Revision: 46679
http://brlcad.svn.sourceforge.net/brlcad/?rev=46679&view=rev
Author: abhi2011
Date: 2011-09-14 01:10:35 +0000 (Wed, 14 Sep 2011)
Log Message:
-----------
Added code to simulate command for showing bounding boxes and rigid body
activation state
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simphysics.cpp
brlcad/trunk/src/libged/simulate/simulate.c
brlcad/trunk/src/libged/simulate/simulate.h
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-13 20:41:04 UTC
(rev 46678)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-14 01:10:35 UTC
(rev 46679)
@@ -178,15 +178,19 @@
{
int i;
btScalar m[16];
+ btVector3 aabbMin, aabbMax;
+ btTransform identity;
+ identity.setIdentity();
const int num_bodies = dynamicsWorld->getNumCollisionObjects();
+
for(i=0; i < num_bodies; i++){
//Common properties among all rigid bodies
btCollisionObject* bb_ColObj =
dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* bb_RigidBody =
btRigidBody::upcast(bb_ColObj);
- //const btCollisionShape* bb_Shape =
bb_ColObj->getCollisionShape(); //may be used later
+ const btCollisionShape* bb_Shape =
bb_ColObj->getCollisionShape(); //may be used later
if( bb_RigidBody && bb_RigidBody->getMotionState()){
@@ -205,13 +209,40 @@
}
//Copy the transform matrix
- current_node->m[0] = m[0]; current_node->m[4] = m[4];
current_node->m[8] = m[8]; current_node->m[12] = m[12];
- current_node->m[1] = m[1]; current_node->m[5] = m[5];
current_node->m[9] = m[9]; current_node->m[13] = m[13];
- current_node->m[2] = m[2]; current_node->m[6] = m[6];
current_node->m[10] = m[10]; current_node->m[14] = m[14];
- current_node->m[3] = m[3]; current_node->m[7] = m[7];
current_node->m[11] = m[11]; current_node->m[15] = m[15];
+ current_node->m[0] = m[0]; current_node->m[4] = m[4];
current_node->m[8] = m[8]; current_node->m[12] = m[12];
+ current_node->m[1] = m[1]; current_node->m[5] = m[5];
current_node->m[9] = m[9]; current_node->m[13] = m[13];
+ current_node->m[2] = m[2]; current_node->m[6] = m[6];
current_node->m[10] = m[10]; current_node->m[14] = m[14];
+ current_node->m[3] = m[3]; current_node->m[7] = m[7];
current_node->m[11] = m[11]; current_node->m[15] = m[15];
//print_matrices(sim_params, current_node->rb_namep,
current_node->m, m);
+ //Get the state of the body
+ current_node->state =
bb_RigidBody->getActivationState();
+
+ //Get the AABB
+ bb_Shape->getAabb(bb_MotionState->m_graphicsWorldTrans,
aabbMin, aabbMax);
+
+ current_node->btbb_min[0] = aabbMin[0];
+ current_node->btbb_min[1] = aabbMin[1];
+ current_node->btbb_min[2] = aabbMin[2];
+
+ current_node->btbb_max[0] = aabbMax[0];
+ current_node->btbb_max[1] = aabbMax[1];
+ current_node->btbb_max[2] = aabbMax[2];
+
+ // Get BB length, width, height
+ current_node->btbb_dims[0] = current_node->btbb_max[0]
- current_node->btbb_min[0];
+ current_node->btbb_dims[1] = current_node->btbb_max[1]
- current_node->btbb_min[1];
+ current_node->btbb_dims[2] = current_node->btbb_max[2]
- current_node->btbb_min[2];
+
+ bu_vls_printf(sim_params->result_str, "get_transforms:
Dimensions of this BB : %f %f %f\n",
+ current_node->btbb_dims[0],
current_node->btbb_dims[1], current_node->btbb_dims[2]);
+
+ //Get BB position in 3D space
+ current_node->btbb_center[0] =
current_node->btbb_min[0] + current_node->btbb_dims[0]/2;
+ current_node->btbb_center[1] =
current_node->btbb_min[1] + current_node->btbb_dims[1]/2;
+ current_node->btbb_center[2] =
current_node->btbb_min[2] + current_node->btbb_dims[2]/2;
+
}
}
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-09-13 20:41:04 UTC (rev
46678)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-09-14 01:10:35 UTC (rev
46679)
@@ -47,6 +47,7 @@
/* The C++ simulation function */
extern int run_simulation(struct simulation_params *sim_params);
+
/**
* How to use simulate.Blissfully simple interface, more options will be added
soon
*/
@@ -64,27 +65,75 @@
/**
- * Duplicates the prim/comb passed in dp as new_name
+ * Prints a 16 by 16 transform matrix for debugging
*
*/
-int kill_copy(struct ged *gedp, struct directory *dp, char* new_name)
+void print_matrix(struct simulation_params *sim_params, char *rb_namep, mat_t
