unit test cleanup

CHANGELOG.txt

@@ -12,7 +12,9 @@ TODO for 0.5.0
   - [WARNING] bootstrap class path not set in conjunction with -source 8
     when using: mvn clean install -P on-jdk-9-plus
 - CI: Fail build on warning?!
-- CI: remove "temurin"...?!
+- What is the deal with DJoint PARAM vs PARAM_N?
+  ODE doesn´t have PARAM_N (e.g. dParamBounce1)! -> ode4j shouldn´;t have them either...
+  Remove (deprecate) and replace with PARAM, or at least document what is goigh on!
 
 --> See TODO.txt
 
@@ -22,6 +24,7 @@ Check:
 
 0.5.0 (unreleased)
 =====
+- Cleaned up unit test output. [#102](https://github.com/tzaeschke/ode4j/pull/102)
 - Fix maven warnings of type "Use Import/Export Package directive -split-package [...]"
   [#101](https://github.com/tzaeschke/ode4j/pull/101)
 - Port updates until 0.16.3. [#100](https://github.com/tzaeschke/ode4j/pull/100)

core/src/main/java/org/ode4j/ode/internal/DLCP.java

@@ -1381,9 +1381,8 @@ static int EstimateTestSolveLCPMemoryReq(int n)
 	    return -1;
 	}
 
-    //TODO API?
     //extern "C" ODE_API
-    public static int dTestSolveLCP()
+    public static int dTestSolveLCP(boolean print)
     {
         final int n = 100;
 
@@ -1409,7 +1408,9 @@ public static int dTestSolveLCP()
         } else {
             tol = 1e-4f;
         }
-        System.out.println ("dTestSolveLCP()");
+		if (print) {
+			System.out.println("dTestSolveLCP()");
+		}
 
 //        double[] A = new double[n*nskip];//ALLOCA (dReal,A,n*nskip*sizeof(dReal));
 //        double[] x = new double[n];//ALLOCA (dReal,x,n*sizeof(dReal));
@@ -1540,8 +1541,10 @@ else if (xi >= lo[i] && xi <= hi[i] && wi == 0) {
             }
 
             // pacifier
-            printf ("passed: NL=%3d NH=%3d C=%3d   ",n1,n2,n3);
-            printf ("time=%10.3f ms  avg=%10.4f\n",time * 1000.0,average);
+			if (print) {
+				printf("passed: NL=%3d NH=%3d C=%3d   ", n1, n2, n3);
+				printf("time=%10.3f ms  avg=%10.4f\n", time * 1000.0, average);
+			}
             }
             arena.END_STATE_SAVE(saveInner);
         }

core/src/main/java/org/ode4j/ode/internal/OdeFactoryImpl.java

@@ -252,8 +252,7 @@ public void dTestDataStructures()
 		for (i=0; i<NUM; i++) body[i] = null;
 		for (i=0; i<NUM; i++) joint[i] = null;
 
-		//DO(
-		printf ("creating world\n");
+		DO_printf ("creating world\n");
 		DxWorld w = DxWorld.dWorldCreate();
 		checkWorld (w);
 

demo-cpp/src/main/java/org/ode4j/democpp/DemoI.java

@@ -297,7 +297,7 @@ private void demo(String[] args) {
 		//fn.setPathToTextures(DrawStuff.DRAWSTUFF_TEXTURE_PATH);
 
 		dInitODE2(0);
-		dRandSetSeed (System.currentTimeMillis());
+		dRandSetSeed (0); // System.currentTimeMillis());
 		reset_test();
 
 		// run simulation

demo-cpp/src/main/java/org/ode4j/democpp/DemoOde.java

@@ -1331,7 +1331,7 @@ private int runAllTests()
 		testQuaternionMultiply();
 		testRotationFunctions();
 		dTestMatrixComparison();
-		DLCP.dTestSolveLCP();
+		DLCP.dTestSolveLCP(true);
 		//OdeImpl.dTestDataStructures();
 		dCloseODE();
 		return 0;

demo-cpp/src/main/java/org/ode4j/democpp/DemoStep.java

@@ -69,7 +69,7 @@
  * version, for various systems. currently you have to define COMPARE_METHODS
  * in step.cpp for this to work properly.
  *  
- * @@@ report MAX error
+ * report MAX error
  */
 class DemoStep extends dsFunctions {
 
@@ -214,7 +214,7 @@ private void demo(String[] args) {
 
 		dInitODE2(0);
 		//dRandSetSeed (time(null).seconds);
-		dRandSetSeed (System.currentTimeMillis()/1000);
+		dRandSetSeed (0 ); // System.currentTimeMillis()/1000);
 		createTest();
 
