Revision: 47173
http://brlcad.svn.sourceforge.net/brlcad/?rev=47173&view=rev
Author: abhi2011
Date: 2011-10-10 00:23:30 +0000 (Mon, 10 Oct 2011)
Log Message:
-----------
Added ray shooting in the X direction in the manifold generator to query the
overlap area(of the AABBs) of 2 regions
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simrt.h
brlcad/trunk/src/libged/simulate/simulate.c
brlcad/trunk/src/libged/simulate/simutils.c
brlcad/trunk/src/libged/simulate/simutils.h
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-09 16:29:28 UTC (rev
47172)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-10 00:23:30 UTC (rev
47173)
@@ -63,6 +63,12 @@
}
}
+ overlap_list.forw = overlap_list.backw = &overlap_list;
+ hit_list.forw = hit_list.backw = &hit_list;
+
+ overlap_list.index = 0;
+ hit_list.index = 0;
+
return GED_OK;
}
@@ -143,7 +149,10 @@
pp->pt_outseg->seg_stp->st_name );
/* Insert solid data into list node */
- new_hit_regp->reg_name = pp->pt_regionp->reg_name;
+ if(pp->pt_regionp->reg_name[0] == '/')
+ new_hit_regp->reg_name =
(pp->pt_regionp->reg_name) + 1;
+ else
+ new_hit_regp->reg_name =
pp->pt_regionp->reg_name;
new_hit_regp->in_stp = pp->pt_inseg->seg_stp;
new_hit_regp->out_stp = pp->pt_outseg->seg_stp;
@@ -228,6 +237,7 @@
new_hit_regp->backw = &hit_list;
new_hit_regp->forw->backw = new_hit_regp;
hit_list.forw = new_hit_regp;
+ new_hit_regp->index = (new_hit_regp->forw->index) + 1;
}
}
@@ -270,7 +280,13 @@
new_ovlp->backw = &overlap_list;
new_ovlp->forw->backw = new_ovlp;
overlap_list.forw = new_ovlp;
+ new_ovlp->index = (new_ovlp->forw->index) + 1;
+ if(new_ovlp->reg1->reg_name[0] == '/')
+ new_ovlp->reg1->reg_name++;
+
+ if(new_ovlp->reg2->reg_name[0] == '/')
+ new_ovlp->reg2->reg_name++;
}
bu_log("if_overlap: Entering at (%f,%f,%f) at distance of %f",
@@ -352,11 +368,120 @@
overlap_list.forw = overlap_list.backw = &overlap_list;
hit_list.forw = hit_list.backw = &hit_list;
+ overlap_list.index = 0;
+ hit_list.index = 0;
+
return GED_OK;
}
+/**
+ * Traverse the hit list and overlap list, drawing the ray segments
+ */
int
+traverse_lists(struct ged *gedp, struct simulation_params *sim_params,
+ point_t pt, point_t dir)
+{
+ struct overlap *ovp;
+ struct hit_reg *hrp;
+ struct bu_vls reg_vls = BU_VLS_INIT_ZERO;
+
+ /* quellage */
+ bu_log("Starting from : (%f,%f,%f), towards(%f,%f,%f)", V3ARGS(pt),
V3ARGS(dir));
+
+ /* Draw all the hit regions */
+ if (overlap_list.forw != &overlap_list) {
+
+ ovp = overlap_list.forw;
+ while (ovp != &overlap_list) {
+
+ bu_vls_sprintf(®_vls,
"ray_overlap_%s_%s_%d_%f_%f_%f_%f_%f_%f",
+ ovp->reg1->reg_name,
+ ovp->reg2->reg_name,
+ ovp->index,
+ V3ARGS(pt), V3ARGS(dir));
+ line(gedp, bu_vls_addr(®_vls),
+ ovp->in_point,
+ ovp->out_point,
+ 0, 210, 0);
+
+ add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(®_vls));
+ ovp = ovp->forw;
+ }
+ }
+
+ /* Draw all the overlap regions */
+ if (hit_list.forw != &hit_list) {
+
+ hrp = hit_list.forw;
+
+ while (hrp != &hit_list) {
+ bu_vls_sprintf(®_vls,
"ray_hit_%s_%d_%f_%f_%f_%f_%f_%f",
+ hrp->reg_name,
+ hrp->index,
+ V3ARGS(pt), V3ARGS(dir));
+ line(gedp, bu_vls_addr(®_vls),
+ hrp->in_point,
+ hrp->out_point,
+ 0, 210, 0);
