Revision: 46729
http://brlcad.svn.sourceforge.net/brlcad/?rev=46729&view=rev
Author: abhi2011
Date: 2011-09-16 06:07:40 +0000 (Fri, 16 Sep 2011)
Log Message:
-----------
Began rt integration into the bullet collision pipeline, added callback to show
aabb overlaps and contact points
Modified Paths:
--------------
brlcad/trunk/src/libged/CMakeLists.txt
brlcad/trunk/src/libged/simulate/simphysics.cpp
brlcad/trunk/src/libged/simulate/simulate.c
Modified: brlcad/trunk/src/libged/CMakeLists.txt
===================================================================
--- brlcad/trunk/src/libged/CMakeLists.txt 2011-09-16 05:02:51 UTC (rev
46728)
+++ brlcad/trunk/src/libged/CMakeLists.txt 2011-09-16 06:07:40 UTC (rev
46729)
@@ -22,10 +22,10 @@
# verification (sh/cmakecheck.sh) will fail on dist-hook.
IF(BULLET_FOUND)
GED_ADD_CMD(LIBGED_SIM_SOURCES BULLET_INCLUDE_DIR BULLET_LIBRARIES)
- SET(SIM_SRCS simulate/simphysics.cpp simulate/simulate.c)
+ SET(SIM_SRCS simulate/simphysics.cpp simulate/simulate.c
simulate/simcollisionalgo.cpp simulate/simcollisionalgo.h)
ELSE(BULLET_FOUND)
SET(SIM_SRCS "")
- SET(ged_ignore_files simulate/simphysics.cpp simulate/simulate.c)
+ SET(ged_ignore_files simulate/simphysics.cpp simulate/simulate.c
simulate/simcollisionalgo.cpp simulate/simcollisionalgo.h)
ENDIF(BULLET_FOUND)
set(LIBGED_SOURCES
@@ -336,6 +336,7 @@
ged_private.h
qray.h
simulate/simulate.h
+ simulate/simcollisionalgo.h
wdb_qray.h
)
CMAKEFILES(${ged_ignore_files})
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-16 05:02:51 UTC
(rev 46728)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-16 06:07:40 UTC
(rev 46729)
@@ -35,9 +35,13 @@
#include "db.h"
#include "vmath.h"
#include "simulate.h"
+#include "simcollisionalgo.h"
#include <btBulletDynamicsCommon.h>
+
+//--------------------- Printing functions for debugging
------------------------
+
/**
* Prints the 16 by 16 transform matrices for debugging
*
@@ -70,7 +74,104 @@
}
+//--------------------- Collision specific code ------------------------
+
/**
+ * Broadphase filter callback struct : used to show the detected AABB overlaps
+ *
+ */
+struct broadphase_callback : public btOverlapFilterCallback
+{
+ //Return true when pairs need collision
+ virtual bool
+ needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy*
proxy1) const
+ {
+ bool collides = (proxy0->m_collisionFilterGroup &
proxy1->m_collisionFilterMask) != 0;
+ collides = collides && (proxy1->m_collisionFilterGroup &
proxy0->m_collisionFilterMask);
+
+ //This would prevent collision between proxy0 and proxy1
inspite of
+ //AABB overlap being detected
+ //collides = false;
+ //proxy0->m_clientObject
+
+ //bu_log("broadphase_callback: These 2 objects have overlapping
AABBs");
+
+ //add some additional logic here that modified 'collides'
+ return collides;
+ }
+};
+
+
+/**
+ * Narrowphase filter callback : used to show the generated collision points
+ *
+ */
+void nearphase_callback(btBroadphasePair& collisionPair,
+ btCollisionDispatcher& dispatcher,
+ btDispatcherInfo& dispatchInfo)
+{
+
+ int i, j, numContacts;
+ int numManifolds = dispatcher.getNumManifolds();
+
+ /* First iterate through the number of manifolds for the whole dynamics
world
+ * A manifold is a set of contact points containing upto 4 points
+ * There may be multiple manifolds where objects touch
+ */
+ for (i=0; i<numManifolds; i++){
+
+ //Get the manifold and the objects which created it
+ btPersistentManifold* contactManifold =
+ dispatcher.getManifoldByIndexInternal(i);
+ btCollisionObject* obA =
static_cast<btCollisionObject*>(contactManifold->getBody0());
+ btCollisionObject* obB =
static_cast<btCollisionObject*>(contactManifold->getBody1());
+
+ //Get the user pointers to struct rigid_body, for printing the
body name
+ btRigidBody* rbA = btRigidBody::upcast(obA);
+ btRigidBody* rbB = btRigidBody::upcast(obB);
+ struct rigid_body *upA = (struct rigid_body
*)rbA->getUserPointer();
+ struct rigid_body *upB = (struct rigid_body
*)rbB->getUserPointer();
+
+ //Get the number of points in this manifold
+ numContacts = contactManifold->getNumContacts();
+
+ /*bu_log("nearphase_callback : Manifold %d of %d, contacts :
%d\n",
+ i+1,
+ numManifolds,
+ numContacts);*/
+
+ //Iterate over the points for this manifold