t)
{
+ int i, j;
+
+ bu_vls_printf(sim_params->result_str, "------------Transformation
matrix(%s)--------------\n",
+ rb_namep);
+
+ for (i=0 ; i<4 ; i++) {
+ for (j=0 ; j<4 ; j++) {
+ bu_vls_printf(sim_params->result_str, "t[%d]: %f\t",
(i*4 + j), t[i*4 + j] );
+ }
+ bu_vls_printf(sim_params->result_str, "\n");
+ }
+
+ bu_vls_printf(sim_params->result_str,
"-------------------------------------------------------\n");
+}
+
+
+/**
+ * Prints a struct rigid_body for debugging, more members will be printed later
+ */
+void print_rigid_body(struct rigid_body *rb)
+{
+ bu_log("Rigid Body : \"%s\", state = %d\n", rb->rb_namep, rb->state);
+}
+
+
+/**
+ * Deletes a prim/comb if it exists
+ * TODO : lower to librt
+ */
+int kill(struct ged *gedp, char *name)
+{
char *cmd_args[5];
- int rv;
- /* Check if the duplicate already exists, and kill it if so(it maybe of a
different shape) */
- if (db_lookup(gedp->ged_wdbp->dbip, new_name, LOOKUP_QUIET) !=
RT_DIR_NULL) {
- bu_log("kill_copy: WARNING \"%s\" already exists, deleting it\n",
new_name);
+ /* Check if the duplicate already exists, and kill it if so */
+ if (db_lookup(gedp->ged_wdbp->dbip, name, LOOKUP_QUIET) != RT_DIR_NULL) {
+ bu_log("kill: WARNING \"%s\" exists, deleting it\n", name);
cmd_args[0] = "kill";
- cmd_args[1] = new_name;
+ cmd_args[1] = name;
cmd_args[2] = (char *)0;
if(ged_kill(gedp, 2, (const char **)cmd_args) != GED_OK){
- bu_log("kill_copy: could not delete existing \"%s\"\n", new_name);
+ bu_log("kill: ERROR Could not delete existing \"%s\"\n", name);
return GED_ERROR;
}
}
+ return GED_OK;
+}
+
+
+/**
+ * Deletes and duplicates the prim/comb passed in dp as new_name
+ * TODO : lower to librt
+ */
+int kill_copy(struct ged *gedp, struct directory *dp, char* new_name)
+{
+ char *cmd_args[5];
+ int rv;
+
+ if( kill(gedp, new_name) != GED_OK){
+ bu_log("kill_copy: ERROR Could not delete existing \"%s\"\n",
new_name);
+ return GED_ERROR;
+ }
+
/* Copy the passed prim/comb */
cmd_args[0] = "copy";
cmd_args[1] = dp->d_namep;
@@ -92,7 +141,7 @@
cmd_args[3] = (char *)0;
rv = ged_copy(gedp, 3, (const char **)cmd_args);
if (rv != GED_OK){
- bu_log("kill_copy: could not copy \"%s\" to \"%s\"\n", dp->d_namep,
+ bu_log("kill_copy: ERROR Could not copy \"%s\" to \"%s\"\n",
dp->d_namep,
new_name);
return GED_ERROR;
}
@@ -100,49 +149,31 @@
return GED_OK;
}
+
/**
- * Deletes and recreates the simulation result group
- *
+ * Adds a prim/comb to an existing comb or creates it if not existing
+ * TODO : lower to librt
*/
-int create_sim_comb(struct ged *gedp, struct simulation_params *sim_params)
+int add_to_comb(struct ged *gedp, char *target, char *add)
{
- char *cmd_args[5];
- int rv;
+ char *cmd_args[5];
+ int rv;
- /* Check if the duplicate already exists, and kill it if so */
- if (db_lookup(gedp->ged_wdbp->dbip, sim_params->sim_comb_name,
LOOKUP_QUIET) != RT_DIR_NULL) {
- bu_log("create_sim_comb: WARNING \"%s\" already exists, deleting
it\n", sim_params->sim_comb_name);
- cmd_args[0] = "kill";
- cmd_args[1] = sim_params->sim_comb_name;
- cmd_args[2] = (char *)0;
+ cmd_args[0] = "comb";
+ cmd_args[1] = target;
+ cmd_args[2] = "u";
+ cmd_args[3] = add;
+ cmd_args[4] = (char *)0;
+ rv = ged_comb(gedp, 4, (const char **)cmd_args);
+ if (rv != GED_OK){
+ bu_log("add_to_comb: ERROR Could not add \"%s\" to the
combination \"%s\"\n",
+ target, add);
+ return GED_ERROR;
+ }
- if(ged_kill(gedp, 2, (const char **)cmd_args) != GED_OK){
- bu_log("create_sim_comb: could not delete existing \"%s\"\n",
sim_params->sim_comb_name);
- return GED_ERROR;
- }
- }
-
- /* Setup the empty simulation result group */
- cmd_args[0] = "comb";
- cmd_args[1] = sim_params->sim_comb_name;
- cmd_args[2] = (char *)0;
- rv = ged_comb(gedp, 2, (const char **)cmd_args);
- if (rv != GED_OK){
- bu_log("create_sim_comb: Could not create simulation result
group \"%s\"\n",
- sim_params->sim_comb_name);
- return GED_ERROR;
- }
-
- return GED_OK;
+ return GED_OK;
}
-/**
- * Prints a struct rigid_body for debugging, more members will be printed later
- */
-void print_rigid_body(struct rigid_body *rb)
-{
- bu_log("Rigid Body : \"%s\"\n", rb->rb_namep);
