Revision: 47270
http://brlcad.svn.sourceforge.net/brlcad/?rev=47270&view=rev
Author: abhi2011
Date: 2011-10-16 20:11:13 +0000 (Sun, 16 Oct 2011)
Log Message:
-----------
Separated the list of manifolds generated by bullet and that generated by rt,
as they are required at different times during the simulation iterations
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/simrt.h
brlcad/trunk/src/libged/simulate/simulate.c
brlcad/trunk/src/libged/simulate/simulate.h
brlcad/trunk/src/libged/simulate/simutils.c
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-16
10:02:42 UTC (rev 47269)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-16
20:11:13 UTC (rev 47270)
@@ -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);
@@ -93,15 +93,14 @@
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 ---------------------------
int i;
- int num_contacts;
- struct sim_manifold *current_manifold;
+ struct sim_manifold *bt_mf, *rt_mf;
//Get the user pointers to struct rigid_body, for printing the body name
struct rigid_body *rbA = (struct rigid_body *)col0->getUserPointer();
@@ -109,89 +108,108 @@
if (rbA != NULL && rbB != NULL) {
- btPersistentManifold* contactManifold =
resultOut->getPersistentManifold();
- current_manifold =
- (struct sim_manifold *)bu_malloc(sizeof(struct
sim_manifold), "sim_manifold: current_manifold");
- current_manifold->next = NULL;
- current_manifold->rbA = rbA;
- current_manifold->rbB = rbB;
+ //Iterate over the points for the BT
manifold----------------------------------
+ btPersistentManifold* contactManifold =
resultOut->getPersistentManifold();
+
+ bt_mf = (struct sim_manifold *)bu_malloc(sizeof(struct
sim_manifold),
+
"sim_manifold: bt_mf");
+ bt_mf->next = NULL;
+ bt_mf->rbA = rbA;
+ bt_mf->rbB = rbB;
+
//Add manifold to rbB
- if (rbB->head_manifold == NULL) {
- rbB->head_manifold = current_manifold;
+ if (rbB->head_bt_manifold == NULL) {
+ rbB->head_bt_manifold = bt_mf;
} else{
//Go upto the last manifold, keeping a ptr 1 node behind
- struct sim_manifold *p1 = rbB->head_manifold, *p2;
+ struct sim_manifold *p1 = rbB->head_bt_manifold, *p2;
while (p1 != NULL) {
p2 = p1;
p1 = p1->next;
}
- p2->next = current_manifold;
+ p2->next = bt_mf;
//print_manifold_list(rb->head_manifold);
}
- rbB->num_manifolds++;
+ rbB->num_bt_manifolds++;
bu_log("processCollision(box/box): %s & %s \n", rbA->rb_namep,
rbB->rb_namep);
//Get the number of points in this manifold
- num_contacts = contactManifold->getNumContacts();
- current_manifold->num_bt_contacts = num_contacts;
+ bt_mf->num_contacts = contactManifold->getNumContacts();
+ bu_log("processCollision : Manifold contacts : %d\n",
bt_mf->num_contacts);
- bu_log("processCollision : Manifold contacts : %d\n",
num_contacts);
- //Iterate over the points for this manifold
- for (i=0; i<num_contacts; i++) {
+ for (i=0; i<bt_mf->num_contacts; i++) {
btManifoldPoint& pt =
contactManifold->getContactPoint(i);
