Revision: 47088
http://brlcad.svn.sourceforge.net/brlcad/?rev=47088&view=rev
Author: abhi2011
Date: 2011-10-05 11:01:29 +0000 (Wed, 05 Oct 2011)
Log Message:
-----------
Added code to display the normals generated at each manifold
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simulate.c
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-05 04:07:52 UTC (rev
47087)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-05 11:01:29 UTC (rev
47088)
@@ -45,7 +45,14 @@
/* The C++ simulation function */
extern int run_simulation(struct simulation_params *sim_params);
+/* Some constants used to declare arrays */
+#define MAX_FLOATING_POINT_STRLEN 20
+#define NORMAL_SCALE_FACTOR 1
+#define ARROW_WIDTH 0.02
+#define ARROW_BASE_RADIUS 0.02
+#define ARROW_TIP_RADIUS 0.001
+
/**
* How to use simulate.Blissfully simple interface, more options will be added
soon
*/
@@ -111,13 +118,19 @@
for (current_manifold = rb->first_manifold; current_manifold != NULL;
current_manifold = current_manifold->next) {
- for (i=0; i<current_manifold->num_contacts; i++) {
- bu_log("contact %d of %d, (%f, %f, %f):(%f, %f, %f), n(%f, %f,
%f)\n",
- i+1, current_manifold->num_contacts,
+
+ bu_log("--Manifold between %s & %s has %d contacts--\n",
+ current_manifold->rbA->rb_namep,
+ current_manifold->rbB->rb_namep,
+ current_manifold->num_contacts);
+
+ for (i=0; i<current_manifold->num_contacts; i++) {
+ bu_log("%d, (%f, %f, %f):(%f, %f, %f), n(%f, %f, %f)\n",
+ i+1,
V3ARGS(current_manifold->rb_contacts[i].ptA),
V3ARGS(current_manifold->rb_contacts[i].ptB),
V3ARGS(current_manifold->rb_contacts[i].normalWorldOnB));
- }
+ }
}
}
@@ -131,7 +144,7 @@
int i;
char buffer[500] = "";
for (i=0; i<num_args; i++) {
- sprintf(buffer, "%s %s", buffer, cmd_args[i]);
+ sprintf(buffer, "%s %s", buffer, cmd_args[i]);
}
bu_log(buffer);
@@ -172,15 +185,15 @@
/* Check if the duplicate already exists, and kill it if so */
if (db_lookup(gedp->ged_wdbp->dbip, name, LOOKUP_QUIET) != RT_DIR_NULL) {
- bu_log("kill: WARNING \"%s\" exists, deleting it\n", name);
- cmd_args[0] = "kill";
- cmd_args[1] = name;
- cmd_args[2] = (char *)0;
+ bu_log("kill: WARNING \"%s\" exists, deleting it\n", name);
+ cmd_args[0] = "kill";
+ cmd_args[1] = name;
+ cmd_args[2] = (char *)0;
- if (ged_kill(gedp, 2, (const char **)cmd_args) != GED_OK) {
+ if (ged_kill(gedp, 2, (const char **)cmd_args) != GED_OK) {
bu_log("kill: ERROR Could not delete existing \"%s\"\n", name);
return GED_ERROR;
- }
+ }
}
return GED_OK;
@@ -199,8 +212,8 @@
int rv;
if (kill(gedp, new_name) != GED_OK) {
- bu_log("kill_copy: ERROR Could not delete existing \"%s\"\n", new_name);
- return GED_ERROR;
+ bu_log("kill_copy: ERROR Could not delete existing \"%s\"\n", new_name);
+ return GED_ERROR;
}
/* Copy the passed prim/comb */
@@ -210,9 +223,9 @@
cmd_args[3] = (char *)0;
rv = ged_copy(gedp, 3, (const char **)cmd_args);
if (rv != GED_OK) {
- bu_log("kill_copy: ERROR Could not copy \"%s\" to \"%s\"\n",
dp->d_namep,
+ bu_log("kill_copy: ERROR Could not copy \"%s\" to \"%s\"\n",
dp->d_namep,
new_name);
- return GED_ERROR;
+ return GED_ERROR;
}
return GED_OK;
@@ -237,16 +250,227 @@
cmd_args[4] = (char *)0;
rv = ged_comb(gedp, 4, (const char **)cmd_args);
if (rv != GED_OK) {
- bu_log("add_to_comb: ERROR Could not add \"%s\" to the combination
\"%s\"\n",
- target, add);
+ bu_log("add_to_comb: ERROR Could not add \"%s\" to the combination
\"%s\"\n",
+ add, target);
+ return GED_ERROR;
+ }
+
+ return GED_OK;
+}
+
+
+/**
+ * Draws an arrow from, to using the BOT primitive & SPH
+ * Used to draw manifold normals
+ * TODO: surely there is a simpler way!
