Revision: 46755
http://brlcad.svn.sourceforge.net/brlcad/?rev=46755&view=rev
Author: abhi2011
Date: 2011-09-19 00:58:46 +0000 (Mon, 19 Sep 2011)
Log Message:
-----------
started adding sim attributes
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 2011-09-18 11:18:17 UTC
(rev 46754)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-19 00:58:46 UTC
(rev 46755)
@@ -267,7 +267,6 @@
dynamicsWorld->stepSimulation(1/60.f,10);
/* Modify collision points after narrowphase collisions */
- //narrowphase_collisions(dynamicsWorld);
}
bu_log("----- Simulation Complete -----\n");
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-09-18 11:18:17 UTC (rev
46754)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-09-19 00:58:46 UTC (rev
46755)
@@ -48,7 +48,29 @@
/* The C++ simulation function */
extern int run_simulation(struct simulation_params *sim_params);
+/* Physics attributes that are currently checked for in regions */
+#define MAX_SIM_ATTRIBS 6
+/* DO NOT CHANGE THE ORDER of attribs in sim_attrib as the code assumes the
current order
+ * add new sim attribs at the bottom and increase MAX_SIM_ATTRIBS
+ */
+static const char* sim_attrib[MAX_SIM_ATTRIBS] = {
+ "simulate:mass",
+ "simulate:force",
+ "simulate:linear_velocity",
+ "simulate:angular_velocity",
+ "simulate:restitution",
+ "simulate:friction"
+};
+
+/* Maximum allowed values of scalars and components of vectors
+ * These are to check for correctness of user set values, not imposed by
physics
+ */
+static const fastf_t MAX_MASS = 500000;
+static const fastf_t MAX_FORCE_COMP = 100000;
+static const fastf_t MAX_LINEAR_VELOCITY_COMP = 100000;
+static const fastf_t MAX_ANGULAR_VELOCITY_COMP = 100000;
+
/**
* How to use simulate.Blissfully simple interface, more options will be added
soon
*/
@@ -177,6 +199,76 @@
/**
+ * Will check and remove empty sim attributes
+ *
+ */
+int remove_empty_attr(void)
+{
+ /*
+ GED_CHECK_READ_ONLY(gedp, GED_ERROR);
+ i = 3;
+ while (i < (size_t)argc) {
+ if (BU_STR_EQUAL(argv[i], "region")) {
+ dp->d_flags = dp->d_flags & ~(RT_DIR_REGION);
+ }
+ (void)bu_avs_remove(&avs, argv[i]);
+ i++;
+ }
+ if (db5_replace_attributes(dp, &avs, gedp->ged_wdbp->dbip)) {
+ bu_vls_printf(gedp->ged_result_str,
+ "Error: failed to update attributes\n");
+ bu_avs_free(&avs);
+ return 0;
+ }
+ */
+ return 0;
+}
+
+
+/**
+ * Parses a string containing 3 floating point components into a vector vect_t
+ * TODO : Check for a better way
+ */
+int parse_vector(vect_t vec, const char *str)
+{
+ char *cp, *start = (char*)str;
+ unsigned int comp = 0;
+
+ VSETALL(vec, 0);
+
+ bu_log("parse_vector: str = \"%s\" , vec = {%f, %f, %f} \n", str,
vec[0], vec[1], vec[2]);
+
+ for (cp=(char*)str; *cp; cp++){
+ if(isdigit(*cp))
+ continue;
+ else{
+ *cp = '\0';
+ vec[comp++] = atoi(start);
+ cp++;
+ start = cp;
+ if(comp >= ELEMENTS_PER_VECT)
+ break;
+ }
+
+ bu_log("parse_vector: str = \"%s\" , vec = {%f, %f, %f} comp =
%d, start=%s, cp=%s\n",
+ str, vec[0], vec[1], vec[2], comp, start, cp);
+ }
+
+ /* The last component */
+ if(comp < ELEMENTS_PER_VECT){
+ *cp = '\0';
+ vec[comp] = atoi(start);
+ }
+
+ bu_log("parse_vector: str = \"%s\" , vec = (%f, %f, %f) comp = %d,
start=%s, cp=%s\n",
+ str, vec[0], vec[1], vec[2], comp,
start, cp);
+
+
+ return GED_OK;
+}
+
+
+/**
* Add the list of regions in the model to the rigid bodies list in
* simulation parameters. This function will duplicate the existing regions
* prefixing "sim_" to the new region and putting them all under a new
@@ -189,8 +281,13 @@
char *prefix = "sim_";
size_t prefix_len, prefixed_name_len;
point_t rpp_min, rpp_max;
- int i;
+ unsigned int i, j;
struct rigid_body *prev_node = NULL, *current_node;
+ struct bu_attribute_value_set avs;
+ struct bu_attribute_value_pair *avpp;
+ const char *val;
+ fastf_t simulate_mass;
+ vect_t simulate_force;
/* Kill the existing sim comb */
kill(gedp, sim_params->sim_comb_name);
@@ -220,7 +317,7 @@
kill_copy(gedp, dp, 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 */
+ /* Get the directory pointer for the duplicate object just added */
if ((ndp=db_lookup(gedp->ged_wdbp->dbip, prefixed_name,