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();
- VMOVE(current_manifold->bt_contacts[i].ptA, ptA);
- VMOVE(current_manifold->bt_contacts[i].ptB, ptB);
- VMOVE(current_manifold->bt_contacts[i].normalWorldOnB,
pt.m_normalWorldOnB);
+ VMOVE(bt_mf->contacts[i].ptA, ptA);
+ VMOVE(bt_mf->contacts[i].ptB, ptB);
+ VMOVE(bt_mf->contacts[i].normalWorldOnB,
pt.m_normalWorldOnB);
- bu_log("%d, %s(%f, %f, %f) , %s(%f, %f, %f), n(%f, %f,
%f)\n",
+ bu_log("processCollision: Got BT contact %d, %s(%f, %f,
%f) , \
+ %s(%f, %f, %f), n(%f, %f, %f)\n",
i+1,
rbA->rb_namep, ptA[0], ptA[1], ptA[2],
rbB->rb_namep, ptB[0], ptB[1], ptB[2],
pt.m_normalWorldOnB[0], pt.m_normalWorldOnB[1],
pt.m_normalWorldOnB[2]);
}
- }
- //Scan all manifolds of rbB looking for a rbA-rbB manifold
- for (current_manifold = rbB->head_manifold; current_manifold != NULL;
- current_manifold = current_manifold->next) {
+ //Scan all RT manifolds of rbB looking for a rbA-rbB
manifold----------------------
- //Find the manifold in rbB's list which connects rbB and rbA
- if( bu_strcmp(current_manifold->rbA->rb_namep, rbA->rb_namep) &&
- bu_strcmp(current_manifold->rbB->rb_namep,
rbB->rb_namep) ){
+ for (rt_mf = rbB->head_rt_manifold; rt_mf != NULL;
+ rt_mf = rt_mf->next) {
- // Now add the rt contact pairs
- for (i=0; i<current_manifold->num_rt_contacts; i++){
+ //Find the manifold in rbB's list which connects rbB and rbA
+ if( bu_strcmp(rt_mf->rbA->rb_namep, rbA->rb_namep) &&
+ bu_strcmp(rt_mf->rbB->rb_namep,
rbB->rb_namep) ){
- btVector3 ptB, normalWorldOnB;
- VMOVE(ptB, current_manifold->rt_contacts[i].ptB);
- VMOVE(normalWorldOnB,
current_manifold->rt_contacts[i].normalWorldOnB);
+ // Now add the RT contact pairs
+ for (i=0; i<rt_mf->num_contacts; i++){
- //Negative depth for penetration
- resultOut->addContactPoint(ptB, normalWorldOnB,
-
-(current_manifold->rt_contacts[i].depth));
- }
+ btVector3 ptA, ptB;
+ btVector3 normalWorldOnB(0.000000,0.000000,
-1.000000);
+ rt_mf->contacts[i].depth = rbA->iter * 0.02f;
- }
+ VMOVE(ptA, rt_mf->contacts[i].ptA);
+ VMOVE(ptB, rt_mf->contacts[i].ptB);
+ VMOVE(normalWorldOnB,
rt_mf->contacts[i].normalWorldOnB);
- }
+ //Positive depth for penetration
+ resultOut->addContactPoint(normalWorldOnB,
ptB, rt_mf->contacts[i].depth);
+ bu_log("processCollision: Added RT contact
%d, %s(%f, %f, %f) , \
+ %s(%f, %f, %f), n(%f, %f,
%f), %f\n",
+ i+1,
+ rt_mf->rbA->rb_namep,
V3ARGS(ptA),
+ rt_mf->rbB->rb_namep,
V3ARGS(ptB),
+ V3ARGS(normalWorldOnB),
+
(rt_mf->contacts[i].depth));
+ }
+ }//end- if( bu_strcmp...
+
+ }//end- for (rt_mf = rbB->head_rt_manifold...
+
+ } //end-if
+
+
+
+
+
//------------------------------------------------------
#ifdef USE_PERSISTENT_CONTACTS
- // refreshContactPoints is only necessary when using persistent contact
points. otherwise all points are newly added
+ // refreshContactPoints is only necessary when using persistent contact
points.
