Revision: 46886
http://brlcad.svn.sourceforge.net/brlcad/?rev=46886&view=rev
Author: abhi2011
Date: 2011-09-23 23:16:55 +0000 (Fri, 23 Sep 2011)
Log Message:
-----------
Moved position transformation functions into simphysics.cpp and rearranged some
code to fit in a call to rt
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 2011-09-23 22:14:46 UTC
(rev 46885)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-23 23:16:55 UTC
(rev 46886)
@@ -32,6 +32,8 @@
#include <iostream>
+#include "bu.h"
+#include "raytrace.h"
#include "db.h"
#include "vmath.h"
#include "simulate.h"
@@ -181,7 +183,7 @@
btAlignedObjectArray<btCollisionShape*> collision_shapes)
{
struct rigid_body *current_node;
- btVector3 v1, v2;
+ btVector3 v1, v2, v3;
btScalar mass;
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
@@ -206,7 +208,7 @@
dynamicsWorld->addRigidBody(bb_RigidBody);
collision_shapes.push_back(bb_Shape);
- bu_vls_printf(sim_params->result_str, "Added static
body : %s to simulation with mass %f Kg\n",
+ bu_log("Added static body : %s to simulation with mass
%f Kg\n",
current_node->rb_namep, 0.f);
}
@@ -250,6 +252,8 @@
case PERSIST_FORCE_IGNORE:
break;
+ default:
+ ;
}
/* Linear Velocity */
@@ -266,12 +270,15 @@
dynamicsWorld->addRigidBody(bb_RigidBody);
- bu_vls_printf(sim_params->result_str, "Added rigid body
%s to simulation with mass %f Kg\n",
-
current_node->rb_namep, mass);
+ v1 = bb_RigidBody->getLinearVelocity();
+ v2 = bb_RigidBody->getAngularVelocity();
+ bu_log("Added rigid body %s to simulation with mass %f
Kg, lv(%f,%f,%f), av(%f,%f,%f)\n",
+ current_node->rb_namep, mass, v1[0],
v1[1], v1[2], v2[0], v2[1], v2[2]);
+
}
else
- bu_vls_printf(sim_params->result_str, "Negative mass of
%f Kg detected for %s,\
+ bu_log("Negative mass of %f Kg detected for %s,\
exotic forms of matter are not yet supported. Object
ignored.\n", mass, current_node->rb_namep);
}
@@ -279,20 +286,110 @@
return 0;
}
+
/**
+ * 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)
+ */
+int apply_transforms(struct simulation_params *sim_params)
+{
+ struct rt_db_internal intern;
+ struct rigid_body *current_node;
+ struct db_i *dbip = sim_params->dbip;
+ mat_t t, m;
+ struct directory *dp;
+
+ for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
+
+ dp = current_node->dp;
+
+ /* Get the internal representation of the object */
+ if ( !rt_db_lookup_internal(dbip, dp->d_namep, &dp, &intern,
LOOKUP_NOISY, &rt_uniresource)){
+ bu_log("apply_transforms: rt_db_lookup_internal(%s)
failed to get the internal form",
+ dp->d_namep);
+ return SIM_ERROR;
+ }
+
+
+ /* Translate to origin without any rotation, before applying
rotation */
+ MAT_IDN(m);
+ m[12] = - (current_node->bb_center[0]);
+ m[13] = - (current_node->bb_center[1]);
+ m[14] = - (current_node->bb_center[2]);
+ MAT_TRANSPOSE(t, m);
+ if (rt_matrix_transform(&intern, t, &intern, 0, dbip,
&rt_uniresource) < 0){
+ bu_log("apply_transforms: ERROR rt_matrix_transform(%s)
failed while \
+ translating to origin!\n",
+ current_node->dp->d_namep);
+ return SIM_ERROR;
+ }
+
+ /* Apply rotation with no translation*/
+ MAT_COPY(m, current_node->m);
+ m[12] = 0;
+ m[13] = 0;
+ m[14] = 0;
+ MAT_TRANSPOSE(t, m);
+ if (rt_matrix_transform(&intern, t, &intern, 0, dbip,
&rt_uniresource) < 0){
+ bu_log("apply_transforms: ERROR rt_matrix_transform(%s)
failed while \
+ applying rotation\n",
+ current_node->dp->d_namep);
+ return SIM_ERROR;
+ }
+
+ /* Translate again without any rotation, to apply final
position */
+ MAT_IDN(m);
+ m[12] = current_node->m[12];