 		// run simulation

demo-cpp/src/test/java/org/ode4j/tests/PRGetInfo1_Fixture_2.java

@@ -224,11 +224,11 @@ public static void DESTRUCTOR() {
 		dJointSetPRParam(jId, dParamVel, (7.0) );
 		CHECK_EQUAL((7.0), joint.limotP.vel);
 
+		// TODO ? TZ: Probably not,
 		//#ifdef D_PARAM_NAMES.dParamFudgeFactor1
 		//			if (D_PARAM_NAMES.dParamFudgeFactor1) {
-		System.err.println("FIXME: test_SetPRParam()");
-		//TODO		dJointSetPRParam(jId, D_PARAM_NAMES.dParamFudgeFactor1, (5.5) );
-		//TODO		CHECK_EQUAL((5.5), joint.limotP.get(D_PARAM_NAMES.dParamFudgeFactor));
+		//		dJointSetPRParam(jId, D_PARAM_NAMES.dParamFudgeFactor1, (5.5) );
+		//		CHECK_EQUAL((5.5), joint.limotP.get(D_PARAM_NAMES.dParamFudgeFactor));
 		//			} //#endif  //TZ unnecessary
 
 		dJointSetPRParam(jId, dParamCFM2, (9.0) );
@@ -251,11 +251,10 @@ public static void DESTRUCTOR() {
 				dJointGetPRParam(jId, dParamVel) );
 
 		//#ifdef D_PARAM_NAMES.dParamFudgeFactor1  //TZ unnecessary
-		System.err.println("FIXME: test_GetPRParam()");
-		//TODO		joint.limotP.set(D_PARAM_NAMES.dParamFudgeFactor, 5.5) ;//) =  (5.5);
+		//		joint.limotP.set(D_PARAM_NAMES.dParamFudgeFactor, 5.5) ;//) =  (5.5);
 
-		//TODO		CHECK_EQUAL(joint.limotP.get(D_PARAM_NAMES.dParamFudgeFactor),
-		//TODO				dJointGetPRParam(jId, D_PARAM_NAMES.dParamFudgeFactor1) );
+		//		CHECK_EQUAL(joint.limotP.get(D_PARAM_NAMES.dParamFudgeFactor),
+		//				dJointGetPRParam(jId, D_PARAM_NAMES.dParamFudgeFactor1) );
 		//#endif
 
 		joint.limotR.normal_cfm = (9.0);

demo-cpp/src/test/java/org/ode4j/tests/bugs/Test_Bug0019_OdeRayToCylinder.java

@@ -79,7 +79,7 @@ public void call(Object data, DGeom o1, DGeom o2) {
                     }
 
                     DContact contact = contacts.get(0);
-                    System.out.println(contact.geom.normal);
+                    // System.out.println(contact.geom.normal);
                     assertTrue(Math.abs(contact.geom.normal.get0()) < 0.01);
                     assertTrue(Math.abs(contact.geom.normal.get1()) < 0.01);
                     assertTrue(Math.abs(contact.geom.normal.get2()) > 0.99);

demo-cpp/src/test/java/org/ode4j/tests/libccd/TestBoxBox.java

@@ -298,7 +298,7 @@ public void boxboxSeparate()
 	    ccd_vec3_t sep = new ccd_vec3_t(), expsep = new ccd_vec3_t();
 	    ccd_vec3_t expsep2 = new ccd_vec3_t(), axis = new ccd_vec3_t();
 
-	    fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n");
+	    // fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n");
 
 	    box1.x = box1.y = box1.z = 1.;
 	    box2.x = 0.5;
@@ -391,7 +391,7 @@ public void boxboxPenetration()
 	    RefDouble depth = new RefDouble();
 	    ccd_vec3_t dir = new ccd_vec3_t(), pos = new ccd_vec3_t();
 
-	    fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");
+	    // fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");
 
 	    box1.x = box1.y = box1.z = 1.;
 	    box2.x = 0.5;

demo-cpp/src/test/java/org/ode4j/tests/libccd/TestCylCyl.java

@@ -156,7 +156,7 @@ public void cylcylPenetrationEPA()
 	    RefDouble depth = new RefDouble();
 	    ccd_vec3_t dir = new ccd_vec3_t(), pos = new ccd_vec3_t();
 
