Revision: 47262
http://brlcad.svn.sourceforge.net/brlcad/?rev=47262&view=rev
Author: abhi2011
Date: 2011-10-15 02:27:22 +0000 (Sat, 15 Oct 2011)
Log Message:
-----------
Added logic to generate contact pairs, need to still find a way to properly
generalize it to all cases
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simrt.h
brlcad/trunk/src/libged/simulate/simulate.h
brlcad/trunk/src/libged/simulate/simutils.h
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-14
21:54:38 UTC (rev 47261)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-15
02:27:22 UTC (rev 47262)
@@ -154,7 +154,10 @@
}
}
+ /* Now add the rt contact pairs */
+
+
//------------------------------------------------------
#ifdef USE_PERSISTENT_CONTACTS
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-14 21:54:38 UTC (rev
47261)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-15 02:27:22 UTC (rev
47262)
@@ -43,26 +43,18 @@
bu_log("print_rayshot_results: -------\n");
- bu_log("X bounds xr_min_x_x:%f, xr_min_x_y:%f, xr_min_x_z:%f \n",
- rt_result.xr_min_x_x,
- rt_result.xr_min_x_y,
- rt_result.xr_min_x_z);
- bu_log("X bounds xr_max_x_x:%f, xr_max_x_y:%f, xr_max_x_z:%f \n",
- rt_result.xr_max_x_x,
- rt_result.xr_max_x_y,
- rt_result.xr_max_x_z);
- bu_log("Y bounds xr_min_y:%f, xr_min_y_z:%f\n",
- rt_result.xr_min_y,
- rt_result.xr_min_y_z);
- bu_log("Y bounds xr_max_y:%f, xr_max_y_z:%f\n",
- rt_result.xr_max_y,
- rt_result.xr_max_y_z);
- bu_log("Z bounds xr_min_z:%f, xr_min_z_y:%f\n",
- rt_result.xr_min_z,
- rt_result.xr_min_z_y);
- bu_log("Z bounds xr_max_z:%f, xr_max_z_y:%f\n",
- rt_result.xr_max_z,
- rt_result.xr_max_z_y);
+ bu_log("X bounds xr_min_x :%f, %f, %f \n",
+ V3ARGS(rt_result.xr_min_x));
+ bu_log("X bounds xr_max_x :%f, %f, %f \n",
+ V3ARGS(rt_result.xr_max_x));
+ bu_log("Y bounds xr_min_y :%f, %f, %f >>> (%f, %f, %f)\n",
+ V3ARGS(rt_result.xr_min_y_in), V3ARGS(rt_result.xr_min_y_out));
+ bu_log("Y bounds xr_max_y :%f, %f, %f >>> (%f, %f, %f)\n",
+ V3ARGS(rt_result.xr_max_y_in), V3ARGS(rt_result.xr_max_y_out));
+ bu_log("Z bounds xr_min_z :%f, %f, %f\n",
+ V3ARGS(rt_result.xr_min_z_in));
+ bu_log("Z bounds xr_max_z :%f, %f, %f\n",
+ V3ARGS(rt_result.xr_max_z_in));
}
@@ -409,11 +401,12 @@
init_rayshot_results(void)
{
/* Initialize the result structure */
- rt_result.xr_min_y = MAX_FASTF;
- rt_result.xr_max_y = -MAX_FASTF;
- rt_result.xr_min_x_x = MAX_FASTF;
- rt_result.xr_max_x_x = -MAX_FASTF;
+ rt_result.xr_min_x[X] = MAX_FASTF;
+ rt_result.xr_max_x[X] = -MAX_FASTF;
+ rt_result.xr_min_y_in[Y] = MAX_FASTF;
+ rt_result.xr_max_y_in[Y] = -MAX_FASTF;
+
return GED_OK;
}
@@ -422,7 +415,7 @@
* Traverse the hit list and overlap list, drawing the ray segments
*/
int
-traverse_lists(struct ged *gedp, struct simulation_params *sim_params,
+traverse_xray_lists(struct ged *gedp, struct simulation_params *sim_params,
point_t pt, point_t dir)
{
struct overlap *ovp;
@@ -457,40 +450,36 @@
/* Fill up the result structure */
/* The min x in the direction of the ray where it hit an overlap */
- if(ovp->in_point[X] < rt_result.xr_min_x_x){
- rt_result.xr_min_x_x = ovp->in_point[X];
- rt_result.xr_min_x_y = ovp->in_point[Y];
- rt_result.xr_min_x_z = ovp->in_point[Z];
+ if(ovp->in_point[X] < rt_result.xr_min_x[X]){