+ */
+int
+arrow(struct ged *gedp, char* name, point_t from, point_t to)
+{
+ char *cmd_args[20];
+ int rv;
+ char buffer_str[MAX_FLOATING_POINT_STRLEN];
+ char *prefix_arrow_line = "arrow_line_";
+ char *prefix_arrow_head = "arrow_head_";
+ struct bu_vls arrow_line_vls = BU_VLS_INIT_ZERO, arrow_head_vls =
BU_VLS_INIT_ZERO;
+ char *prefixed_arrow_line, *prefixed_arrow_head;
+ vect_t v;
+
+ /* Arrow line primitive name */
+ bu_vls_sprintf(&arrow_line_vls, "%s%s", prefix_arrow_line, name);
+ prefixed_arrow_line = bu_vls_addr(&arrow_line_vls);
+
+ /* Arrow line primitive name */
+ bu_vls_sprintf(&arrow_head_vls, "%s%s", prefix_arrow_head, name);
+ prefixed_arrow_head = bu_vls_addr(&arrow_head_vls);
+
+ if (kill(gedp, prefixed_arrow_line) != GED_OK) {
+ bu_log("line: ERROR Could not delete existing \"%s\"\n",
prefixed_arrow_line);
return GED_ERROR;
}
+ if (kill(gedp, prefixed_arrow_head) != GED_OK) {
+ bu_log("line: ERROR Could not delete existing \"%s\"\n",
prefixed_arrow_head);
+ return GED_ERROR;
+ }
+
+ cmd_args[0] = "in";
+ cmd_args[1] = prefixed_arrow_line;
+ cmd_args[2] = "bot";
+ cmd_args[3] = "3";
+ cmd_args[4] = "1";
+ cmd_args[5] = "1";
+ cmd_args[6] = "1";
+
+ sprintf(buffer_str, "%f", from[0]); cmd_args[7] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", from[1]); cmd_args[8] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", from[2]); cmd_args[9] = bu_strdup(buffer_str);
+
+ sprintf(buffer_str, "%f", to[0]); cmd_args[10] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", to[1]); cmd_args[11] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", to[2]); cmd_args[12] = bu_strdup(buffer_str);
+
+ sprintf(buffer_str, "%f", from[0]); cmd_args[13] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", from[1]); cmd_args[14] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", from[2]); cmd_args[15] = bu_strdup(buffer_str);
+
+ cmd_args[16] = "0";
+ cmd_args[17] = "1";
+ cmd_args[18] = "2";
+
+ cmd_args[19] = (char *)0;
+
+ print_command(cmd_args, 19);
+
+ rv = ged_in(gedp, 19, (const char **)cmd_args);
+ if (rv != GED_OK) {
+ bu_log("line: ERROR Could not draw arrow line \"%s\"
(%f,%f,%f)-(%f,%f,%f) \n",
+ prefixed_arrow_line, V3ARGS(from), V3ARGS(to));
+ return GED_ERROR;
+ }
+
+ add_to_comb(gedp, name, prefixed_arrow_line);
+
+ VSUB2(v, to, from);
+ VUNITIZE(v);
+ VSCALE(v, v, 0.1);
+ bu_log("line: Unit vector (%f,%f,%f)\n", V3ARGS(v));
+
+ cmd_args[0] = "in";
+ cmd_args[1] = prefixed_arrow_head;
+ cmd_args[2] = "trc";
+
+ sprintf(buffer_str, "%f", to[0]); cmd_args[3] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", to[1]); cmd_args[4] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", to[2]); cmd_args[5] = bu_strdup(buffer_str);
+
+ sprintf(buffer_str, "%f", v[0]); cmd_args[6] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", v[1]); cmd_args[7] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", v[2]); cmd_args[8] = bu_strdup(buffer_str);
+
+
+ sprintf(buffer_str, "%f", ARROW_BASE_RADIUS); cmd_args[9] =
bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", ARROW_TIP_RADIUS); cmd_args[10] =
bu_strdup(buffer_str);
+
+ cmd_args[11] = (char *)0;
+
+ print_command(cmd_args, 11);
+
+ rv = ged_in(gedp, 11, (const char **)cmd_args);
+ if (rv != GED_OK) {