+ // otherwise all points are newly added
if (m_ownManifold) {
resultOut->refreshContactPoints();
}
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-16 10:02:42 UTC
(rev 47269)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-16 20:11:13 UTC
(rev 47270)
@@ -93,6 +93,8 @@
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
+ current_node->iter = sim_params->iter;
+
// Check if we should add a ground plane
if (strcmp(current_node->rb_namep, sim_params->ground_plane_name) == 0)
{
// Add a static ground plane : should be controlled by an option :
TODO
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-16 10:02:42 UTC (rev
47269)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-16 20:11:13 UTC (rev
47270)
@@ -593,24 +593,23 @@
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;
+ mf->num_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->contacts[0].ptA, rt_result.xr_min_y_in);
+ VMOVE(mf->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);
+ VMOVE(mf->contacts[1].ptB, rt_result.xr_max_y_in);
+ VMOVE(mf->contacts[0].ptB, rt_result.xr_max_y_out);
- for(i=0; i< mf->num_rt_contacts; i++){
+ for(i=0; i< mf->num_contacts; i++){
bu_log("create_contact_pairs : %d, %s(%f, %f, %f) -- %s(%f, %f, %f)",
- i, mf->rbA->rb_namep, V3ARGS(mf->rt_contacts[i].ptA),
- mf->rbB->rb_namep, V3ARGS(mf->rt_contacts[i].ptB));
+ i, mf->rbA->rb_namep, V3ARGS(mf->contacts[i].ptA),
+ mf->rbB->rb_namep, V3ARGS(mf->contacts[i].ptB));
}
- VSUB2(a, mf->rt_contacts[1].ptB, mf->rt_contacts[1].ptA);
- VSUB2(b, mf->rt_contacts[0].ptA, mf->rt_contacts[1].ptB);
+ VSUB2(a, mf->contacts[1].ptB, mf->contacts[1].ptA);
+ VSUB2(b, mf->contacts[0].ptA, mf->contacts[1].ptB);
/* Get the normals */
VCROSS(c, a, b);
@@ -618,30 +617,70 @@
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);
+ VMOVE(mf->contacts[0].normalWorldOnB, c);
+ VMOVE(mf->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];
+ mf->contacts[0].depth = c[Z];
+ mf->contacts[1].depth = c[Z];
bu_log("create_contact_pairs : Penetration depth set to %f", c[Z]);
+ /* VSET(mf->contacts[0].ptA, 0.000000, 0.000000, -0.001389);
+ VSET(mf->contacts[1].ptA, 1.000000, 0.000000, -0.001389);
+ VSET(mf->contacts[1].ptB, 0.000000, 0.960000, -0.001389);
+ VSET(mf->contacts[0].ptB, 1.000000, 0.960000, -0.001389);*/
+ VSET(mf->contacts[0].ptB, 1.000000, 1.000000, 0.000000);
+ VSET(mf->contacts[1].ptB, 1.000000, 0.000000, 0.000000);
+ VSET(mf->contacts[2].ptB, 0.000000, 0.000000, 0.000000);
+ VSET(mf->contacts[3].ptB, 0.000000, 1.000000, 0.000000);
+
+
+
return GED_OK;
}
int
+free_rt_manifold_lists(struct simulation_params *sim_params)
+{
+ /* Free memory in manifold list */
+ struct sim_manifold *current_manifold, *next_manifold;
+ struct rigid_body *current_node;
+
+ for (current_node = sim_params->head_node; current_node != NULL;
+ current_node = current_node->next) {
+
+ for (current_manifold = current_node->head_rt_manifold;
current_manifold != NULL;) {
+
+ next_manifold = current_manifold->next;
+ bu_free(current_manifold, "simulate :
head_rt_manifold");
+ current_manifold = next_manifold;
+ current_node->num_rt_manifolds--;
+ }
+
+ current_node->num_rt_manifolds = 0;
+ current_node->head_rt_manifold = NULL;
+ }
+
+ return GED_OK;
+}
+
+
+int
generate_manifolds(struct ged *gedp, struct simulation_params *sim_params)
{
- struct sim_manifold *current_manifold;
+ struct sim_manifold *bt_mf, *rt_mf;
struct rigid_body *rb;
vect_t overlap_min, overlap_max;
char *prefix_overlap = "overlap_";
struct bu_vls overlap_name = BU_VLS_INIT_ZERO;
+ /* Free all the manifolds generated in the previous iteration */
+ free_rt_manifold_lists(sim_params);
+
/* Raytrace related stuff */
struct rt_i *rtip;
@@ -652,55 +691,64 @@
}
rtip->useair = 1;