+
+ add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(®_vls));
+ hrp = hrp->forw;
+ }
+ }
+
+ bu_vls_free(®_vls);
+
+ return GED_OK;
+}
+
+
+int
+shoot_x_rays(
+ struct ged *gedp,
+ struct sim_manifold *current_manifold,
+ struct simulation_params *sim_params,
+ struct rt_i *rtip,
+ vect_t overlap_min, vect_t overlap_max)
+{
+ point_t r_pt, r_dir;
+ fastf_t startz, starty, y, z;
+
+ /* Set direction as straight down X-axis */
+ VSET(r_dir, -1.0, 0.0, 0.0);
+
+ startz = overlap_min[Z];
+ starty = overlap_min[Y];
+
+ bu_log("Querying overlap between %s & %s",
+ current_manifold->rbA->rb_namep,
+ current_manifold->rbB->rb_namep);
+
+ for(z=startz; z<=overlap_max[Z]; z += TOL){
+ for(y=starty; y<=overlap_max[Y]; y += TOL){
+
+ /* Shooting towards lower x, so start from max x
outside of overlap box */
+ VSET(r_pt, overlap_max[X], y, z);
+
+
+ shoot_ray(rtip, r_pt, r_dir);
+
+ /* Traverse the hit list and overlap list, drawing the
ray segments */
+ traverse_lists(gedp, sim_params, r_pt, r_dir);
+
+ /* line(gedp, "ray_test", in_pt, out_pt, 0, 210, 0); */
+
+ /* Cleanup the overlap and hit lists and free memory */
+ cleanup_lists();
+
+ }
+
+ }
+
+ return GED_OK;
+}
+
+int
generate_manifolds(struct ged *gedp, struct simulation_params *sim_params)
{
struct sim_manifold *current_manifold;
@@ -367,7 +492,6 @@
/* Raytrace related stuff */
struct rt_i *rtip;
- point_t r_pt, r_dir;
/* Make a new rt_i instance from the existing db_i structure */
if ((rtip=rt_new_rti(gedp->ged_wdbp->dbip)) == RTI_NULL) {
@@ -378,19 +502,7 @@
init_raytrace(sim_params, rtip);
- VSET(r_pt, 1.0, 1.0, 0.0);
- VSET(r_dir, -1.0, 0.0, 0.0);
- shoot_ray(rtip, r_pt, r_dir);
-
-
- /* Traverse the hit list and overlap list */
- /* line(gedp, "ray_test", in_pt, out_pt, 0, 210, 0); */
-
- /* Cleanup the overlap and hit lists and free memory */
- cleanup_lists();
-
-
/* Check all rigid bodies for overlaps using their manifold lists */
for (rb = sim_params->head_node; rb != NULL; rb = rb->next) {
@@ -403,7 +515,7 @@
overlap_max);
/* Prepare the overlap prim name */
- bu_vls_sprintf(&overlap_name, "%s_%s_%s",
+ bu_vls_sprintf(&overlap_name, "%s%s_%s",
prefix_overlap,
current_manifold->rbA->rb_namep,
current_manifold->rbB->rb_namep);
@@ -415,7 +527,14 @@
add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(&overlap_name));
/* Shoot rays right here as the pair of rigid_body ptrs
are known, ignore volumes already shot */
+ shoot_x_rays(gedp, current_manifold, sim_params, rtip,
overlap_min, overlap_max);
+ /* Shoot rays right here as the pair of rigid_body ptrs
are known, ignore volumes already shot */
+ /* shoot_y_rays(); */
+
+ /* Shoot rays right here as the pair of rigid_body ptrs
are known, ignore volumes already shot */
+ /* shoot_z_rays(); */
+
/* Note down this volume as already covered, so no need
to shoot rays through it again */
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-09 16:29:28 UTC (rev
47172)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-10 00:23:30 UTC (rev
47173)
@@ -49,7 +49,7 @@
* Overlaps regions smaller than this will have only a single plane of rays
slicing the
* region in half, generating manifolds in a plane.
