all (object container)
(is eq box object)))
(finish (space:do-candidates (object container box)
(is eq box object)))
(finish (space:do-contained (object container box)
(is eq box object)))
(finish (space:do-overlapping (object container box)
(is eq box object)))
(is eq box (space:do-intersecting (object container (make-vec 0 0 0) (make-vec +1 0 0) NIL)
(return object)))
(is eq NIL (space:do-intersecting (object container (make-vec -1 0 0) (make-vec -1 0 0) NIL)
(return object)))
;; Redundant ENTER calls are allowed.
(finish (space:enter box container))
(is set= (list box)
(let ((list ()))
(space:do-all (object container list)
(push object list))))
;; First LEAVE call.
(finish (space:leave box container))
(finish (space:do-all (object container)
(false object)))
;; Redundant LEAVE calls are allowed.
(finish (space:leave box container))
(finish (space:do-all (object container)
(false object)))))
(group (fixed)
(let ((container (make-container))
(a (make-object (make-vec 0 0 0) (make-vec 5 5 5)))
(b (make-object (make-vec 15 0 0) (make-vec 5 5 5)))
(c (make-object (make-vec 300 0 0) (make-vec 5 5 5))))
(finish (space:enter (list a b c) container))
(test-print-and-describe container)
(is set= (list a b c)
(let ((list ()))
(space:do-all (object container list)
(push object list))))
;; Candidates may or may not include object C but must include
;; A and B.
(let ((a-seen-p nil)
(b-seen-p nil))
(finish (space:do-candidates (object container (space:region 0 0 0 10 10 10))
(cond ((eq object a)
(setf a-seen-p t))
((eq object b)
(setf b-seen-p t))
(t
(is eq object c)))))
(true a-seen-p)
(true b-seen-p))
(is set= (list a b)
(let ((list ()))
(space:do-overlapping (object container (space:region 0 0 0 11 11 11) list)
(push object list))))
(is set= (list a b c)
(let ((list ()))
(space:do-intersecting (object container (make-vec 0 0 0) (make-vec +1 0 0) list)
(push object list))))
(is set= (list)
(let ((list ()))
(space:do-intersecting (object container (make-vec -15 0 0) (make-vec 0 +1 0) list)
(push object list))))
(is set= (list a b)
(let ((list ()))
(space:do-intersecting (object container (make-vec 15 0 0) (make-vec -1 0 0) list)
(push object list))))
(is set= (list a)
(let ((list ()))
(space:do-intersecting (object container (make-vec 0 0 0) (make-vec 1 1 0) list)
(push object list))))
(finish (space:leave (list b c a) container))
(finish (space:do-all (object container)
(false object)))))
(group (randomized)
(let* ((container (make-container))
(all-objects (loop repeat random-test-object-count
collect (make-object (vrand (make-vec 0 0 0) 100) (vrand (make-vec 50 50 50) 100))))
(query-region (space:region -100 -100 -100 200 200 200))
(overlapping-objects (remove-if-not (lambda (object)
(space:region-overlaps-p object query-region))
all-objects))
(contained-objects (remove-if-not (lambda (object)
(space:region-contains-p object query-region))
all-objects)))
(finish (space:enter all-objects container))
(test-print-and-describe container)
(loop with failure-count = 0
repeat random-test-query-count
for region = (space:region (random* -100 100) (random* -100 100) (random* -100 100)
(random* 0 200) (random* 0 200) (random* 0 200))
do (space:do-contained (object container region)
(unless (space:region-overlaps-p object region)
(incf failure-count)))
finally (is = 0 failure-count "randomized overlap"))
;; Perform queries before and after reoptimizing.
(flet ((query-all ()
(let ((objects '()))
(space:do-all (object container)
(push object objects))
(is set= all-objects objects)))
(query-candidates ()
(finish (space:do-candidates (object container query-region)
(declare (ignore object)))))
(query-overlapping ()
(let ((objects '()))
(space:do-overlapping (object container query-region)
(push object objects))
(is set= overlapping-objects objects "overlapping objects")))
(query-contained ()
(let ((objects '()))
(space:do-contained (object container query-region)
(push object objects))
(is set= contained-objects objects "contained objects"))))
(query-all)
(query-candidates)
(query-overlapping)
(query-contained)
(finish (space:reoptimize container))
(query-all)
(query-candidates)
(query-overlapping)
(query-contained))
;; Remove all objects
(finish (space:leave all-objects container))
(finish (space:do-all (object container)
(false object)))))
(group (update)
(let* ((container (make-container))
(all-objects (loop repeat random-test-object-count
collect (make-object (vrand (make-vec 0 0 0) 100) (vrand (make-vec 50 50 50) 100)))))
(finish (space:enter all-objects container))
(loop repeat 100
do (loop for object in all-objects
do (setf (space:location object) (vrand (make-vec 0 0 0) 100))
(space:update object container)))
(test-print-and-describe container)
(let ((objects '()))
(space:do-all (object container)
(push object objects))
(is set= all-objects objects))
;; Remove all objects
(finish (space:leave all-objects container))
(finish (space:do-all (object container)
(false object)))))))
(defun make-nodes (count spread size-spread)
(let ((nodes (make-array count)))
(map-into nodes (lambda () (box3 (vrand (vec3) spread)
(vrand (vec3) size-spread))))))
(defun benchmark-insert (constructor &key (nodes 1000000) (spread 100.0) (size-spread 1.0))
(let ((nodes (make-nodes nodes spread size-spread))
(container (funcall constructor)))
(time (loop for node across nodes do (space:enter node container)))
container))
(defun benchmark-remove (constructor &key (nodes 1000000) (spread 100.0) (size-spread 1.0) (percentile 0.5))
(let ((nodes (make-nodes nodes spread size-spread))
(to-remove (make-array (floor (* percentile nodes))))
(container (funcall constructor)))
(loop with i = 0
while (< i (length to-remove))
do (loop for node across nodes
while (< i (length to-remove))
do (when (< (random 1.0) percentile)
(setf (aref to-remove i) node)
(incf i))))
(loop for node across nodes do (space:enter node container))
(time (loop for node across to-remove do (space:leave node container)))
container))