+ /* Initialize the raytrace */
init_raytrace(sim_params, rtip);
- /* Check all rigid bodies for overlaps using their manifold lists */
+ /* Check all rigid bodies for overlaps using their BT manifold list */
for (rb = sim_params->head_node; rb != NULL; rb = rb->next) {
bu_log("generate_manifolds: Analyzing manifolds of %s", rb->rb_namep);
- for (current_manifold = rb->head_manifold; current_manifold != NULL;
- current_manifold = current_manifold->next) {
+ for (bt_mf = rb->head_bt_manifold; bt_mf != NULL;
+ bt_mf = bt_mf->next) {
- /* Get the overlap region */
- get_overlap(current_manifold->rbA, current_manifold->rbB,
- overlap_min,
- overlap_max);
+ /* Get the overlap region */
+ get_overlap(bt_mf->rbA, bt_mf->rbB,
+ overlap_min,
+ overlap_max);
- /* Prepare the overlap prim name */
- bu_vls_sprintf(&overlap_name, "%s%s_%s",
- prefix_overlap,
- current_manifold->rbA->rb_namep,
- current_manifold->rbB->rb_namep);
+ /* Prepare the overlap prim name */
+ bu_vls_sprintf(&overlap_name, "%s%s_%s",
+ prefix_overlap,
+ bt_mf->rbA->rb_namep,
+ bt_mf->rbB->rb_namep);
- /* Make the overlap volume RPP */
- make_rpp(gedp, overlap_min, overlap_max,
bu_vls_addr(&overlap_name));
+ /* Make the overlap volume RPP */
+ make_rpp(gedp, overlap_min, overlap_max,
bu_vls_addr(&overlap_name));
- /* Add the region to the result of the sim so it will be drawn too
*/
- add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(&overlap_name));
+ /* Add the region to the result of the sim so it will
be drawn too */
+ add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(&overlap_name));
- /* Initialize the rayshot results structure, has to be done for
each manifold */
- init_rayshot_results();
+ /* Initialize the rayshot results structure, has to be
done for each manifold */
+ init_rayshot_results();
- /* Shoot rays right here as the pair of rigid_body ptrs are known,
- * todo: ignore volumes already shot
- */
- shoot_x_rays(gedp, current_manifold, sim_params, rtip, overlap_min,
overlap_max);
+ /* Allocate memory for a new RT manifold */
+ rt_mf = (struct sim_manifold *)
+
bu_malloc(sizeof(struct sim_manifold), "sim_manifold: rt_mf");
+ rt_mf->rbA = bt_mf->rbA;
+ rt_mf->rbB = bt_mf->rbB;
+ rt_mf->num_contacts = 0;
+ rt_mf->next = NULL;
+ /* Shoot rays right here as the pair of rigid_body ptrs
are known,
+ * TODO: ignore volumes already shot
+ */
+ shoot_x_rays(gedp, rt_mf, sim_params, rtip,
overlap_min, overlap_max);
- /* shoot_y_rays(); */
+ /* shoot_y_rays(); */
- /* shoot_z_rays(); */
- /* Note down this volume as already covered, so no need to shoot
rays through it again */
+ /* shoot_z_rays(); */
- /* Create the contact pairs and normals */
- create_contact_pairs(current_manifold, overlap_min, overlap_max);
- }
+ /* Create the contact pairs and normals */
+ create_contact_pairs(rt_mf, overlap_min, overlap_max);
+
+
+ }
}
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-16 10:02:42 UTC (rev
47269)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-16 20:11:13 UTC (rev
47270)
@@ -117,8 +117,12 @@
/**
- * Creates the contact pairs from the raytracing results
- *
+ * Creates the contact pairs from the raytracing results.
+ * This is the core logic of the simulation and the manifold points
+ * have to satisfy certain constraints(max area within overlap region etc)
+ * to have a successful simulation. The normals and penetration depth is also
+ * generated here for each point in the contact pairs. There can be upto 4
+ * contact pairs.
*/
int
create_contact_pairs(struct sim_manifold *mf, vect_t overlap_min, vect_t
overlap_max);
@@ -126,7 +130,13 @@
/**
* Shoots rays within the AABB overlap regions only, to allow more rays to be
shot
- * in a grid of finer granularity and to increase performance.