LOOKUP_QUIET)) == RT_DIR_NULL) {
bu_log("add_regions: db_lookup(%s) failed", prefixed_name);
return GED_ERROR;
@@ -228,8 +325,7 @@
/* Get its BB */
if(rt_bound_internal(gedp->ged_wdbp->dbip, ndp, rpp_min, rpp_max)
== 0)
- bu_log("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{
@@ -237,6 +333,64 @@
return GED_ERROR;
}
+ /* Get its physics attributes */
+ bu_avs_init_empty(&avs);
+ if (db5_get_attributes(gedp->ged_wdbp->dbip, &avs, ndp)) {
+ bu_vls_printf(gedp->ged_result_str, "add_regions :
Cannot get attributes for object %s\n",
+
ndp->d_namep);
+ return GED_ERROR;
+ }
+
+ /* Sort attribute-value set array by attribute name */
+ qsort(&avs.avp[0], avs.count, sizeof(struct
bu_attribute_value_pair), _ged_cmpattr);
+
+ for (j = 0; j < MAX_SIM_ATTRIBS; j++) {
+ val = bu_avs_get(&avs, sim_attrib[j]);
+ if (!val || remove_empty_attr()) {
+ /*bu_log("add_regions : Object %s does
not have a '%s' attribute, setting to 0\n",
+ ndp->d_namep,
sim_attrib[j]);*/
+ }
+ else{
+ bu_log("add_regions : Object %s has %s
= %s\n", ndp->d_namep, sim_attrib[j], val);
+
+ switch(j){
+ /* Mass */
+ case 0:
+ simulate_mass = atoi(val);
+ if(simulate_mass < 0 ||
simulate_mass > MAX_MASS){
+ bu_log("add_regions :
WARNING %s should be between %f and %f, set to %f\n",
+
sim_attrib[j], 0.0, MAX_MASS, 0.0);
+ current_node->mass = 0;
+ }
+ else
+ current_node->mass =
simulate_mass;
+ break;
+ /* Custom Force */
+ case 1:
+ parse_vector(simulate_force,
val);
+ break;
+ /* Linear Velocity */
+ case 2:
+
+ break;
+ /* Angular Velocity */
+ case 3:
+
+ break;
+
+
+
+ }
+ }
+ }
+
+ /* Just list all the attributes */
+ for (j = 0, avpp = avs.avp; j < avs.count; j++, avpp++) {
+ bu_log("Attribute : %s {%s} ", avpp->name, avpp->value);
+ }
+
+ bu_avs_free(&avs);
+
/* Add to simulation list */
current_node = (struct rigid_body *)bu_malloc(sizeof(struct
rigid_body), "rigid_body: current_node");
current_node->index = sim_params->num_bodies;
@@ -642,6 +796,9 @@
}
+
+
+
/* Make a list containing the bb and existing transforms of all the
objects in the model
* which will participate in the simulation
*/
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-09-18 11:18:17 UTC (rev
46754)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-09-19 00:58:46 UTC (rev
46755)
@@ -24,6 +24,9 @@
* Declares structures for passing simulation parameters and
* hold info regarding rigid bodies
*
+ * TODO : Add support for multiple manifolds for complex structures :
+ * may need a more comprehensive structure.
+ *
*/
#ifndef SIMULATE_H_
@@ -43,16 +46,30 @@
* will be added later: TODO
*/
struct rigid_body {
- int index;
+
+ /* Set by libged before taking this step */
+ int index;
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 */
+ point_t bb_min, bb_max; /**< @brief body bb bounds in meters */
+ point_t bb_center, bb_dims; /**< @brief bb center and dimensions in
meters*/
struct directory *dp; /**< @brief directory pointer to the
related region */
+ point_t contact[4]; /**< @brief contact
manifold got from rt */
+ point_t num_contacts; /**< @brief number of points
inserted into contact[] */
struct rigid_body *next; /**< @brief link to next body */
+ vect_t force; /**< @brief force to be
applied before stepping sim */
+ fastf_t mass; /**< @brief mass in Kgs
of body */
+ fastf_t restitution; /**< @brief coeff. of
restitution(bounciness) of body */
+ fastf_t friction; /**< @brief coeff. of friction
of body */
+
+ /* Set by Bullet at the end of current step */
+ int state; /**< @brief rigid body
state after this step */
+ point_t btbb_min, btbb_max; /**< @brief body bb bounds after this step
in meters*/
+ point_t btbb_center, btbb_dims; /**< @brief Bullet bb center and
dimensions */
+ mat_t m; /**< @brief transformation matrix after
this step */
+
+ /* Can be set by libged or Bullet(checked and inserted into sim) */
+ vect_t linear_velocity; /**< @brief linear velocity
components */
+ vect_t angular_velocity; /**< @brief angular velocity components
*/
};
/* Contains the simulation parameters, such as number of rigid bodies,
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