+ for (j=0;j<numContacts;j++){
+ btManifoldPoint& pt =
contactManifold->getContactPoint(j);
+
+ btVector3 ptA = pt.getPositionWorldOnA();
+ btVector3 ptB = pt.getPositionWorldOnB();
+
+ if(upA == NULL || upB == NULL){
+ // bu_log("nearphase_callback : contact %d of %d,
could not get user pointers\n",
+ // j+1, numContacts);
+
+ }
+ else{
+ /* bu_log("nearphase_callback: contact %d of %d,
%s(%f, %f, %f) , %s(%f, %f, %f)\n",
+ j+1, numContacts,
+ upA->rb_namep, ptA[0], ptA[1], ptA[2],
+ upB->rb_namep, ptB[0], ptB[1],
ptB[2]);*/
+ }
+ }
+
+ //Can un-comment this line, and then all points are removed
+ //contactManifold->clearManifold();
+ }
+
+ // Only dispatch the Bullet collision information if physics should
continue
+ dispatcher.defaultNearCallback(collisionPair, dispatcher, dispatchInfo);
+}
+
+
+//--------------------- Physics simulation management
--------------------------
+
+/**
* Adds rigid bodies to the dynamics world from the BRL-CAD geometry,
* will add a ground plane if a region by the name of sim_gp.r is detected
* The plane will be static and have the same dimensions as the region
@@ -155,16 +256,21 @@
int step_physics(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params)
{
int i;
- bu_vls_printf(sim_params->result_str, "Simulation will run for %d
steps.\n", sim_params->duration);
- bu_vls_printf(sim_params->result_str, "----- Starting simulation
-----\n");
+ bu_log("Simulation will run for %d steps.\n", sim_params->duration);
+ bu_log("----- Starting simulation -----\n");
for (i=0 ; i < sim_params->duration ; i++) {
+ //bu_log("---------------Step : %d -------------\n", i+1);
+
//time step of 1/60th of a second(same as internal
fixedTimeStep, maxSubSteps=10 to cover 1/60th sec.)
dynamicsWorld->stepSimulation(1/60.f,10);
+
+ /* Modify collision points after narrowphase collisions */
+ //narrowphase_collisions(dynamicsWorld);
}
- bu_vls_printf(sim_params->result_str, "----- Simulation Complete
-----\n");
+ bu_log("----- Simulation Complete -----\n");
return 0;
}
@@ -298,9 +404,22 @@
// Keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> collision_shapes;
+ // Setup broadphase collision algo
btBroadphaseInterface* broadphase = new btDbvtBroadphase();
+
+ //Rest of the setup towards a dynamics world creation
btDefaultCollisionConfiguration* collisionConfiguration = new
btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new
btCollisionDispatcher(collisionConfiguration);
+
+ //Register custom rt based nearphase algo for box-box collision,
+ //arbitrary shapes from brlcad are all represented by the box collision
shape
+ //in bullet, the movement will not be like a box however, but according
to
+ //the collisions detected by rt and therefore should follow any
arbitrary shape correctly
+ dispatcher->registerCollisionCreateFunc(
+ BOX_SHAPE_PROXYTYPE,
+ BOX_SHAPE_PROXYTYPE,
+ new btRTCollisionAlgorithm::CreateFunc);
+
btSequentialImpulseConstraintSolver* solver = new
btSequentialImpulseConstraintSolver;
dynamicsWorld = new
btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
@@ -311,16 +430,23 @@
//Add the rigid bodies to the world, including the ground plane
add_rigid_bodies(dynamicsWorld, sim_params, collision_shapes);
+ //Add a broadphase callback to hook to the AABB detection algos
+ btOverlapFilterCallback * filterCallback = new broadphase_callback();
+ dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
+
+ //Add a nearphase callback to hook to the contact points generation
algos
+ dispatcher->setNearCallback((btNearCallback)nearphase_callback);
+
//Step the physics the required number of times
step_physics(dynamicsWorld, sim_params);
- //Get the world transforms back into the simulation params struct
+ //Get the world transforms & AABBs back into the simulation params
struct
get_transforms(dynamicsWorld, sim_params);
//Clean and free memory used by physics objects
cleanup(dynamicsWorld, collision_shapes);
- //Clean up stuff in here
+ //Clean up stuff in this function
delete solver;
delete dispatcher;
delete collisionConfiguration;
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-09-16 05:02:51 UTC (rev
46728)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-09-16 06:07:40 UTC (rev
46729)
@@ -22,7 +22,8 @@
* The simulate command.