-}
/**
* Add the list of regions in the model to the rigid bodies list in
@@ -159,14 +190,11 @@
point_t rpp_min, rpp_max;
int i;
struct rigid_body *prev_node = NULL, *current_node;
- char *cmd_args[5];
- int rv;
- create_sim_comb(gedp, sim_params);
+ /* Kill the existing sim comb */
+ kill(gedp, sim_params->sim_comb_name);
sim_params->num_bodies = 0;
-
-
/* Walk the directory list duplicating all regions only, skip some regions
*/
for (i = 0; i < RT_DBNHASH; i++)
for (dp = gedp->ged_wdbp->dbip->dbi_Head[i]; dp != RT_DIR_NULL; dp =
dp->d_forw) {
@@ -204,7 +232,7 @@
rpp_min[0], rpp_min[1], rpp_min[2],
rpp_max[0], rpp_max[1], rpp_max[2]);
else{
- bu_vls_printf(gedp->ged_result_str, "add_regions: Could not get
the BB\n");
+ bu_vls_printf(gedp->ged_result_str, "add_regions: ERROR Could
not get the BB\n");
return GED_ERROR;
}
@@ -240,18 +268,8 @@
prev_node = prev_node->next;
}
- /* Setup the simulation result group union-ing the new objects */
- cmd_args[0] = "comb";
- cmd_args[1] = sim_params->sim_comb_name;
- cmd_args[2] = "u";
- cmd_args[3] = prefixed_name;
- cmd_args[4] = (char *)0;
- rv = ged_comb(gedp, 4, (const char **)cmd_args);
- if (rv != GED_OK){
- bu_log("add_regions: Could not add \"%s\" to
simulation result group \"%s\"\n",
- prefixed_name,
sim_params->sim_comb_name);
- return GED_ERROR;
- }
+ /* Add the new region to the simulation result */
+ add_to_comb(gedp, sim_params->sim_comb_name, prefixed_name);
sim_params->num_bodies++;
}
@@ -269,28 +287,220 @@
}
+
/**
- * Prints a 16 by 16 transform matrix for debugging
+ * This function draws the bounding box around a comb as reported by
+ * Bullet
+ * TODO : this should be used with a debugging flag
+ * TODO : this function will soon be lowered to librt
*
*/
-void print_matrix(struct simulation_params *sim_params, char *rb_namep, mat_t
t)
+int insertAABB(struct ged *gedp, struct simulation_params *sim_params,
+ struct
rigid_body *current_node)
{
- int i, j;
+ char* cmd_args[28];
+ char buffer[20];
+ int rv;
+ char *prefixed_name, *prefixed_reg_name;
+ char *prefix = "bb_";
+ char *prefix_reg = "bb_reg_";
+ size_t prefix_len, prefixed_name_len;
+ point_t v;
- bu_vls_printf(sim_params->result_str, "------------Transformation
matrix(%s)--------------\n",
- rb_namep);
+ /* Prepare prefixed bounding box primitive name */
+ prefix_len = strlen(prefix);
+ prefixed_name_len = strlen(prefix)+strlen(current_node->rb_namep)+1;
+ prefixed_name = (char *)bu_malloc(prefixed_name_len, "Adding bb_
prefix");
+ bu_strlcpy(prefixed_name, prefix, prefix_len + 1);
+ bu_strlcat(prefixed_name + prefix_len, current_node->rb_namep,
+ prefixed_name_len - prefix_len);
- for (i=0 ; i<4 ; i++) {
- for (j=0 ; j<4 ; j++) {
- bu_vls_printf(sim_params->result_str, "t[%d]: %f\t",
(i*4 + j), t[i*4 + j] );
- }
- bu_vls_printf(sim_params->result_str, "\n");
+ /* Prepare prefixed bounding box region name */
+ prefix_len = strlen(prefix_reg);
+ prefixed_name_len = strlen(prefix_reg) + strlen(current_node->rb_namep)
+ 1;
+ prefixed_reg_name = (char *)bu_malloc(prefixed_name_len, "Adding
bb_reg_ prefix");
+ bu_strlcpy(prefixed_reg_name, prefix_reg, prefix_len + 1);
+ bu_strlcat(prefixed_reg_name + prefix_len, current_node->rb_namep,
+ prefixed_name_len - prefix_len);
+
+ /* Delete existing bb prim and region */
+ rv = kill(gedp, prefixed_name);
+ if (rv != GED_OK){
+ bu_log("insertAABB: ERROR Could not delete existing bounding
box arb8 : %s \
+ so NOT attempting to add new bounding box\n",
prefixed_name);
+ return GED_ERROR;
}
- bu_vls_printf(sim_params->result_str,
"-------------------------------------------------------\n");
+ rv = kill(gedp, prefixed_reg_name);
+ if (rv != GED_OK){
+ bu_log("insertAABB: ERROR Could not delete existing bounding
box region : %s \
+ so NOT attempting to add new region\n",
prefixed_reg_name);
+ return GED_ERROR;
+ }
+
+ /* Setup the simulation result group union-ing the new objects */
+ cmd_args[0] = "in";
+ cmd_args[1] = bu_strdup(prefixed_name);
+ cmd_args[2] = "arb8";
+
+ /* Front face vertices */
+ /* v1 */
