Revision: 47009
http://brlcad.svn.sourceforge.net/brlcad/?rev=47009&view=rev
Author: abhi2011
Date: 2011-10-01 13:20:43 +0000 (Sat, 01 Oct 2011)
Log Message:
-----------
Added contact manifold related members to the sim_params struct to communicate
them back to libged and display them
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simulate.c
brlcad/trunk/src/libged/simulate/simulate.h
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-01
11:40:20 UTC (rev 47008)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-01
13:20:43 UTC (rev 47009)
@@ -121,10 +121,13 @@
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();
- bu_log("processCollision: contact %d of %d, %s(%f, %f,
%f) , %s(%f, %f, %f)\n",
+ bu_log("processCollision: contact %d of %d, %s(%f, %f,
%f) , %s(%f, %f, %f) \
+ n(%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]);
+ upB->rb_namep, ptB[0], ptB[1], ptB[2],
+ pt.m_normalWorldOnB[0],
pt.m_normalWorldOnB[1], pt.m_normalWorldOnB[2]);
+
}
}
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-01 11:40:20 UTC (rev
47008)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-01 13:20:43 UTC (rev
47009)
@@ -656,7 +656,7 @@
for (i=0 ; i < sim_params.duration ; i++) {
- bu_log("%s: ------------------------- Iteration %d
-----------------------\n", argv[0], i);
+ bu_log("%s: ------------------------- Iteration %d
-----------------------\n", argv[0], i+1);
rv = get_bb(gedp, &sim_params);
if (rv != GED_OK){
@@ -685,6 +685,7 @@
next_node = current_node->next;
bu_free(current_node, "simulate : current_node");
current_node = next_node;
+ sim_params.num_bodies--;
}
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-01 11:40:20 UTC (rev
47008)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-01 13:20:43 UTC (rev
47009)
@@ -37,6 +37,18 @@
#define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5
+#define MAX_CONTACTS_PER_MANIFOLD 4
+
+struct sim_contact {
+ vect_t ptA, ptB;
+ vect_t normalB;
+};
+
+struct sim_manifold {
+ int num_contacts;
+ struct sim_contact rb_contacts[MAX_CONTACTS_PER_MANIFOLD];
+};
+
/* 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
@@ -58,6 +70,9 @@
vect_t linear_velocity; /**< @brief linear velocity components
*/
vect_t angular_velocity; /**< @brief angular velocity components
*/
+ /* Manifolds in which this body participates and is body B, only body B
has manifold info*/
+ int num_manifolds;
+ struct sim_manifold *first_manifold;
};
/* Contains the simulation parameters, such as number of rigid bodies,
@@ -74,6 +89,8 @@
};
+
+
#endif /* SIMULATE_H_ */
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