Revision: 46892
http://brlcad.svn.sourceforge.net/brlcad/?rev=46892&view=rev
Author: abhi2011
Date: 2011-09-26 00:22:17 +0000 (Mon, 26 Sep 2011)
Log Message:
-----------
ok, now the functions are arranged the way i want it with the physics properly
working again, should be able to shoot rays by tomorrow and create contact
manifolds
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simphysics.cpp
brlcad/trunk/src/libged/simulate/simulate.c
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-25 17:54:02 UTC
(rev 46891)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-09-26 00:22:17 UTC
(rev 46892)
@@ -305,9 +305,9 @@
extern "C" int
run_simulation(struct simulation_params *sim_params)
{
- int i;
+ //int i;
- for (i=0 ; i < sim_params->duration ; i++) {
+ //for (i=0 ; i < sim_params->duration ; i++) {
// Initialize the physics world
btDiscreteDynamicsWorld* dynamicsWorld;
@@ -342,7 +342,7 @@
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 17:54:02 UTC (rev
46891)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-09-26 00:22:17 UTC (rev
46892)
@@ -175,6 +175,14 @@
}
+int add_physics_attribs(struct rigid_body *current_node)
+{
+ VSETALL(current_node->linear_velocity, 0.0f);
+ VSETALL(current_node->angular_velocity, 0.0f);
+ 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
@@ -187,7 +195,6 @@
char *prefixed_name;
char *prefix = "sim_";
size_t prefix_len, prefixed_name_len;
- point_t rpp_min, rpp_max;
int i;
struct rigid_body *prev_node = NULL, *current_node;
@@ -225,47 +232,16 @@
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,
- 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");
- return GED_ERROR;
- }
-
/* 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;
current_node->rb_namep = bu_strdup(prefixed_name);
current_node->dp = ndp;
- VMOVE(current_node->bb_min, rpp_min);
- VMOVE(current_node->bb_max, rpp_max);
current_node->next = NULL;
- /* Get BB length, width, height */
- current_node->bb_dims[0] = current_node->bb_max[0] -
current_node->bb_min[0];
- 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];
+ /* Add physics attribs : one shot get from user */
+ add_physics_attribs(current_node);
- bu_vls_printf(gedp->ged_result_str, "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 */
- current_node->bb_center[0] = current_node->bb_min[0] +
current_node->bb_dims[0]/2;
- current_node->bb_center[1] = current_node->bb_min[1] +
current_node->bb_dims[1]/2;
- current_node->bb_center[2] = current_node->bb_min[2] +
current_node->bb_dims[2]/2;
-
- MAT_IDN(current_node->m);
- current_node->m[12] = current_node->bb_center[0];
- 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;
@@ -296,6 +272,50 @@
}
+int get_bb(struct ged *gedp, struct simulation_params *sim_params)
+{
+ struct rigid_body *current_node;
+ point_t rpp_min, rpp_max;
+
+ /* Free memory in rigid_body list */
+ for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
+
+ /* Get its BB */
+ if(rt_bound_internal(gedp->ged_wdbp->dbip, current_node->dp,
rpp_min, rpp_max) == 0)
+ bu_log("get_bb: Got the BB for \"%s\" as \
+ min {%f %f %f} max {%f %f %f}\n",
current_node->dp->d_namep,
+ rpp_min[0], rpp_min[1], rpp_min[2],
+ rpp_max[0], rpp_max[1], rpp_max[2]);
+ else{
+ bu_log("get_bb: ERROR Could not get the BB\n");
+ return GED_ERROR;
+ }
+
+ VMOVE(current_node->bb_min, rpp_min);
+ VMOVE(current_node->bb_max, rpp_max);
+
+ /* Get BB length, width, height */
+ current_node->bb_dims[0] = current_node->bb_max[0] -
current_node->bb_min[0];
+ 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_log("get_bb: 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 */
+ current_node->bb_center[0] = current_node->bb_min[0] +
current_node->bb_dims[0]/2;
+ current_node->bb_center[1] = current_node->bb_min[1] +
current_node->bb_dims[1]/2;
+ current_node->bb_center[2] = current_node->bb_min[2] +
current_node->bb_dims[2]/2;
+
+ MAT_IDN(current_node->m);
+ current_node->m[12] = current_node->bb_center[0];
+ current_node->m[13] = current_node->bb_center[1];
+ current_node->m[14] = current_node->bb_center[2];
+ }
+
+ return GED_OK;
+}
+
/**
* This function draws the bounding box around a comb as reported by
* Bullet
@@ -528,6 +548,8 @@
/* Get the internal representation of the object */
GED_DB_GET_INTERNAL(gedp, &intern, current_node->dp,
bn_mat_identity, &rt_uniresource, GED_ERROR);
+ print_matrix(sim_params, current_node->dp->d_namep,
current_node->m);
+
/* Translate to origin without any rotation, before applying
rotation */
MAT_IDN(m);
m[12] = - (current_node->bb_center[0]);
@@ -560,6 +582,9 @@
m[13] = current_node->m[13];
m[14] = current_node->m[14];
MAT_TRANSPOSE(t, m);
+
+ print_matrix(sim_params, current_node->dp->d_namep, t);
+
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",
@@ -574,43 +599,10 @@
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); */
-
+ /* Update the new bb center */
+ /*current_node->bb_center[0] = m[12];
+ current_node->bb_center[1] = m[13];
+ current_node->bb_center[2] = m[14];*/
}
return GED_OK;
@@ -625,7 +617,7 @@
int
ged_simulate(struct ged *gedp, int argc, const char *argv[])
{
- int rv;
+ int rv, i;
struct simulation_params sim_params;
static const char *sim_comb_name = "sim.c";
static const char *ground_plane_name = "sim_gp.r";
@@ -656,34 +648,45 @@
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);
- 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]);
- return GED_ERROR;
- }
-
- /* 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]);
- return GED_ERROR;
- }
-
- /* Apply transforms on the participating objects, also shades objects */
- rv = apply_transforms(gedp, &sim_params);
+ rv = add_regions(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 adding
objects and sim attributes\n", argv[0]);
return GED_ERROR;
}
- /* Free memory in rigid_body list */
+ for (i=0 ; i < sim_params.duration ; i++) {
+
+ rv = get_bb(gedp, &sim_params);
+ if (rv != GED_OK){
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while getting
bounding boxes\n", argv[0]);
+ return GED_ERROR;
+ }
+
+ /* 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]);
+ 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;
+ }
+ }
+
+
+ /* Free memory in rigid_body list */
for (current_node = sim_params.head_node; current_node != NULL; ) {
next_node = current_node->next;
bu_free(current_node, "simulate : current_node");
current_node = next_node;
}
+
bu_vls_printf(gedp->ged_result_str, "%s: The simulation result is in group
: %s\n", argv[0], sim_comb_name);
/* Draw the result : inserting it in argv[1] will cause it to be
automatically drawn in the cmd_wrapper */
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