Revision: 46891
http://brlcad.svn.sourceforge.net/brlcad/?rev=46891&view=rev
Author: abhi2011
Date: 2011-09-25 17:54:02 +0000 (Sun, 25 Sep 2011)
Log Message:
-----------
stepping the physics 1 step at a time now and persisting the velocities each
time and rebuilding the dynamics world at the beginning of a new step
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 2011-09-25 17:31:54 UTC
(rev 46890)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-25 17:54:02 UTC
(rev 46891)
@@ -83,6 +83,7 @@
fastf_t volume;
btScalar mass;
btScalar m[16];
+ btVector3 v;
@@ -115,6 +116,7 @@
groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0,0,0));
btRigidBody* groundRigidBody = new
btRigidBody(groundRigidBodyCI);
groundRigidBody->setUserPointer((void *)current_node);
+
dynamicsWorld->addRigidBody(groundRigidBody);
collision_shapes.push_back(groundShape);
@@ -151,6 +153,13 @@
btRigidBody* bb_RigidBody = new
btRigidBody(bb_RigidBodyCI);
bb_RigidBody->setUserPointer((void *)current_node);
+
+ VMOVE(v, current_node->linear_velocity);
+ bb_RigidBody->setLinearVelocity(v);
+
+ VMOVE(v, current_node->angular_velocity);
+ bb_RigidBody->setAngularVelocity(v);
+
dynamicsWorld->addRigidBody(bb_RigidBody);
bu_vls_printf(sim_params->result_str, "Added new rigid
body : %s to simulation with mass %f Kg\n",
@@ -169,18 +178,13 @@
*/
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");
- 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);
- //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);
- }
-
bu_vls_printf(sim_params->result_str, "----- Simulation Complete
-----\n");
-
return 0;
}
@@ -193,7 +197,7 @@
{
int i;
btScalar m[16];
- btVector3 aabbMin, aabbMax;
+ btVector3 aabbMin, aabbMax, v;
btTransform identity;
identity.setIdentity();
@@ -239,19 +243,19 @@
// Get BB length, width, height
VSUB2(current_node->btbb_dims, current_node->btbb_max,
current_node->btbb_min);
- /* 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
VCOMB2(current_node->btbb_center, 1,
current_node->btbb_min, 0.5, current_node->btbb_dims)
- /* 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;*/
+ v = bb_RigidBody->getLinearVelocity();
+ VMOVE(current_node->linear_velocity, v);
+
+ v = bb_RigidBody->getAngularVelocity();
+ VMOVE(current_node->angular_velocity, v);
+
}
}
@@ -301,41 +305,46 @@
extern "C" int
run_simulation(struct simulation_params *sim_params)
{
- // Initialize the physics world
- btDiscreteDynamicsWorld* dynamicsWorld;
+ int i;
- // Keep the collision shapes, for deletion/cleanup
- btAlignedObjectArray<btCollisionShape*> collision_shapes;
+ for (i=0 ; i < sim_params->duration ; i++) {
- btBroadphaseInterface* broadphase = new btDbvtBroadphase();
- btDefaultCollisionConfiguration* collisionConfiguration = new
btDefaultCollisionConfiguration();
- btCollisionDispatcher* dispatcher = new
btCollisionDispatcher(collisionConfiguration);
- btSequentialImpulseConstraintSolver* solver = new
btSequentialImpulseConstraintSolver;
+ // Initialize the physics world
+ btDiscreteDynamicsWorld* dynamicsWorld;
- dynamicsWorld = new
btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
+ // Keep the collision shapes, for deletion/cleanup
+ btAlignedObjectArray<btCollisionShape*> collision_shapes;
- //Set the gravity direction along -ve Z axis
- dynamicsWorld->setGravity(btVector3(0, 0, -10));
+ btBroadphaseInterface* broadphase = new btDbvtBroadphase();
+ btDefaultCollisionConfiguration* collisionConfiguration = new
btDefaultCollisionConfiguration();
+ btCollisionDispatcher* dispatcher = new
btCollisionDispatcher(collisionConfiguration);
+ btSequentialImpulseConstraintSolver* solver = new
btSequentialImpulseConstraintSolver;
- //Add the rigid bodies to the world, including the ground plane
- add_rigid_bodies(dynamicsWorld, sim_params, collision_shapes);
+ dynamicsWorld = new
btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
- //Step the physics the required number of times
- step_physics(dynamicsWorld, sim_params);
+ //Set the gravity direction along -ve Z axis
+ dynamicsWorld->setGravity(btVector3(0, 0, -10));
- //Get the world transforms back into the simulation params struct
- get_transforms(dynamicsWorld, sim_params);
+ //Add the rigid bodies to the world, including the ground plane
+ add_rigid_bodies(dynamicsWorld, sim_params, collision_shapes);
- //Clean and free memory used by physics objects
- cleanup(dynamicsWorld, collision_shapes);
+ //Step the physics the required number of times
+ step_physics(dynamicsWorld, sim_params);
- //Clean up stuff in here
- delete solver;
- delete dispatcher;
- delete collisionConfiguration;
- delete broadphase;
+ //Get the world transforms 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
+ delete solver;
+ delete dispatcher;
+ delete collisionConfiguration;
+ delete broadphase;
+ }
+
+
return 0;
}
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-09-25 17:31:54 UTC (rev
46890)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-09-25 17:54:02 UTC (rev
46891)
@@ -263,6 +263,9 @@
current_node->m[13] = current_node->bb_center[1];
current_node->m[14] = current_node->bb_center[2];
+ VSETALL(current_node->linear_velocity, 0.0f);
+ VSETALL(current_node->angular_velocity, 0.0f);
+
/* Setup the linked list */
if(prev_node == NULL){ /* first node */
prev_node = current_node;
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-09-25 17:31:54 UTC (rev
46890)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-09-25 17:54:02 UTC (rev
46891)
@@ -53,6 +53,11 @@
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 */
+
+ /* 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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