+ m[13] = current_node->m[13];
+ m[14] = current_node->m[14];
+ MAT_TRANSPOSE(t, m);
+ if (rt_matrix_transform(&intern, t, &intern, 0, dbip,
&rt_uniresource) < 0){
+ bu_log("apply_transforms: ERROR rt_matrix_transform(%s)
failed while \
+ translating to final position\n",
+ current_node->dp->d_namep);
+ return SIM_ERROR;
+ }
+
+ /* 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, dbip, &intern,
&rt_uniresource) < 0) {
+ bu_log("apply_transforms: ERROR Database write error
for '%s', aborting\n",
+ current_node->dp->d_namep);
+ return SIM_ERROR;
+ }
+
+ }
+
+ return SIM_OK;
+}
+
+
+/**
* Step the dynamics world according to the simulation parameters just once
*
*/
-int step_physics(btDiscreteDynamicsWorld* dynamicsWorld)
+int step_physics(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params)
{
+ int rv, i;
+
bu_log("----- Starting simulation -----\n");
- //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);
+ for (i=0 ; i < sim_params->duration ; i++) {
+ //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);
+
+ /* Apply transforms on the participating objects, also shades
objects */
+ rv = apply_transforms(sim_params);
+ if (rv != SIM_OK){
+ bu_log("step_physics: ERROR while applying
transforms\n");
+ return SIM_ERROR;
+ }
+ }
+
bu_log("----- Simulation Complete -----\n");
- return 0;
+ return SIM_OK;
}
@@ -330,8 +427,7 @@
if(current_node == NULL){
bu_vls_printf(sim_params->result_str,
"get_transforms : Could not get the user pointer\n");
- continue;
-
+ return SIM_ERROR;
}
//Copy the transform matrix
@@ -361,7 +457,7 @@
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",
+ bu_log("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
@@ -385,7 +481,7 @@
}
}
- return 0;
+ return SIM_OK;
}
@@ -420,7 +516,7 @@
//delete dynamics world
delete dynamicsWorld;
- return 0;
+ return SIM_OK;
}
@@ -471,7 +567,7 @@
dispatcher->setNearCallback((btNearCallback)nearphase_callback);
//Step the physics the required number of times
- step_physics(dynamicsWorld);
+ step_physics(dynamicsWorld, sim_params);
//Get the world transforms & AABBs back into the simulation params
struct
get_transforms(dynamicsWorld, sim_params);
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-09-23 22:14:46 UTC (rev
46885)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-09-23 23:16:55 UTC (rev
46886)
@@ -657,115 +657,6 @@
/**
- * 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)
- */
-int apply_transforms(struct ged *gedp, struct simulation_params *sim_params)
-{
- 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) {
-
- if(strcmp(current_node->rb_namep,
sim_params->ground_plane_name) == 0)
- continue;
-
- /* Get the internal representation of the object */
- GED_DB_GET_INTERNAL(gedp, &intern, current_node->dp,
bn_mat_identity, &rt_uniresource, GED_ERROR);
-
- /* Translate to origin without any rotation, before applying
rotation */
- MAT_IDN(m);
- m[12] = - (current_node->bb_center[0]);
- m[13] = - (current_node->bb_center[1]);
- m[14] = - (current_node->bb_center[2]);
- MAT_TRANSPOSE(t, m);
- if (rt_matrix_transform(&intern, t, &intern, 0,
gedp->ged_wdbp->dbip, &rt_uniresource) < 0){
- bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR rt_matrix_transform(%s) failed while \
- translating to origin!\n",
- current_node->dp->d_namep);
- return GED_ERROR;
- }
-
- /* Apply rotation with no translation*/
- MAT_COPY(m, current_node->m);
- m[12] = 0;
- m[13] = 0;
- m[14] = 0;
- MAT_TRANSPOSE(t, m);
- if (rt_matrix_transform(&intern, t, &intern, 0,