+ bu_log("line: ERROR Could not draw arrow head \"%s\"
(%f,%f,%f)-(%f,%f,%f) \n",
+ prefixed_arrow_head, V3ARGS(from), V3ARGS(to));
+ return GED_ERROR;
+ }
+
+ add_to_comb(gedp, name, prefixed_arrow_head);
+
return GED_OK;
}
+/**
+ * Applies a material to passed comb using libged
+ * TODO: lower to librt
+ */
int
+apply_material(struct ged *gedp,
+ char* comb,
+ char* material,
+ unsigned char r,
+ unsigned char g,
+ unsigned char b)
+{
+ int rv;
+ char buffer_str[MAX_FLOATING_POINT_STRLEN];
+ char* cmd_args[28];
+
+ cmd_args[0] = "mater";
+ cmd_args[1] = comb;
+ cmd_args[2] = material;
+
+ sprintf(buffer_str, "%d", r); cmd_args[3] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%d", g); cmd_args[4] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%d", b); cmd_args[5] = bu_strdup(buffer_str);
+
+ cmd_args[6] = "0";
+ cmd_args[7] = (char *)0;
+
+ rv = ged_mater(gedp, 7, (const char **)cmd_args);
+ if (rv != GED_OK) {
+ bu_log("apply_material: WARNING Could not adjust the material to %s(%d,
%d, %d) for \"%s\"\n",
+ material, r, g, b, comb);
+ return GED_ERROR;
+ }
+
+ return GED_OK;
+}
+
+
+/**
+ * This function colors the passed comb. It's for showing the current
+ * state of the object inside the physics engine.
+ *
+ * TODO : this should be used with a debugging flag
+ */
+int
+apply_color(struct ged *gedp,
+ char* name,
+ unsigned char r,
+ unsigned char g,
+ unsigned char b)
+{
+ struct directory *dp = NULL;
+ struct rt_comb_internal *comb = NULL;
+ struct rt_db_internal intern;
+ struct bu_attribute_value_set avs;
+
+ /* Look up directory pointer for the passed comb name */
+ GED_DB_LOOKUP(gedp, dp, name, LOOKUP_NOISY, GED_ERROR);
+ GED_CHECK_COMB(gedp, dp, GED_ERROR);
+ GED_DB_GET_INTERNAL(gedp, &intern, dp, (fastf_t *)NULL, &rt_uniresource,
GED_ERROR);
+
+ /* Get a comb from the internal format */
+ comb = (struct rt_comb_internal *)intern.idb_ptr;
+ RT_CK_COMB(comb);
+
+ /* Set the color related members */
+ comb->rgb[0] = r;
+ comb->rgb[1] = g;
+ comb->rgb[2] = b;
+ comb->rgb_valid = 1;
+ comb->inherit = 0;
+
+ /* Get the current attribute set of the comb from the db */
+ bu_avs_init_empty(&avs);
+ if (db5_get_attributes(gedp->ged_wdbp->dbip, &avs, dp)) {
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms: ERROR Cannot get
attributes for object %s\n", dp->d_namep);
+ bu_avs_free(&avs);
+ return GED_ERROR;
+ }
+
+ /* Sync the changed attributes with the old ones */
+ db5_standardize_avs(&avs);
+ db5_sync_comb_to_attr(&avs, comb);
+ db5_standardize_avs(&avs);
+
+ /* Put back in db to allow drawing */
+ GED_DB_PUT_INTERNAL(gedp, dp, &intern, &rt_uniresource, GED_ERROR);
+ if (db5_update_attributes(dp, &avs, gedp->ged_wdbp->dbip)) {
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms: ERROR failed to
update attributes\n");
+ bu_avs_free(&avs);
+ return GED_ERROR;
+ }
+
+ bu_avs_free(&avs);
+ return GED_OK;
+}
+
+
+/**
+ * Adds physics specific attributes, will be used to add some more properties
later
+ */
+int
add_physics_attribs(struct rigid_body *current_node)
{
@@ -350,6 +574,9 @@
}
+/**
+ * Gets the bounding box of all the combs which will participate in the
simulation
+ */
int
get_bb(struct ged *gedp, struct simulation_params *sim_params)
{
@@ -405,7 +632,7 @@
