Revision: 47282
http://brlcad.svn.sourceforge.net/brlcad/?rev=47282&view=rev
Author: abhi2011
Date: 2011-10-18 04:34:55 +0000 (Tue, 18 Oct 2011)
Log Message:
-----------
Some corrections to normals and contact pair generation
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simrt.c
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-17
23:43:00 UTC (rev 47281)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-18
04:34:55 UTC (rev 47282)
@@ -188,9 +188,7 @@
// Now add the RT contact pairs
for (i=0; i<rt_mf->num_contacts; i++){
- btVector3 ptA, ptB;
- btVector3 normalWorldOnB(0.000000,0.000000,
-1.000000);
- rt_mf->contacts[i].depth = rbA->iter * 0.02f;
+ btVector3 ptA, ptB, normalWorldOnB;
VMOVE(ptA, rt_mf->contacts[i].ptA);
VMOVE(ptB, rt_mf->contacts[i].ptB);
@@ -205,7 +203,7 @@
rt_mf->rbA->rb_namep,
V3ARGS(ptA),
rt_mf->rbB->rb_namep,
V3ARGS(ptB),
V3ARGS(normalWorldOnB),
-
(rt_mf->contacts[i].depth));
+
rt_mf->contacts[i].depth);
}
}//end- if( bu_strcmp...
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-17 23:43:00 UTC (rev
47281)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-18 04:34:55 UTC (rev
47282)
@@ -617,26 +617,20 @@
bu_log("create_contact_pairs : Normal got as %f,%f, %f",
V3ARGS(c));*/
- VSET(mf->contacts[0].normalWorldOnB, 0, 0, -1.0000);
- VSET(mf->contacts[1].normalWorldOnB, 0, 0, -1.0000);
- VSET(mf->contacts[2].normalWorldOnB, 0, 0, -1.0000);
- VSET(mf->contacts[3].normalWorldOnB, 0, 0, -1.0000);
+ VSET(mf->contacts[0].normalWorldOnB, 0, 0, 1.0000);
+ VSET(mf->contacts[1].normalWorldOnB, 0, 0, 1.0000);
+ VSET(mf->contacts[2].normalWorldOnB, 0, 0, 1.0000);
+ VSET(mf->contacts[3].normalWorldOnB, 0, 0, 1.0000);
/* Get penetration depth */
VSUB2(c, overlap_max, overlap_min);
- mf->contacts[0].depth = c[Z]*0.5;
- mf->contacts[1].depth = c[Z]*0.5;
- mf->contacts[2].depth = c[Z]*0.5;
- mf->contacts[3].depth = c[Z]*0.5;
+ mf->contacts[0].depth = c[Z];
+ mf->contacts[1].depth = c[Z];
+ mf->contacts[2].depth = c[Z];
+ mf->contacts[3].depth = c[Z];
bu_log("create_contact_pairs : Penetration depth set to %f",
mf->contacts[0].depth );
- /*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, mf->contacts[0].depth);
VSET(mf->contacts[1].ptB, 1.000000, 0.000000, mf->contacts[1].depth);
VSET(mf->contacts[2].ptB, 0.000000, 0.000000, mf->contacts[2].depth);
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