+ v[0] = current_node->btbb_center[0] + current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] + current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] - current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[3] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[4] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[5] = bu_strdup(buffer);
+
+ /* v2 */
+ v[0] = current_node->btbb_center[0] + current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] + current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] + current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[6] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[7] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[8] = bu_strdup(buffer);
+
+ /* v3 */
+ v[0] = current_node->btbb_center[0] + current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] - current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] + current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[9] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[10] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[11] = bu_strdup(buffer);
+
+ /* v4 */
+ v[0] = current_node->btbb_center[0] + current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] - current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] - current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[12] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[13] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[14] = bu_strdup(buffer);
+
+ /* Back face vertices */
+ /* v5 */
+ v[0] = current_node->btbb_center[0] - current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] + current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] - current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[15] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[16] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[17] = bu_strdup(buffer);
+
+ /* v6 */
+ v[0] = current_node->btbb_center[0] - current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] + current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] + current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[18] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[19] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[20] = bu_strdup(buffer);
+
+ /* v7 */
+ v[0] = current_node->btbb_center[0] - current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] - current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] + current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[21] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[22] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[23] = bu_strdup(buffer);
+
+ /* v8 */
+ v[0] = current_node->btbb_center[0] - current_node->btbb_dims[0]/2;
+ v[1] = current_node->btbb_center[1] - current_node->btbb_dims[1]/2;
+ v[2] = current_node->btbb_center[2] - current_node->btbb_dims[2]/2;
+ sprintf(buffer, "%f", v[0]); cmd_args[24] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[1]); cmd_args[25] = bu_strdup(buffer);
+ sprintf(buffer, "%f", v[2]); cmd_args[26] = bu_strdup(buffer);
+
+ /* Finally make the bb primitive, phew ! */
+ cmd_args[27] = (char *)0;
+ rv = ged_in(gedp, 27, (const char **)cmd_args);
+ if (rv != GED_OK){
+ bu_log("insertAABB: WARNING Could not draw bounding box for
\"%s\"\n",
+ current_node->rb_namep);
+ }
+
+ /* Make the region for the bb primitive */
+ add_to_comb(gedp, prefixed_reg_name, prefixed_name);
+
+ /* Adjust the material for region to be almost transparent */
+ cmd_args[0] = "mater";
+ cmd_args[1] = bu_strdup(prefixed_reg_name);
+ cmd_args[2] = "plastic tr 0.9";
+ cmd_args[3] = "210";
+ cmd_args[4] = "0";
+ cmd_args[5] = "100";
+ cmd_args[6] = "0";
+ cmd_args[7] = (char *)0;
+ rv = ged_mater(gedp, 7, (const char **)cmd_args);
+ if (rv != GED_OK){
+ bu_log("insertAABB: WARNING Could not adjust the material for
\"%s\"\n",
+ prefixed_reg_name);
+ }
+
+ /* Add the region to the result of the sim so it will be drawn too */
+ add_to_comb(gedp, sim_params->sim_comb_name, prefixed_reg_name);
+
+ return GED_OK;
+
}
+
/**
+ * This function colors the passed comb. It's for showing the current
+ * state of the object inside the physics engine.