gedp->ged_wdbp->dbip, &rt_uniresource) < 0){
- bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR rt_matrix_transform(%s) failed while \
- applying rotation\n",
- current_node->dp->d_namep);
- return GED_ERROR;
- }
-
- /* Translate again without any rotation, to apply final
position */
- MAT_IDN(m);
- m[12] = current_node->m[12];
- m[13] = current_node->m[13];
- m[14] = current_node->m[14];
- MAT_TRANSPOSE(t, m);
- if (rt_matrix_transform(&intern, t, &intern, 0,
gedp->ged_wdbp->dbip, &rt_uniresource) < 0){
- bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR rt_matrix_transform(%s) failed while \
- translating to final position\n",
- current_node->dp->d_namep);
- return GED_ERROR;
- }
-
- /* 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:
ERROR Database write error for '%s', aborting\n",
- current_node->dp->d_namep);
- return GED_ERROR;
- }
-
- /* 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;
-}
-
-
-/**
* The libged physics simulation function :
* Check flags, adds regions to simulation parameters, runs the simulation
* applies the transforms, frees memory
@@ -773,7 +664,7 @@
int
ged_simulate(struct ged *gedp, int argc, const char *argv[])
{
- int rv, duration, i;
+ int rv;
struct simulation_params sim_params;
static const char *sim_comb_name = "sim.c";
static const char *ground_plane_name = "sim_gp.r";
@@ -799,7 +690,8 @@
/* Make a list containing the bb and existing transforms of all the
objects in the model
* which will participate in the simulation
*/
- duration = atoi(argv[1]);
+ sim_params.duration = atoi(argv[1]);
+ sim_params.dbip = gedp->ged_wdbp->dbip;
sim_params.result_str = gedp->ged_result_str;
sim_params.sim_comb_name = bu_strdup(sim_comb_name);
sim_params.ground_plane_name = bu_strdup(ground_plane_name);
@@ -809,28 +701,13 @@
return GED_ERROR;
}
+ /* This call will run physics for 1 step and put the resultant vel/forces
into sim_params */
+ 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]);
+ return GED_ERROR;
+ }
- /* Run the physics simulation for duration number of times */
- for(i=0; i<duration; i++){
-
- /* This call will run physics for 1 step and put the resultant
vel/forces into sim_params */
- 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]);
- return GED_ERROR;
- }
-
- /* 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]);
- return GED_ERROR;
- }
-
- /* Now that gedp has the latest object positions, rt can be
used to detect overlaps */
-
- }
-
/* Free memory in rigid_body list */
for (current_node = sim_params.head_node; current_node != NULL; ) {
next_node = current_node->next;
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-09-23 22:14:46 UTC (rev
46885)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-09-23 23:16:55 UTC (rev
46886)
@@ -45,6 +45,10 @@
#define PERSIST_FORCE_ALWAYS 2
#define PERSIST_FORCE_IGNORE 3
+//Force persistence over multiple steps
+#define SIM_ERROR 0
+#define SIM_OK 1
+
/* 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
@@ -84,7 +88,9 @@
*/
struct simulation_params {
int num_bodies; /**< @brief number of rigid bodies
participating in the sim */
+ int duration;
struct bu_vls *result_str; /**< @brief handle to the libged object to
access geometry info */
+ struct db_i *dbip;
char *sim_comb_name; /**< @brief name of the group which
contains all sim regions*/
char *ground_plane_name; /**< @brief name of the ground plane region
*/
struct rigid_body *head_node; /**< @brief link to first rigid body node */
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