+ * in a grid of finer granularity and to increase performance. The bodies to
be targeted
+ * are got from the list of manifolds returned by Bullet which carries out AABB
+ * intersection checks. These manifolds are stored in the corresponding
rigid_body
+ * structures of each body participating in the simulation. The manifolds are
then used
+ * to generate manifolds based on raytracing and stored in a separate list for
the body B
+ * of that particular manifold. The list is freed in the next iteration in
this function
+ * as well, to prevent memory leaks, before a new set manifolds are created.
*/
int
generate_manifolds(struct ged *gedp, struct simulation_params *sim_params);
@@ -204,6 +214,14 @@
/**
+ * Frees the list of manifolds as generated by RT for all rigid
+ * bodies in the simulation.
+ */
+int
+free_rt_manifold_lists(struct simulation_params *sim_params);
+
+
+/**
* Initializes the simulation scene for raytracing
*/
int
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-16 10:02:42 UTC (rev
47269)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-16 20:11:13 UTC (rev
47270)
@@ -62,9 +62,12 @@
VSETALL(current_node->linear_velocity, 0.0f);
VSETALL(current_node->angular_velocity, 0.0f);
- current_node->num_manifolds = 0;
- current_node->head_manifold = NULL;
+ current_node->num_bt_manifolds = 0;
+ current_node->head_bt_manifold = NULL;
+ current_node->num_rt_manifolds = 0;
+ current_node->head_rt_manifold = NULL;
+
return GED_OK;
}
@@ -340,7 +343,7 @@
* used to compare with rt generated manifold for accuracy
*/
int
-free_manifold_lists(struct simulation_params *sim_params)
+free_bt_manifold_lists(struct simulation_params *sim_params)
{
/* Free memory in manifold list */
struct sim_manifold *current_manifold, *next_manifold;
@@ -349,16 +352,16 @@
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
- for (current_manifold = current_node->head_manifold; current_manifold
!= NULL;) {
+ for (current_manifold = current_node->head_bt_manifold;
current_manifold != NULL;) {
next_manifold = current_manifold->next;
- bu_free(current_manifold, "simulate : current_manifold");
+ bu_free(current_manifold, "simulate : head_bt_manifold");
current_manifold = next_manifold;
- current_node->num_manifolds--;
+ current_node->num_bt_manifolds--;
}
- current_node->num_manifolds = 0;
- current_node->head_manifold = NULL;
+ current_node->num_bt_manifolds = 0;
+ current_node->head_bt_manifold = NULL;
}
return GED_OK;
@@ -447,6 +450,7 @@
recreate_sim_comb(gedp, &sim_params);
/* Run the physics simulation */
+ sim_params.iter = i;
rv = run_simulation(&sim_params);
if (rv != GED_OK) {
bu_vls_printf(gedp->ged_result_str, "%s: ERROR while running the
simulation\n", argv[0]);
@@ -467,7 +471,7 @@
return GED_ERROR;
}
- free_manifold_lists(&sim_params);
+ free_bt_manifold_lists(&sim_params);
}
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-16 10:02:42 UTC (rev
47269)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-16 20:11:13 UTC (rev
47270)
@@ -51,12 +51,9 @@
struct sim_manifold {
struct rigid_body *rbA, *rbB;
- int num_bt_contacts;
- struct sim_contact bt_contacts[MAX_CONTACTS_PER_MANIFOLD];
+ int num_contacts;
+ struct sim_contact contacts[MAX_CONTACTS_PER_MANIFOLD];
- int num_rt_contacts;
- struct sim_contact rt_contacts[MAX_CONTACTS_PER_MANIFOLD];
-
struct sim_manifold *next;
};
@@ -90,8 +87,15 @@
vect_t angular_velocity; /**< @brief angular velocity components */
/* Manifold generated, where this body is B, only body B has manifold info
*/
- int num_manifolds; /**< @brief number of
manifolds for this body */
- struct sim_manifold *head_manifold;/**< @brief head of the manifolds
linked list */
