cuikcollisions.c

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#include "world.h"
#include "error.h"
 
 
int main(int argc, char **arg)
{
  
  if (argc>2)
    {
      Tworld world;
      Tparameters parameters;
 
      Tbox box;
      int token;
      double *s,*sfull;
      boolean collision;
 
      Tfilename fcollisions;
      Tfilename fsols;
      Tfilename fparam;
 
      unsigned int total,good;
 
      FILE *fin,*fout;
      
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameter file            : %s\n",GetFileFullName(&fparam));
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      InitWorldFromFile(&parameters,FALSE,TRUE,arg[1],&world);
 
      CreateFileName(NULL,arg[2],NULL,SOL_EXT,&fsols);
      fprintf(stderr,"Reading solution file             : %s\n",GetFileFullName(&fsols));
      fin=fopen(GetFileFullName(&fsols),"r");
      if (!fin)
        Error("The file with the solution boxes can not be opened");
 
      CreateFileName(NULL,arg[2],"_collision",COST_EXT,&fcollisions);
      fprintf(stderr,"Writing collisions file           : %s\n",GetFileFullName(&fcollisions));
 
      fout=fopen(GetFileFullName(&fcollisions),"w");
      if (!fout)
        Error("The file for the collision information can not be opened");
    
      /* Init the collision detection */
      InitWorldCD(&parameters,1,&world);
      /* Check all the given solutions for possible collsion */
      total=0;
      good=0;
      do {
        token=ReadBox(fin,&box);
        if (token!=EOF)
          {
            /* Get the center of the box as a solution point. */
            NEW(s,GetBoxNIntervals(&box),double);
            GetBoxCenter(NULL,s,&box);
 
            /* The solutions are stored using only the system variables.
               Before checking for collision we have to regenerate the
               solution and create values for the non-sytem variables */
            RegenerateWorldSolutionPoint(&parameters,s,&sfull,&world);
            
            /* Check for collision and store the result */
            collision=MoveAndCheckCD(&parameters,FALSE,0,sfull,NULL,&world);
            if (collision)
              fprintf(fout,"1\n");
            else
              {
                fprintf(fout,"0.1\n");
                good++;
              }
 
            /* Release the memory used for this solution. */
            free(sfull);
            free(s);
            DeleteBox(&box);
            total++;
          }
      } while(token!=EOF);
 
      fprintf(stderr,"Collision-free ratio              : %g\n",(double)good/(double)total);
      
      fclose(fin);
      fclose(fout);
 
      DeleteFileName(&fcollisions);  
      DeleteFileName(&fsols);      
      DeleteFileName(&fparam);
 
      DeleteWorld(&world);
      DeleteParameters(&parameters);
    }
  else
    {
      fprintf(stdout,"  Wrong number of parameters.\n");
      fprintf(stdout,"  Use:\n");
      fprintf(stdout,"     cuikcollisions <world>.world <solutions>.sol\n");
      fprintf(stdout,"  Where:\n");
      fprintf(stdout,"     <world>:  File describing the problem\n");
      fprintf(stdout,"     <solutions>:  Solutions for which to extract the axes.\n");
      fprintf(stdout,"  File extensions are not required\n");
    }
    
  return(EXIT_SUCCESS);
}