-	    fprintf(stderr, "\n\n\n---- cylcylPenetration ----\n\n\n");
+	    // fprintf(stderr, "\n\n\n---- cylcylPenetration ----\n\n\n");
 
 	    cyl1.radius = 0.35;
 	    cyl1.height = 0.5;

demo-cpp/src/test/java/org/ode4j/tests/libccd/TestMPRBoxBox.java

@@ -305,7 +305,7 @@ public void mprBoxboxSeparate()
 	    ccd_vec3_t sep = new ccd_vec3_t(), expsep = new ccd_vec3_t();
 	    ccd_vec3_t expsep2 = new ccd_vec3_t(), axis = new ccd_vec3_t();
 
-	    fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n");
+	    //  fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n");
 
 	    box1.x = box1.y = box1.z = 1.;
 	    box2.x = 0.5;
@@ -398,7 +398,7 @@ public void mprBoxboxPenetration()
 	    RefDouble depth = new RefDouble();
 	    ccd_vec3_t dir = new ccd_vec3_t(), pos = new ccd_vec3_t();
 
-	    fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");
+	    // fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");
 
 	    box1.x = box1.y = box1.z = 1.;
 	    box2.x = 0.5;

demo-cpp/src/test/java/org/ode4j/tests/libccd/TestMPRCylCyl.java

@@ -151,7 +151,7 @@ public void mprCylcylPenetration()
 	    RefDouble depth = new RefDouble();
 	    ccd_vec3_t dir = new ccd_vec3_t(), pos = new ccd_vec3_t();
 
-	    fprintf(stderr, "\n\n\n---- mprCylcylPenetration ----\n\n\n");
+	    // fprintf(stderr, "\n\n\n---- mprCylcylPenetration ----\n\n\n");
 
 	    cyl1.radius = 0.35;
 	    cyl1.height = 0.5;

demo-cpp/src/test/java/org/ode4j/tests/libccd/TestPolytope.java

@@ -27,26 +27,37 @@
 import static org.ode4j.ode.internal.libccd.CCDVec3.*;
 
 public class TestPolytope {
-
-	private void DBG(String format, Object a1) { 
-		fprintf(stderr, "%s :: " + format+ "\n", "fn", a1);//__func__, ## __VA_ARGS__); 
-		fflush(stderr); 
+
+
+	private static final boolean DEBUG = false;
+
+	private void DBG(String format, Object a1) {
+		if (DEBUG) {
+			fprintf(stderr, "%s :: " + format + "\n", "fn", a1);//__func__, ## __VA_ARGS__);
+			fflush(stderr);
+		}
 	}
 
-	private void DBG(String format, Object a1, Object a2) { 
-		fprintf(stderr, "%s :: " + format+ "\n", "fn", a1, a2);//__func__, ## __VA_ARGS__); 
-		fflush(stderr); 
+	private void DBG(String format, Object a1, Object a2) {
+		if (DEBUG) {
+			fprintf(stderr, "%s :: " + format + "\n", "fn", a1, a2);//__func__, ## __VA_ARGS__);
+			fflush(stderr);
+		}
 	}
 
 	private void DBG2(String str) {
-		fprintf(stderr, "%s :: " + str + "\n", "fn");//, __func__); 
-		fflush(stderr); 
+		if (DEBUG) {
+			fprintf(stderr, "%s :: " + str + "\n", "fn");//, __func__);
+			fflush(stderr);
+		}
 	}
 
 	private void DBG_VEC3(ccd_vec3_t vec, String prefix) {
-		fprintf(stderr, "%s :: %s[%f %f %f]\n", "fn",//	__func__, 
-				prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); 
-		fflush(stderr); 
+		if (DEBUG) {
+			fprintf(stderr, "%s :: %s[%f %f %f]\n", "fn",//	__func__,
+					prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec));
+			fflush(stderr);
+		}
 	}
 
 

demo/src/main/java/org/ode4j/demo/DemoI.java

@@ -239,7 +239,7 @@ public static void main(String[] args) {
 
 	private void demo(String[] args) {
 		OdeHelper.initODE2(0);
-		dRandSetSeed (System.currentTimeMillis());
+		dRandSetSeed (0); // System.currentTimeMillis());
 		reset_test();
 
 		// run simulation

demo/src/main/java/org/ode4j/demo/DemoOde.java

@@ -1544,7 +1544,7 @@ private int runAllTests()
 		testQuaternionMultiply();
 		testRotationFunctions();
 		dTestMatrixComparison();
-		DLCP.dTestSolveLCP();
+		DLCP.dTestSolveLCP(true);
 		//OdeImpl.dTestDataStructures();
 		OdeHelper.closeODE();
 		return 0;

demo/src/main/java/org/ode4j/demo/DemoStep.java

@@ -43,7 +43,7 @@
  * version, for various systems. currently you have to define COMPARE_METHODS
  * in step.cpp for this to work properly.
  *  
- * @@@ report MAX error
+ * report MAX error
  */
 class DemoStep extends dsFunctions {
 