+ VMOVE(rt_result.xr_min_x, ovp->in_point);
}
/* The max x in the direction of the ray where it hit an overlap,
* could be on a different ray from above
*/
- if(ovp->out_point[X] > rt_result.xr_max_x_x){
- rt_result.xr_max_x_x = ovp->out_point[X];
- rt_result.xr_max_x_y = ovp->out_point[Y];
- rt_result.xr_max_x_z = ovp->out_point[Z];
+ if((ovp->out_point[X] > rt_result.xr_max_x[X])){
+ VMOVE(rt_result.xr_max_x, ovp->out_point);
}
/* The min y where the x rays encountered overlap */
- if(ovp->in_point[Y] < rt_result.xr_min_y){
- rt_result.xr_min_y = ovp->in_point[Y];
- rt_result.xr_min_y_z = ovp->in_point[Z];
+ if(ovp->in_point[Y] < rt_result.xr_min_y_in[Y]){
+ VMOVE(rt_result.xr_min_y_in, ovp->in_point);
+ VMOVE(rt_result.xr_min_y_out, ovp->out_point);
}
/* The max y for the same */
- if(ovp->in_point[Y] > rt_result.xr_max_y){
- rt_result.xr_max_y = ovp->in_point[Y];
- rt_result.xr_max_y_z = ovp->in_point[Z];
+ if(ovp->in_point[Y] > rt_result.xr_max_y_in[Y]){
+ VMOVE(rt_result.xr_max_y_in, ovp->in_point);
+ VMOVE(rt_result.xr_max_y_out, ovp->out_point);
}
/* The min z where the x rays encountered overlap */
- if(ovp->in_point[Y] < rt_result.xr_min_z){
+ if(ovp->in_point[Y] < rt_result.xr_min_z_in[Z]){
/* Not need currently, may be removed when z-rays are shot */
}
/* The max z for the same */
- if(ovp->in_point[Y] > rt_result.xr_max_z){
+ if(ovp->in_point[Y] > rt_result.xr_max_z_in[Z]){
/* Not need currently, may be removed when z-rays are shot */
}
@@ -573,7 +562,7 @@
/* Traverse the hit list and overlap list, drawing the ray
segments
* for the current ray
*/
- traverse_lists(gedp, sim_params, r_pt, r_dir);
+ traverse_xray_lists(gedp, sim_params, r_pt, r_dir);
print_rayshot_results();
@@ -590,16 +579,46 @@
int
-create_contact_pairs(struct sim_manifold *mf)
+create_contact_pairs(struct sim_manifold *mf, vect_t overlap_min, vect_t
overlap_max)
{
- /* Prepare the overlap prim name */
+ vect_t a, b, c;
+
+
+ /* Prepare the overlap prim name */
bu_log("create_contact_pairs : between %s & %s",
mf->rbA->rb_namep, mf->rbB->rb_namep);
+
/* Determine if an arb4 needs to be generated using x/y/z diff. */
+ mf->num_rt_contacts = 2;
+ VMOVE(mf->rt_contacts[0].ptA, rt_result.xr_min_y_in);
+ VMOVE(mf->rt_contacts[1].ptA, rt_result.xr_min_y_out);
+ VMOVE(mf->rt_contacts[1].ptB, rt_result.xr_max_y_in);
+ VMOVE(mf->rt_contacts[0].ptB, rt_result.xr_max_y_out);
+
+ VSUB2(a, mf->rt_contacts[1].ptB, mf->rt_contacts[1].ptA);
+ VSUB2(b, mf->rt_contacts[0].ptA, mf->rt_contacts[1].ptB);
+
+ /* Get the normals */
+ VCROSS(c, a, b);
+ VUNITIZE(c);
+ bu_log("create_contact_pairs : Normal got as %f,%f, %f",
+ V3ARGS(c));
+
+ VMOVE(mf->rt_contacts[0].normalWorldOnB, c);
+ VMOVE(mf->rt_contacts[1].normalWorldOnB, c);
+
+ /* Get penetration depth */
+ VSUB2(c, overlap_max, overlap_min);
+ mf->rt_contacts[0].depth = c[Z];
+ mf->rt_contacts[1].depth = c[Z];
+ bu_log("create_contact_pairs : Penetration depth set to %f", c[Z]);
+
+
+
return GED_OK;
}
@@ -666,7 +685,7 @@
/* Note down this volume as already covered, so no need to shoot
rays through it again */
/* Create the contact pairs and normals */
- create_contact_pairs(current_manifold);
+ create_contact_pairs(current_manifold, overlap_min, overlap_max);
}
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-14 21:54:38 UTC (rev
