Revision: 47267
http://brlcad.svn.sourceforge.net/brlcad/?rev=47267&view=rev
Author: abhi2011
Date: 2011-10-15 21:41:16 +0000 (Sat, 15 Oct 2011)
Log Message:
-----------
Bullet seems to be deleting the contact pairs, added some more callbacks to
investigate
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simphysics.cpp
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simulate.c
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-15
20:27:56 UTC (rev 47266)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-15
21:41:16 UTC (rev 47267)
@@ -75,8 +75,8 @@
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
- /* btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
- btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();*/
+ btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
+ btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
//quellage
bu_log("%d", dispatchInfo.m_stepCount);
@@ -93,8 +93,8 @@
input.m_transformB = body1->getWorldTransform();
//This part will get replaced with a call to rt
- // btBoxBoxDetector detector(box0, box1);
- // detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
+ //btBoxBoxDetector detector(box0, box1);
+ //detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
//------------------- DEBUG ---------------------------
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-15 20:27:56 UTC
(rev 47266)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-15 21:41:16 UTC
(rev 47267)
@@ -407,6 +407,64 @@
/**
+ * Called whenever a contact pair is added to a manifold
+ */
+bool contact_added(
+ btManifoldPoint& pt,
+ const btCollisionObject* col0,
+ int partId0,
+ int index0,
+ const btCollisionObject* col1,
+ int partId1,
+ int index1)
+{
+ //Get the user pointers to struct rigid_body, for printing the body name
+ struct rigid_body *rbA = (struct rigid_body *)col0->getUserPointer();
+ struct rigid_body *rbB = (struct rigid_body *)col1->getUserPointer();
+
+ btVector3 ptA = pt.getPositionWorldOnA();
+ btVector3 ptB = pt.getPositionWorldOnB();
+
+ bu_log("Contact added between %s(%f, %f, %f):%d,%d & %s(%f, %f,
%f):%d,%d!",
+ rbA->rb_namep, V3ARGS(ptA), partId0, index0,
+ rbB->rb_namep, V3ARGS(ptB), partId1, index1);
+
+ return true;
+}
+
+
+/**
+ * Called whenever a contact pair is finished processing by the constraint
+ * solver
+ */
+bool contact_processed(btManifoldPoint& pt, void* col0, void* col1)
+{
+ //Get the user pointers to struct rigid_body, for printing the body name
+ struct rigid_body *rbA = (struct rigid_body
*)((btCollisionObject*)col0)->getUserPointer();
+ struct rigid_body *rbB = (struct rigid_body
*)((btCollisionObject*)col1)->getUserPointer();
+
+ btVector3 ptA = pt.getPositionWorldOnA();
+ btVector3 ptB = pt.getPositionWorldOnB();
+
+ bu_log("Contact processed between %s(%f, %f, %f) & %s(%f, %f, %f)!",
+ rbA->rb_namep, V3ARGS(ptA),
+ rbB->rb_namep, V3ARGS(ptB));
+
+
+ return true;
+}
+
+
+/**
+ * Called when a contact pair's lifetime has expired and it's deleted
+ */
+bool contact_destroyed(void* userPersistentData)
+{
+ bu_log("CONTACT DESTROYED! %s", (char*)userPersistentData);
+ return true;
+}
+
+/**
* C++ wrapper for doing physics using bullet
*
*/
@@ -452,6 +510,11 @@
//Add a nearphase callback to hook to the contact points generation algos
dispatcher->setNearCallback((btNearCallback)nearphase_callback);
+ //Investigating the contact pairs used between 2 rigid bodies
+ gContactAddedCallback = contact_added;
+ gContactProcessedCallback = contact_processed;
+ gContactDestroyedCallback = contact_destroyed;
+
//Step the physics the required number of times
step_physics(dynamicsWorld, sim_params);
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-15 20:27:56 UTC (rev
47266)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-15 21:41:16 UTC (rev
47267)
@@ -542,13 +542,13 @@
VSUB2(diff, overlap_max, overlap_min);
/* Is it thinner than TOLerance ? */
- if(diff[Z] < TOL){
+ /*if(diff[Z] < TOL){*/
/* Yep , so shoot rays only in a single plane in the middle of
the overlap region*/
startz = overlap_min[Z] + diff[Z]*0.5;
/* The overlap region is too thin for generating 4 contacts
points, 2 will do */
- for(z=startz; z<(overlap_max[Z]+TOL); z += TOL){
+ for(z=startz; z<overlap_max[Z]; z += TOL){
for(y=starty; y<(overlap_max[Y]+TOL); y += TOL){
/* Shooting towards lower x, so start from max
x outside of overlap box */
@@ -574,7 +574,7 @@
bu_log("Last y ray fired from z=%f, y=%f ,
overlap_max[Z]=%f, overlap_max[Y]=%f",
z, y, overlap_max[Z], overlap_max[Y]);
}
- }
+ /*}*/
return GED_OK;
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-15 20:27:56 UTC (rev
47266)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-15 21:41:16 UTC (rev
47267)
@@ -446,6 +446,13 @@
/* Recreate sim.c to clear AABBs and manifold regions from previous
iteration */
recreate_sim_comb(gedp, &sim_params);
+ /* Generate manifolds using rt */
+ rv = generate_manifolds(gedp, &sim_params);
+ if (rv != GED_OK) {
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while calculating
manifolds\n", argv[0]);
+ return GED_ERROR;
+ }
+
/* Run the physics simulation */
rv = run_simulation(&sim_params);
if (rv != GED_OK) {
@@ -460,13 +467,6 @@
return GED_ERROR;
}
- /* Generate manifolds using rt */
- rv = generate_manifolds(gedp, &sim_params);
- if (rv != GED_OK) {
- bu_vls_printf(gedp->ged_result_str, "%s: ERROR while calculating
manifolds\n", argv[0]);
- return GED_ERROR;
- }
-
free_manifold_lists(&sim_params);
}
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