*/
-#define GRID_GRANULARITY 0.04
+#define TOL 0.1
/*
@@ -57,7 +57,8 @@
* of overlap regions: similar to the one in nirt/usrfrmt.h
*/
struct overlap {
- struct application *ap;
+ int index;
+ struct application *ap;
struct partition *pp;
struct region *reg1;
struct region *reg2;
@@ -75,7 +76,8 @@
* of hit regions, similar to struct hit from raytrace.h
*/
struct hit_reg {
- struct application *ap;
+ int index;
+ struct application *ap;
struct partition *pp;
const char *reg_name;
struct soltab *in_stp;
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-09 16:29:28 UTC (rev
47172)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-10 00:23:30 UTC (rev
47173)
@@ -104,6 +104,12 @@
continue;
}
+ if (BU_STR_EMPTY(dp->d_namep)) {
+ bu_vls_printf(gedp->ged_result_str, "add_regions: Skipping
\"%s\" due to empty name\n",
+ dp->d_namep);
+ continue;
+ }
+
/* Duplicate the region */
bu_vls_sprintf(&dp_name_vls, "%s%s", prefix, dp->d_namep);
@@ -146,7 +152,13 @@
bu_vls_free(&dp_name_vls);
+ if(sim_params->num_bodies == 0){
+ bu_vls_printf(gedp->ged_result_str, "add_regions: ERROR No objects were
added\n");
+ return GED_ERROR;
+ }
+
+
/* Show list of objects to be added to the sim : keep for debugging as of
now */
/* bu_log("add_regions: The following %d regions will participate in the
sim : \n", sim_params->num_bodies);
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
Modified: brlcad/trunk/src/libged/simulate/simutils.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.c 2011-10-09 16:29:28 UTC (rev
47172)
+++ brlcad/trunk/src/libged/simulate/simutils.c 2011-10-10 00:23:30 UTC (rev
47173)
@@ -200,7 +200,7 @@
unsigned char b)
{
char *cmd_args[20];
- int rv, i, argc = 19;
+ int rv, argc = 19;
char buffer_str[MAX_FLOATING_POINT_STRLEN];
char *suffix_reg = "_reg";
struct bu_vls reg_vls = BU_VLS_INIT_ZERO;
@@ -257,6 +257,7 @@
add_to_comb(gedp, bu_vls_addr(®_vls), name);
apply_material(gedp, bu_vls_addr(®_vls), "plastic tr 0.9", r, g, b);
+ apply_color(gedp, bu_vls_addr(®_vls), r, g, b);
return GED_OK;
}
@@ -266,7 +267,7 @@
arrow(struct ged *gedp, char* name, point_t from, point_t to)
{
char *cmd_args[20];
- int rv, i, argc = 19;
+ int rv, argc = 19;
char buffer_str[MAX_FLOATING_POINT_STRLEN];
char *prefix_arrow_line = "arrow_line_";
char *prefix_arrow_head = "arrow_head_";
@@ -469,6 +470,11 @@
char buffer_str[MAX_FLOATING_POINT_STRLEN];
char* cmd_args[28];
+ if (kill(gedp, name) != GED_OK) {
+ bu_log("line: ERROR Could not delete existing \"%s\"\n", name);
+ return GED_ERROR;
+ }
+
cmd_args[0] = bu_strdup("in");
cmd_args[1] = bu_strdup(name);
cmd_args[2] = bu_strdup("rpp");
@@ -485,7 +491,7 @@
cmd_args[9] = (char *)0;
- rv = ged_in(gedp, 9, (const char **)cmd_args);
+ rv = ged_in(gedp, argc, (const char **)cmd_args);
if (rv != GED_OK) {
bu_log("make_rpp: WARNING Could not insert RPP %s (%f, %f,
%f):(%f, %f, %f)\n",
name, V3ARGS(min), V3ARGS(max));
@@ -505,7 +511,7 @@
{
char* cmd_args[28];
char buffer[MAX_FLOATING_POINT_STRLEN];
- int rv, i, argc = 27;
+ int rv, argc = 27;
char *prefix = "bb_";
char *prefix_reg = "bb_reg_";
char *prefixed_name, *prefixed_reg_name;
Modified: brlcad/trunk/src/libged/simulate/simutils.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.h 2011-10-09 16:29:28 UTC (rev
47172)
+++ brlcad/trunk/src/libged/simulate/simutils.h 2011-10-10 00:23:30 UTC (rev
47173)
@@ -105,6 +105,16 @@
/**
+ * Draw a line from,to and color it
+ */
+int
+line(struct ged *gedp, char* name, point_t from, point_t to,
+ unsigned char r,
+ unsigned char g,
+ unsigned char b);
+
+
+/**
* Draws an arrow from, to using the BOT primitive & TRC
* Used to draw manifold normals
* TODO: surely there is a simpler way!
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