fixed benchmark by switching to Rigid_triangle_mesh_collision_detection

AABB_tree/benchmark/AABB_tree/test.cpp

@@ -1,4 +1,4 @@
-#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
+#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
 #include <CGAL/Surface_mesh.h>
 
 #include <CGAL/Polygon_mesh_processing/intersection.h>
@@ -7,7 +7,7 @@
 #include <CGAL/boost/graph/copy_face_graph.h>
 #include <CGAL/AABB_tree.h>
 #include <CGAL/AABB_traits_3.h>
-#include <CGAL/Polygon_mesh_processing/internal/AABB_traversal_traits_with_transformation.h>
+#include <CGAL/Rigid_triangle_mesh_collision_detection.h>
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
 #include <CGAL/Side_of_triangle_mesh.h>
 
@@ -19,12 +19,11 @@ typedef CGAL::Surface_mesh<K::Point_3> Surface_mesh;
 
 typedef CGAL::AABB_face_graph_triangle_primitive<Surface_mesh> Primitive;
 typedef CGAL::AABB_traits_3<K, Primitive> Traits;
-//typedef CGAL::AABB_do_intersect_transform_traits<K, Primitive> Traits;
 typedef CGAL::AABB_tree<Traits> Tree;
 
 namespace PMP = CGAL::Polygon_mesh_processing;
 
-void naive_test(int k, const char* fname,
+void naive_test(int k, const std::string& fname,
  int& nb_inter, int& nb_no_inter, int& nb_include)
 {
  std::ifstream input(fname);
@@ -34,7 +33,7 @@ void naive_test(int k, const char* fname,
  CGAL::Aff_transformation_3<K> init1(CGAL::SCALING, 6.0);
  PMP::transform(init1, tm);
  CGAL::Bbox_3 box = PMP::bbox(tm);
- typedef CGAL::AABB_tree<Traits> Tree;
+
  Tree tmTree(tm.faces_begin(), tm.faces_end(), tm);
  Tree tmTree2(tm2.faces_begin(), tm2.faces_end(), tm2);
  CGAL::Aff_transformation_3<K> init2(CGAL::TRANSLATION, - K::Vector_3(
@@ -87,7 +86,8 @@ void naive_test(int k, const char* fname,
  T0 = CGAL::Aff_transformation_3<K>(CGAL::TRANSLATION, -i*unit_vec);
  }
 }
-void test_no_collision(int k, const char* fname,
+
+void test_no_collision(int k, const std::string &fname,
  int& nb_inter, int& nb_no_inter, int& nb_include)
 {
  std::ifstream input(fname);
@@ -98,9 +98,11 @@ void test_no_collision(int k, const char* fname,
  PMP::transform(init1, tm);
  CGAL::Bbox_3 box = PMP::bbox(tm);
  Tree tmTree(tm.faces_begin(), tm.faces_end(), tm);
+
  Tree tmTree2(tm2.faces_begin(), tm2.faces_end(), tm2);
  CGAL::Aff_transformation_3<K> init2(CGAL::TRANSLATION, - K::Vector_3(
  (box.xmax()-box.xmin()),0,0));
+
  PMP::transform(init2, tm2);
 
  tmTree.build();
@@ -114,6 +116,12 @@ void test_no_collision(int k, const char* fname,
 
  CGAL::Side_of_triangle_mesh<Surface_mesh, K,
  VPM, Tree> sotm1(tmTree);
+
+ CGAL::Rigid_triangle_mesh_collision_detection<Surface_mesh> collision_detection;
+
+ collision_detection.add_mesh(tm);
+ collision_detection.add_mesh(tm2);
+
  for(int i=1; i<k+1; ++i)
  {
  K::FT rot[9];
@@ -131,47 +139,37 @@ void test_no_collision(int k, const char* fname,
  rot[6], rot[7], rot[8]);
  CGAL::Aff_transformation_3<K> T1 = CGAL::Aff_transformation_3<K>(CGAL::TRANSLATION, i*unit_vec);
  CGAL::Aff_transformation_3<K> transfo = R*T1;
- tmTree2.traits().set_transformation(transfo);
- CGAL::Interval_nt_advanced::Protector protector;
- if(tmTree2.do_intersect(tmTree))
+
+ collision_detection.set_transformation(1, transfo);
+
+ std::vector< std::pair<std::size_t, bool> > res = collision_detection.get_all_intersections_and_inclusions(0);
+
+ if (res.empty())
+ nb_no_inter++;
+ else if(!res[0].second)
  ++nb_inter;
  else
- {
- if(sotm1(transfo.transform(vpm2[*tm2.vertices().begin()])) != CGAL::ON_UNBOUNDED_SIDE)
- {
- ++nb_include;
- }
- else
- {
- CGAL::Side_of_triangle_mesh<Surface_mesh, K,
- VPM, Tree> sotm2(tmTree2);
- if(sotm2(tm.point(*tm.vertices().begin())) != CGAL::ON_UNBOUNDED_SIDE)
- ++nb_include;
- else
- ++nb_no_inter;
- }
- }
+ ++nb_include;
  }
 }
 
 int main(int argc, const char** argv)
 {
- int k = (argc>1) ? atoi(argv[1]) : 10;
- const char* path = (argc>2)?argv[2]:"data/handle"
- ".off";
+ int k = (argc>1) ? atoi(argv[1]) : 20;
+ std::string path = (argc>2)?argv[2]: CGAL::data_file_path("meshes/handle.off");
 
  std::cout<< k<<" steps in "<<path<<std::endl;
  int nb_inter(0), nb_no_inter(0), nb_include(0),
  naive_inter(0), naive_no_inter(0), naive_include(0);
  auto start = std::chrono::steady_clock::now();
  naive_test(k, path, naive_inter, naive_no_inter, naive_include);
  auto end = std::chrono::steady_clock::now();
- std::cout<<"Naive test  :"<<naive_inter<<" collisions, "<<naive_include<<" inclusions, "<<naive_no_inter<<" no collision, calculated in "
- <<std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() << "μs." << std::endl;
+ std::cout<<"Naive test : "<<naive_inter<<" collisions, "<<naive_include<<" inclusions, "<<naive_no_inter<<" no collision, calculated in "
+ <<std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << " ms." << std::endl;
  start = std::chrono::steady_clock::now();
  test_no_collision(k, path,nb_inter, nb_no_inter, nb_include);
  end = std::chrono::steady_clock::now();
  std::cout<<"With transform_traits: "<<nb_inter<<" collisions, "<<nb_include<<" inclusions, "<<nb_no_inter<<" no collision, calculated in "
- <<std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() << "μs." << std::endl;
+ <<std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << " ms." << std::endl;
  return 0;
 }