+ * TODO : this should be used with a debugging flag
+ *
+ */
+int apply_color(struct ged *gedp, char* rb_namep, unsigned char r,
+
unsigned char g,
+
unsigned char b )
+{
+ struct directory *dp = NULL;
+ struct rt_comb_internal *comb = NULL;
+ struct rt_db_internal intern;
+ struct bu_attribute_value_set avs;
+
+ /* Look up directory pointer for the passed comb name */
+ GED_DB_LOOKUP(gedp, dp, rb_namep, LOOKUP_NOISY, GED_ERROR);
+ GED_CHECK_COMB(gedp, dp, GED_ERROR);
+ GED_DB_GET_INTERNAL(gedp, &intern, dp, (fastf_t *)NULL,
&rt_uniresource, GED_ERROR);
+
+ /* Get a comb from the internal format */
+ comb = (struct rt_comb_internal *)intern.idb_ptr;
+ RT_CK_COMB(comb);
+
+ /* Set the color related members */
+ comb->rgb[0] = r;
+ comb->rgb[1] = g;
+ comb->rgb[2] = b;
+ comb->rgb_valid = 1;
+ comb->inherit = 0;
+
+ /* Get the current attribute set of the comb from the db */
+ bu_avs_init_empty(&avs);
+ if (db5_get_attributes(gedp->ged_wdbp->dbip, &avs, dp)) {
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms: ERROR
Cannot get attributes for object %s\n", dp->d_namep);
+ bu_avs_free(&avs);
+ return GED_ERROR;
+ }
+
+ /* Sync the changed attributes with the old ones */
+ db5_standardize_avs(&avs);
+ db5_sync_comb_to_attr(&avs, comb);
+ db5_standardize_avs(&avs);
+
+ /* Put back in db to allow drawing */
+ GED_DB_PUT_INTERNAL(gedp, dp, &intern, &rt_uniresource, GED_ERROR);
+ if (db5_update_attributes(dp, &avs, gedp->ged_wdbp->dbip)) {
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms: ERROR
failed to update attributes\n");
+ bu_avs_free(&avs);
+ return GED_ERROR;
+ }
+
+ bu_avs_free(&avs);
+ return GED_OK;
+}
+
+
+/**
* This function takes the transforms present in the current node and applies
them
* in 3 steps : translate to origin, apply the rotation, then translate to
final
* position with respect to origin(as obtained from physics)
@@ -300,6 +510,7 @@
struct rt_db_internal intern;
struct rigid_body *current_node;
mat_t t , m;
+ int rv;
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
@@ -350,19 +561,50 @@
/* Write the modified solid to the db so it can be redrawn at
the new position & orientation by Mged */
if (rt_db_put_internal(current_node->dp, gedp->ged_wdbp->dbip,
&intern, &rt_uniresource) < 0) {
- bu_vls_printf(gedp->ged_result_str, "apply_transforms:
Database write error for '%s', aborting\n",
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR Database write error for '%s', aborting\n",
current_node->dp->d_namep);
return GED_ERROR;
}
- /* bu_vls_printf(gedp->ged_result_str, "t:\n");
- print_matrix(sim_params, current_node->rb_namep, t);
- bu_vls_printf(gedp->ged_result_str, "m:\n");
- print_matrix(sim_params, current_node->rb_namep,
current_node->m); */
+ /* Apply the proper shader to match the object state : useful
for debugging */
+/* switch(current_node->state){
+ case ACTIVE_TAG:
+ rv = apply_color(gedp, current_node->rb_namep,
255, 255, 0);
+ break;
+ case ISLAND_SLEEPING:
+ rv = apply_color(gedp, current_node->rb_namep,
255, 0, 255);
+ break;
+
+ case WANTS_DEACTIVATION:
+ rv = apply_color(gedp, current_node->rb_namep,
0, 255, 0);
+ break;
+
+ case DISABLE_DEACTIVATION:
+ rv = apply_color(gedp, current_node->rb_namep,
255, 0, 0);
+ break;
+