insert_AABB(struct ged *gedp, struct simulation_params *sim_params, struct
rigid_body *current_node)
{
char* cmd_args[28];
- char buffer[20];
+ char buffer[MAX_FLOATING_POINT_STRLEN];
int rv;
char *prefix = "bb_";
char *prefix_reg = "bb_reg_";
@@ -516,20 +743,9 @@
add_to_comb(gedp, prefixed_reg_name, prefixed_name);
/* Adjust the material for region to be almost transparent */
- cmd_args[0] = "mater";
- cmd_args[1] = bu_strdup(prefixed_reg_name);
- cmd_args[2] = "plastic tr 0.9";
- cmd_args[3] = "210";
- cmd_args[4] = "0";
- cmd_args[5] = "100";
- cmd_args[6] = "0";
- cmd_args[7] = (char *)0;
- rv = ged_mater(gedp, 7, (const char **)cmd_args);
- if (rv != GED_OK) {
- bu_log("insertAABB: WARNING Could not adjust the material for \"%s\"\n",
- prefixed_reg_name);
- }
+ apply_material(gedp, prefixed_reg_name, "plastic tr 0.9", 210, 0, 100);
+
/* Add the region to the result of the sim so it will be drawn too */
add_to_comb(gedp, sim_params->sim_comb_name, prefixed_reg_name);
@@ -553,12 +769,14 @@
char* cmd_args[28];
char buffer[20];
int rv, num_args;
- char *prefixed_name, *prefixed_reg_name;
+ char *prefixed_name, *prefixed_reg_name, *prefixed_normal_name;
char *prefix = "mf_";
char *prefix_reg = "mf_reg_";
+ char *prefix_normal = "normal_";
struct bu_vls buffer_vls = BU_VLS_INIT_ZERO;
char *name;
-
+ vect_t scaled_normal;
+ point_t from, to;
struct sim_manifold *current_manifold;
int i;
@@ -579,18 +797,21 @@
/* Prepare prefixed manifold region name */
prefixed_reg_name = prefix_name(prefix_reg, name);
+ /* Prepare prefixed manifold region name */
+ prefixed_normal_name = prefix_name(prefix_normal, name);
+
/* Delete existing manifold prim and region */
rv = kill(gedp, prefixed_name);
if (rv != GED_OK) {
bu_log("insert_manifolds: ERROR Could not delete existing
bounding box arb8 : %s \
- so NOT attempting to add new bounding box\n",
prefixed_name);
+ so NOT attempting to add new bounding
box\n", prefixed_name);
return GED_ERROR;
}
rv = kill(gedp, prefixed_reg_name);
if (rv != GED_OK) {
bu_log("insert_manifolds: ERROR Could not delete existing
bounding box region : %s \
- so NOT attempting to add new region\n",
prefixed_reg_name);
+ so NOT attempting to add new region\n",
prefixed_reg_name);
return GED_ERROR;
}
@@ -637,6 +858,9 @@
cmd_args[15] = (char *)0;
num_args = 15;
+
+ VADD2SCALE(from, current_manifold->rb_contacts[0].ptA,
+ current_manifold->rb_contacts[1].ptB, 0.5);
break;
case 3:
@@ -672,6 +896,9 @@
}
cmd_args[27] = (char *)0;
num_args = 27;
+
+ VADD2SCALE(from, current_manifold->rb_contacts[0].ptA,
+ current_manifold->rb_contacts[2].ptB, 0.5);
break;
default:
@@ -692,29 +919,30 @@
/* Make the region for the manifold primitive */
add_to_comb(gedp, prefixed_reg_name, prefixed_name);
- /* Adjust the material for region to be almost transparent */
- cmd_args[0] = "mater";
- cmd_args[1] = bu_strdup(prefixed_reg_name);
- cmd_args[2] = "plastic tr 0.9";
- cmd_args[3] = "210";
- cmd_args[4] = "210";
- cmd_args[5] = "0";
- cmd_args[6] = "0";
- cmd_args[7] = (char *)0;
- rv = ged_mater(gedp, 7, (const char **)cmd_args);
- if (rv != GED_OK) {
- bu_log("insert_manifolds: WARNING Could not adjust the
material for \"%s\"\n",
- prefixed_reg_name);
- }
+ /* Adjust the material for region to be visible */