+ int num_bt_manifolds; /**< @brief number
of manifolds for this body */
+ struct sim_manifold *head_bt_manifold;/**< @brief head of the manifolds
linked list */
+
+ /* Manifold generated, where this body is B, only body B has manifold info
*/
+ int num_rt_manifolds; /**< @brief number
of manifolds for this body */
+ struct sim_manifold *head_rt_manifold;/**< @brief head of the manifolds
linked list */
+
+ /* Debugging */
+ int iter;
};
@@ -106,6 +110,9 @@
char *sim_comb_name; /**< @brief name of the group which
contains all sim regions*/
char *ground_plane_name; /**< @brief name of the ground plane region
*/
struct rigid_body *head_node; /**< @brief link to first rigid body node */
+
+ /* Debugging */
+ int iter;
};
Modified: brlcad/trunk/src/libged/simulate/simutils.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.c 2011-10-16 10:02:42 UTC (rev
47269)
+++ brlcad/trunk/src/libged/simulate/simutils.c 2011-10-16 20:11:13 UTC (rev
47270)
@@ -83,20 +83,20 @@
bu_log("print_manifold_list: %s\n", rb->rb_namep);
- for (current_manifold = rb->head_manifold; current_manifold != NULL;
+ for (current_manifold = rb->head_bt_manifold; current_manifold != NULL;
current_manifold = current_manifold->next) {
bu_log("--Manifold between %s & %s has %d contacts--\n",
current_manifold->rbA->rb_namep,
current_manifold->rbB->rb_namep,
- current_manifold->num_bt_contacts);
+ current_manifold->num_contacts);
- for (i=0; i<current_manifold->num_bt_contacts; i++) {
+ 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->bt_contacts[i].ptA),
- V3ARGS(current_manifold->bt_contacts[i].ptB),
- V3ARGS(current_manifold->bt_contacts[i].normalWorldOnB));
+ V3ARGS(current_manifold->contacts[i].ptA),
+ V3ARGS(current_manifold->contacts[i].ptB),
+ V3ARGS(current_manifold->contacts[i].normalWorldOnB));
}
}
}
@@ -656,11 +656,11 @@
struct sim_manifold *current_manifold;
int i;
- for (current_manifold = rb->head_manifold; current_manifold != NULL;
+ for (current_manifold = rb->head_bt_manifold; current_manifold != NULL;
current_manifold = current_manifold->next) {
- if(current_manifold->num_bt_contacts > 0){
+ if(current_manifold->num_contacts > 0){
/* Prepare prefixed bounding box primitive name */
bu_vls_sprintf(&name, "%s_%s", current_manifold->rbA->rb_namep,
current_manifold->rbB->rb_namep);
@@ -695,46 +695,46 @@
cmd_args[2] = (char *)0;
argc = 2;
- switch(current_manifold->num_bt_contacts) {
+ switch(current_manifold->num_contacts) {
case 1:
bu_log("1 contact got, no manifold drawn");
break;
case 2:
cmd_args[2] = bu_strdup("arb4");
- sprintf(buffer, "%f",
current_manifold->bt_contacts[0].ptA[0]);
+ sprintf(buffer, "%f", current_manifold->contacts[0].ptA[0]);
cmd_args[3] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[0].ptA[1]);
+ sprintf(buffer, "%f", current_manifold->contacts[0].ptA[1]);
cmd_args[4] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[0].ptA[2]);
+ sprintf(buffer, "%f", current_manifold->contacts[0].ptA[2]);
cmd_args[5] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[1].ptA[0]);
+ sprintf(buffer, "%f", current_manifold->contacts[1].ptA[0]);
cmd_args[6] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[1].ptA[1]);
+ sprintf(buffer, "%f", current_manifold->contacts[1].ptA[1]);
cmd_args[7] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[1].ptA[2]);
+ sprintf(buffer, "%f", current_manifold->contacts[1].ptA[2]);
cmd_args[8] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[1].ptB[0]);
+ sprintf(buffer, "%f", current_manifold->contacts[1].ptB[0]);
cmd_args[9] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[1].ptB[1]);
+ sprintf(buffer, "%f", current_manifold->contacts[1].ptB[1]);