+ case DISABLE_SIMULATION:
+ rv = apply_color(gedp, current_node->rb_namep,
132, 255, 0);
+ break;
+
+ default:
+ rv = apply_color(gedp, current_node->rb_namep,
0, 135, 233);
+ }
+
+ if (rv != GED_OK){
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms:
WARNING Could not set \
+ the state color for %s\n",
current_node->rb_namep);
+ }
+*/
+
+ /* This will be enabled by a flag later */
+ /* insertAABB(gedp, sim_params, current_node); */
+
+ /* print_rigid_body(current_node); */
+
}
-
return GED_OK;
}
@@ -408,7 +650,7 @@
sim_params.ground_plane_name = bu_strdup(ground_plane_name);
rv = add_regions(gedp, &sim_params);
if (rv != GED_OK){
- bu_vls_printf(gedp->ged_result_str, "%s: Error while adding
objects\n", argv[0]);
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while adding
objects\n", argv[0]);
return GED_ERROR;
}
@@ -416,14 +658,14 @@
/* Run the physics simulation */
rv = run_simulation(&sim_params);
if (rv != GED_OK){
- bu_vls_printf(gedp->ged_result_str, "%s: Error while running
the simulation\n", argv[0]);
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while running
the simulation\n", argv[0]);
return GED_ERROR;
}
- /* Apply transforms on the participating objects */
+ /* Apply transforms on the participating objects, also shades objects */
rv = apply_transforms(gedp, &sim_params);
if (rv != GED_OK){
- bu_vls_printf(gedp->ged_result_str, "%s: Error while applying
transforms\n", argv[0]);
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while applying
transforms\n", argv[0]);
return GED_ERROR;
}
@@ -460,7 +702,7 @@
/* Initialize result */
bu_vls_trunc(gedp->ged_result_str, 0);
- bu_vls_printf(gedp->ged_result_str, "%s : This command is disabled due to
the absence of a physics library",
+ bu_vls_printf(gedp->ged_result_str, "%s : ERROR This command is disabled
due to the absence of a physics library",
argv[0]);
return GED_ERROR;
}
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-09-13 20:41:04 UTC (rev
46678)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-09-14 01:10:35 UTC (rev
46679)
@@ -29,6 +29,14 @@
#ifndef SIMULATE_H_
#define SIMULATE_H_
+
+//Copy of the rigid body state tags from btCollisionObject.h
+#define ACTIVE_TAG 1
+#define ISLAND_SLEEPING 2
+#define WANTS_DEACTIVATION 3
+#define DISABLE_DEACTIVATION 4
+#define DISABLE_SIMULATION 5
+
/* Contains information about a single rigid body constructed from a BRL-CAD
region.
* This structure is the node of a linked list containing the geometry to be
added to the sim
* Only the bb is currently present, but physical properties like elasticity,
custom forces
@@ -39,7 +47,10 @@
char *rb_namep; /**< @brief pointer to name string */
point_t bb_min, bb_max; /**< @brief body bb bounds */
point_t bb_center, bb_dims; /**< @brief bb center and dimensions */
+ point_t btbb_min, btbb_max; /**< @brief Bullet body bb bounds */
+ point_t btbb_center, btbb_dims; /**< @brief Bullet bb center and
dimensions */
mat_t m; /**< @brief transformation matrix from
Bullet */
+ int state; /**< @brief rigid body
state from Bullet */
struct directory *dp; /**< @brief directory pointer to the
related region */
struct rigid_body *next; /**< @brief link to next body */
};
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