+ apply_material(gedp, prefixed_reg_name, "plastic tr 0.9", 210,
210, 0);
/* Add the region to the result of the sim so it will be drawn
too */
add_to_comb(gedp, sim_params->sim_comb_name, prefixed_reg_name);
- } /* if-num_args */
+ /* Finally draw the normal */
+ VSCALE(scaled_normal,
current_manifold->rb_contacts[0].normalWorldOnB, NORMAL_SCALE_FACTOR);
+ VADD2(to, scaled_normal, from);
+
+ bu_log("insert_manifolds: line (%f,%f,%f)-> (%f,%f,%f)->
(%f,%f,%f) \n",
+ V3ARGS(current_manifold->rb_contacts[0].normalWorldOnB),
+ V3ARGS(to),
+ V3ARGS(scaled_normal));
+
+ arrow(gedp, prefixed_normal_name, from, to);
+ add_to_comb(gedp, sim_params->sim_comb_name,
prefixed_normal_name);
+
+ }/* if-num_args */
+
bu_free(prefixed_name, "simulate : prefixed_name");
bu_free(prefixed_reg_name, "simulate : prefixed_reg_name");
- } /* if-num_contacts */
+ }/* if-num_contacts */
} /* end for-manifold */
@@ -725,66 +953,6 @@
/**
- * This function colors the passed comb. It's for showing the current
- * state of the object inside the physics engine.
- *
- * TODO : this should be used with a debugging flag
- */
-int
-apply_color(struct ged *gedp,
- char* rb_namep,
- unsigned char r,
- unsigned char g,
- unsigned char b)
-{
- struct directory *dp = NULL;
- struct rt_comb_internal *comb = NULL;
- struct rt_db_internal intern;
- struct bu_attribute_value_set avs;
-
- /* Look up directory pointer for the passed comb name */
- GED_DB_LOOKUP(gedp, dp, rb_namep, LOOKUP_NOISY, GED_ERROR);
- GED_CHECK_COMB(gedp, dp, GED_ERROR);
- GED_DB_GET_INTERNAL(gedp, &intern, dp, (fastf_t *)NULL, &rt_uniresource,
GED_ERROR);
-
- /* Get a comb from the internal format */
- comb = (struct rt_comb_internal *)intern.idb_ptr;
- RT_CK_COMB(comb);
-
- /* Set the color related members */
- comb->rgb[0] = r;
- comb->rgb[1] = g;
- comb->rgb[2] = b;
- comb->rgb_valid = 1;
- comb->inherit = 0;
-
- /* Get the current attribute set of the comb from the db */
- bu_avs_init_empty(&avs);
- if (db5_get_attributes(gedp->ged_wdbp->dbip, &avs, dp)) {
- bu_vls_printf(gedp->ged_result_str, "apply_transforms: ERROR Cannot get
attributes for object %s\n", dp->d_namep);
- bu_avs_free(&avs);
- return GED_ERROR;
- }
-
- /* Sync the changed attributes with the old ones */
- db5_standardize_avs(&avs);
- db5_sync_comb_to_attr(&avs, comb);
- db5_standardize_avs(&avs);
-
- /* Put back in db to allow drawing */
- GED_DB_PUT_INTERNAL(gedp, dp, &intern, &rt_uniresource, GED_ERROR);
- if (db5_update_attributes(dp, &avs, gedp->ged_wdbp->dbip)) {
- bu_vls_printf(gedp->ged_result_str, "apply_transforms: ERROR failed to
update attributes\n");
- bu_avs_free(&avs);
- return GED_ERROR;
- }
-
- bu_avs_free(&avs);
- return GED_OK;
-}
-
-
-/**
* 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
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
All the data continuously generated in your IT infrastructure contains a
definitive record of customers, application performance, security
threats, fraudulent activity and more. Splunk takes this data and makes
sense of it. Business sense. IT sense. Common sense.
http://p.sf.net/sfu/splunk-d2dcopy1
_______________________________________________
BRL-CAD Source Commits mailing list
brlcad-commits@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/brlcad-commits