*
* Routines related to performing physics on passed objects only
- *
+ * TODO : Adds flags to control AABB and object state display
+ * TODO : Finish integrating rt into collision detection
*
*/
@@ -204,7 +205,7 @@
continue;
if (strstr(dp->d_namep, prefix)){
- bu_vls_printf(gedp->ged_result_str, "add_regions: Skipping
\"%s\" due to \"%s\" in name\n",
+ bu_log("add_regions: Skipping \"%s\" due to \"%s\" in name\n",
dp->d_namep, prefix);
continue;
}
@@ -217,22 +218,22 @@
bu_strlcat(prefixed_name + prefix_len, dp->d_namep,
prefixed_name_len - prefix_len);
kill_copy(gedp, dp, prefixed_name);
- bu_vls_printf(gedp->ged_result_str, "add_regions: Copied \"%s\" to
\"%s\"\n", dp->d_namep, prefixed_name);
+ bu_log("add_regions: Copied \"%s\" to \"%s\"\n", dp->d_namep,
prefixed_name);
/* Get the directory pointer for the object just added */
if ((ndp=db_lookup(gedp->ged_wdbp->dbip, prefixed_name,
LOOKUP_QUIET)) == RT_DIR_NULL) {
- bu_vls_printf(gedp->ged_result_str, "add_regions: db_lookup(%s)
failed", prefixed_name);
+ bu_log("add_regions: db_lookup(%s) failed", prefixed_name);
return GED_ERROR;
}
/* Get its BB */
if(rt_bound_internal(gedp->ged_wdbp->dbip, ndp, rpp_min, rpp_max)
== 0)
- bu_vls_printf(gedp->ged_result_str, "add_regions: Got the BB
for \"%s\" as \
- min {%f %f %f} max {%f %f %f}\n", ndp->d_namep,
+ bu_log("add_regions: Got the BB for \"%s\" as \
+ min {%f %f %f} max {%f %f %f}\n", ndp->d_namep,
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: ERROR Could
not get the BB\n");
+ bu_log("add_regions: ERROR Could not get the BB\n");
return GED_ERROR;
}
@@ -250,7 +251,7 @@
current_node->bb_dims[1] = current_node->bb_max[1] -
current_node->bb_min[1];
current_node->bb_dims[2] = current_node->bb_max[2] -
current_node->bb_min[2];
- bu_vls_printf(gedp->ged_result_str, "add_regions: Dimensions of
this BB : %f %f %f\n",
+ bu_log("add_regions: Dimensions of this BB : %f %f %f\n",
current_node->bb_dims[0], current_node->bb_dims[1],
current_node->bb_dims[2]);
/* Get BB position in 3D space */
@@ -510,7 +511,7 @@
struct rt_db_internal intern;
struct rigid_body *current_node;
mat_t t , m;
- /*int rv;*/
+ /* int rv; */
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
@@ -567,7 +568,7 @@
}
/* Apply the proper shader to match the object state : useful
for debugging */
-/* switch(current_node->state){
+ /* switch(current_node->state){
case ACTIVE_TAG:
rv = apply_color(gedp, current_node->rb_namep,
255, 255, 0);
break;
@@ -596,7 +597,7 @@
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); */
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
BlackBerry® DevCon Americas, Oct. 18-20, San Francisco, CA
http://p.sf.net/sfu/rim-devcon-copy2
_______________________________________________
BRL-CAD Source Commits mailing list
brlcad-commits@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/brlcad-commits