47261)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-15 02:27:22 UTC (rev
47262)
@@ -95,14 +95,18 @@
};
+/**
+ * This structure contains the results of analyzing an overlap volume(among 2
+ * regions), through shooting rays
+ */
struct rayshot_results{
/* Results of shooting rays towards -ve x-axis : xr means x rays */
- fastf_t xr_min_x_x, xr_min_x_y, xr_min_x_z; /* the min X found while
shooting x rays & rltd y,z*/
- fastf_t xr_max_x_x, xr_max_x_y, xr_max_x_z; /* the max X found while
shooting x rays & rltd y,z*/
- fastf_t xr_min_y, xr_min_y_z; /* the min y where overlap was found & the z
co-ord for it*/
- fastf_t xr_max_y, xr_max_y_z; /* the max y where overlap was still found */
- fastf_t xr_min_z, xr_min_z_y; /* the min z where overlap was found & the y
co-ord for it*/
- fastf_t xr_max_z, xr_max_z_y; /* the max z where overlap was still found */
+ point_t xr_min_x; /* the min X found while shooting x rays & rltd y,z*/
+ point_t xr_max_x; /* the max X found while shooting x rays & rltd y,z*/
+ point_t xr_min_y_in, xr_min_y_out; /* the min y where overlap was
found & the z co-ord for it*/
+ point_t xr_max_y_in, xr_max_y_out; /* the max y where overlap was
still found */
+ point_t xr_min_z_in; /* the min z where overlap was found & the y
co-ord for it*/
+ point_t xr_max_z_in; /* the max z where overlap was still found */
/* Results of shooting rays down y axis */
@@ -117,7 +121,7 @@
*
*/
int
-create_contact_pairs(struct sim_manifold *mf);
+create_contact_pairs(struct sim_manifold *mf, vect_t overlap_min, vect_t
overlap_max);
/**
@@ -191,6 +195,15 @@
/**
+ * Traverse the hit list and overlap list, drawing the ray segments
+ * for x-rays
+ */
+int
+traverse_xray_lists(struct ged *gedp, struct simulation_params *sim_params,
+ point_t pt, point_t dir);
+
+
+/**
* Initializes the simulation scene for raytracing
*/
int
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-14 21:54:38 UTC (rev
47261)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-15 02:27:22 UTC (rev
47262)
@@ -45,6 +45,7 @@
vect_t ptA;
vect_t ptB;
vect_t normalWorldOnB;
+ fastf_t depth;
};
Modified: brlcad/trunk/src/libged/simulate/simutils.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.h 2011-10-14 21:54:38 UTC (rev
47261)
+++ brlcad/trunk/src/libged/simulate/simutils.h 2011-10-15 02:27:22 UTC (rev
47262)
@@ -117,7 +117,7 @@
/**
* Draws an arrow from, to using the BOT primitive & TRC
* Used to draw manifold normals
- * TODO: surely there is a simpler way!
+ * TODO: find a simpler way
*/
int
arrow(struct ged *gedp, char* name, point_t from, point_t to);
@@ -167,7 +167,7 @@
* This function inserts a manifold comb as reported by Bullet.
*
* TODO: this should be used with a debugging flag
- * TODO: this function will be lowered to librt
+ * TODO: this function should be lowered to librt
*/
int
insert_manifolds(struct ged *gedp, struct simulation_params *sim_params,
struct rigid_body *rb);
@@ -180,7 +180,7 @@
* This function creates and inserts a RPP
* Used to show AABB overlap volume
*
- * TODO: this function will be lowered to librt
+ * TODO: this function should be lowered to librt
*/
int
make_rpp(struct ged *gedp, vect_t max, vect_t min, char* name);
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