cmd_args[10] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[1].ptB[2]);
+ sprintf(buffer, "%f", current_manifold->contacts[1].ptB[2]);
cmd_args[11] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[0].ptB[0]);
+ sprintf(buffer, "%f", current_manifold->contacts[0].ptB[0]);
cmd_args[12] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[0].ptB[1]);
+ sprintf(buffer, "%f", current_manifold->contacts[0].ptB[1]);
cmd_args[13] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[0].ptB[2]);
+ sprintf(buffer, "%f", current_manifold->contacts[0].ptB[2]);
cmd_args[14] = bu_strdup(buffer);
cmd_args[15] = (char *)0;
argc = 15;
- VADD2SCALE(from, current_manifold->bt_contacts[0].ptA,
- current_manifold->bt_contacts[1].ptB, 0.5);
+ VADD2SCALE(from, current_manifold->contacts[0].ptA,
+ current_manifold->contacts[1].ptB, 0.5);
break;
case 3:
@@ -744,39 +744,39 @@
case 4:
cmd_args[2] = bu_strdup("arb8");
for (i=0; i<4; i++) {
- sprintf(buffer, "%f",
current_manifold->bt_contacts[i].ptA[0]);
+ sprintf(buffer, "%f",
current_manifold->contacts[i].ptA[0]);
cmd_args[3+i*3] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[i].ptA[1]);
+ sprintf(buffer, "%f",
current_manifold->contacts[i].ptA[1]);
cmd_args[4+i*3] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[i].ptA[2]);
+ sprintf(buffer, "%f",
current_manifold->contacts[i].ptA[2]);
cmd_args[5+i*3] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[i].ptB[0]);
+ sprintf(buffer, "%f",
current_manifold->contacts[i].ptB[0]);
cmd_args[15+i*3] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[i].ptB[1]);
+ sprintf(buffer, "%f",
current_manifold->contacts[i].ptB[1]);
cmd_args[16+i*3] = bu_strdup(buffer);
- sprintf(buffer, "%f",
current_manifold->bt_contacts[i].ptB[2]);
+ sprintf(buffer, "%f",
current_manifold->contacts[i].ptB[2]);
cmd_args[17+i*3] = bu_strdup(buffer);
- /* current_manifold->bt_contacts[i].ptA[0],
- current_manifold->bt_contacts[i].ptA[1],
- current_manifold->bt_contacts[i].ptA[2],
- current_manifold->bt_contacts[i].ptB[0],
- current_manifold->bt_contacts[i].ptB[1],
- current_manifold->bt_contacts[i].ptB[2],
- current_manifold->bt_contacts[i].normalWorldOnB[0],
- current_manifold->bt_contacts[i].normalWorldOnB[1],
- current
cmd_argsrent_manifold->bt_contacts[i].normalWorldOnB[2]);*/
+ /* current_manifold->contacts[i].ptA[0],
+ current_manifold->contacts[i].ptA[1],
+ current_manifold->contacts[i].ptA[2],
+ current_manifold->contacts[i].ptB[0],
+ current_manifold->contacts[i].ptB[1],
+ current_manifold->contacts[i].ptB[2],
+ current_manifold->contacts[i].normalWorldOnB[0],
+ current_manifold->contacts[i].normalWorldOnB[1],
+ current
cmd_argsrent_manifold->contacts[i].normalWorldOnB[2]);*/
}
cmd_args[27] = (char *)0;
argc = 27;
- VADD2SCALE(from, current_manifold->bt_contacts[0].ptA,
- current_manifold->bt_contacts[2].ptB, 0.5);
+ VADD2SCALE(from, current_manifold->contacts[0].ptA,
+ current_manifold->contacts[2].ptB, 0.5);
break;
default:
- bu_log("%d contacts got, no manifold drawn",
current_manifold->num_bt_contacts);
+ bu_log("%d contacts got, no manifold drawn",
current_manifold->num_contacts);
cmd_args[2] = (char *)0;
argc = 2;
break;
@@ -803,11 +803,11 @@
add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(&prefixed_reg_name));
/* Finally draw the normal */
- VSCALE(scaled_normal,
current_manifold->bt_contacts[0].normalWorldOnB, NORMAL_SCALE_FACTOR);
+ VSCALE(scaled_normal,
current_manifold->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->bt_contacts[0].normalWorldOnB),
+ V3ARGS(current_manifold->contacts[0].normalWorldOnB),
V3ARGS(to),
V3ARGS(scaled_normal));
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