@@ -174,7 +174,7 @@ public static void main(String[] args) {
 
 	private void demo(String[] args) {
 		OdeHelper.initODE2(0);
-		dRandSetSeed (System.currentTimeMillis()/1000);
+		dRandSetSeed (0); // System.currentTimeMillis()/1000);
 		createTest();
 
 		// run simulation

demo/src/test/java/org/ode4j/tests/DemoCollisionTest.java

@@ -52,6 +52,7 @@
  */
 public class DemoCollisionTest {
 
+    private static final boolean PRINT = false;
 
     //****************************************************************************
     // test infrastructure, including constants and macros
@@ -1211,7 +1212,10 @@ private void do_test(int number, String function) {
         // second batch is run.
         for (int batch = 0; batch < 2; batch++) {
             int reps = (batch == 0) ? TEST_REPS1 : TEST_REPS2;
-            System.out.println("testing " + number + " " + function + " batch " + (batch + 1) + " (" + reps + " reps)...");
+            if (PRINT) {
+                System.out.println(
+                        "testing " + number + " " + function + " batch " + (batch + 1) + " (" + reps + " reps)...");
+            }
 
             // run tests
             for (int j = 0; j < reps; j++) {
@@ -1231,7 +1235,10 @@ private void do_test_partial(int number, String function, double max_failure_rat
         for (int batch = 0; batch < 2; batch++) {
             int reps = (batch == 0) ? TEST_REPS1 : TEST_REPS2;
             total_reps += reps;
-            System.out.println("testing " + number + " " + function + " batch " + (batch + 1) + " (" + reps + " reps)...");
+            if (PRINT) {
+                System.out.println(
+                        "testing " + number + " " + function + " batch " + (batch + 1) + " (" + reps + " reps)...");
+            }
 
             // run tests
             for (int j = 0; j < reps; j++) {
@@ -1247,13 +1254,19 @@ private void do_test_partial(int number, String function, double max_failure_rat
         }
 
         // print results
-        System.out.printf("%3d: %-30s: ", number, function);
+        if (PRINT) {
+            System.out.printf("%3d: %-30s: ", number, function);
+        }
         if (failcount > 0) {
             double failure_ratio = (double) failcount / (double) total_reps;
-            System.out.printf("FAILED (%.2f%%) at line %s\n", failure_ratio * 100.0, last_failed_line);
+            if (PRINT) {
+                System.out.printf("FAILED (%.2f%%) at line %s\n", failure_ratio * 100.0, last_failed_line);
+            }
             assertTrue(failure_ratio < max_failure_ratio);
         } else {
-            System.out.println("ok");
+            if (PRINT) {
+                System.out.println("ok");
+            }
         }
     }
 

demo/src/test/java/org/ode4j/tests/DemoJointsTest.java

@@ -59,6 +59,8 @@
 //@RunWith(Parameterized.class)
 public class DemoJointsTest {
 
+    private static final boolean PRINT = false;
+
     //// some constants
     //#define NUM_JOINTS 10	// number of joints to test (the `xx' value)
     //#define SIDE (0.5f)	// side length of a box - don't change this
@@ -136,6 +138,18 @@ private double cmpIdentity(final DMatrix3C A) {
         return dMaxDifference(A, I);
     }
 
+    private static void print(String s) {
+        if (PRINT) {
+            System.out.print(s);
+        }
+    }
+
+    private static void println(String s) {
+        if (PRINT) {
+            System.out.println(s);
+        }
+    }
+
     //****************************************************************************
     // test world construction and utilities
     private void constructWorldForTest(double gravity, int bodycount,
@@ -1042,12 +1056,13 @@ private void doTest(int n) {
         S = null;
 
         // print results
-        System.out.print("test " + n + ": ");
-        if (max_error == dInfinity) System.out.println("error not computed");
-        else {
-            System.out.print("max scaled error = " + max_error);
-            if (max_error < 1) System.out.println(" - passed");
-            else System.out.println(" - FAILED\n");
+        print("test " + n + ": ");
+        if (max_error == dInfinity) {
+            println("error not computed");
+        } else {
+            print("max scaled error = " + max_error);
+            if (max_error < 1) println(" - passed");
+            else println(" - FAILED\n");
             Assert.assertTrue(max_error < 1);
         }
     }