Revision: 47316
http://brlcad.svn.sourceforge.net/brlcad/?rev=47316&view=rev
Author: abhi2011
Date: 2011-10-21 17:11:26 +0000 (Fri, 21 Oct 2011)
Log Message:
-----------
Indentations corrected in simulate files
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
brlcad/trunk/src/libged/simulate/simutils.h
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-21
16:58:44 UTC (rev 47315)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-21
17:11:26 UTC (rev 47316)
@@ -40,7 +40,6 @@
//#define USE_PERSISTENT_CONTACTS 1
-
btRTCollisionAlgorithm::btRTCollisionAlgorithm(btPersistentManifold* mf,
const
btCollisionAlgorithmConstructionInfo& ci,
btCollisionObject* obj0,
@@ -78,7 +77,6 @@
//btCollisionObject* col1 = body1;
-
//quellage
bu_log("%d", dispatchInfo.m_stepCount);
@@ -100,11 +98,6 @@
//------------------- DEBUG ---------------------------
-
-
-
-
-
//------------------------------------------------------
#ifdef USE_PERSISTENT_CONTACTS
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-21 16:58:44 UTC
(rev 47315)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-21 17:11:26 UTC
(rev 47316)
@@ -38,7 +38,9 @@
#include "simrt.h"
-
+/* This is kept global because it has to accessed by callbacks, though there
may be
+ * a way to overcome this by inserting the pointer in the user world-info ptr
of Bullet
+ */
struct simulation_params *sim_params;
/**
@@ -86,16 +88,16 @@
{
bu_log("The world will soon tick by %f seconds\n", (float)timeStep);
- int i;
+ int i;
for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0; i--) {
- btCollisionObject* obj =
dynamicsWorld->getCollisionObjectArray()[i];
- btRigidBody* body = btRigidBody::upcast(obj);
+ btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i];
+ btRigidBody* body = btRigidBody::upcast(obj);
- btVector3 gravity(0,0, 10.0);
- body->applyCentralForce(gravity);
- }
+ btVector3 gravity(0,0, 10.0);
+ body->applyCentralForce(gravity);
+ }
}
@@ -122,7 +124,7 @@
*/
int
add_rigid_bodies(btDiscreteDynamicsWorld* dynamicsWorld,
- btAlignedObjectArray<btCollisionShape*>
collision_shapes)
+ btAlignedObjectArray<btCollisionShape*> collision_shapes)
{
struct rigid_body *current_node;
fastf_t volume;
@@ -133,7 +135,7 @@
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
- current_node->iter = sim_params->iter;
+ 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)
{
@@ -232,30 +234,30 @@
{
int i;
- bu_vls_printf(sim_params->result_str, "Simulation will run for %d
steps.\n", sim_params->duration);
+ bu_vls_printf(sim_params->result_str, "Simulation will run for %d
steps.\n", sim_params->duration);
bu_vls_printf(sim_params->result_str, "----- Starting simulation -----\n");
for (i=0 ; i < sim_params->duration ; i++) {
- bu_log("------------------------- Iteration %d
-----------------------\n", i+1);
+ bu_log("------------------------- Iteration %d
-----------------------\n", i+1);
- //time step of 1/60th of a second(same as internal fixedTimeStep,
maxSubSteps=10 to cover 1/60th sec.)
- dynamicsWorld->stepSimulation(1/60.f, 10);
+ //time step of 1/60th of a second(same as internal fixedTimeStep,
maxSubSteps=10 to cover 1/60th sec.)
+ dynamicsWorld->stepSimulation(1/60.f, 10);
- /* for (j=dynamicsWorld->getNumCollisionObjects()-1; j>=0; j--) {
+ /* for (j=dynamicsWorld->getNumCollisionObjects()-1; j>=0; j--) {
- btCollisionObject* obj =
dynamicsWorld->getCollisionObjectArray()[j];
- btRigidBody* body = btRigidBody::upcast(obj);
+ btCollisionObject* obj =
dynamicsWorld->getCollisionObjectArray()[j];
+ btRigidBody* body = btRigidBody::upcast(obj);
- btVector3 gravity(0,0, 10.1);
- body->applyCentralForce(gravity);
+ btVector3 gravity(0,0, 10.1);
+ body->applyCentralForce(gravity);
- //struct rigid_body *rbA = (struct rigid_body
*)boxA->getUserPointer();
- //if( BU_STR_EQUAL(rt_mf->rbA->rb_namep, rbA->rb_namep)
+ //struct rigid_body *rbA = (struct rigid_body
*)boxA->getUserPointer();
+ //if( BU_STR_EQUAL(rt_mf->rbA->rb_namep, rbA->rb_namep)
}
-*/
- }
+ */
+ }
bu_log("----- Simulation Complete -----\n");
return 0;
@@ -386,37 +388,37 @@
virtual bool
needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy*
proxy1) const
{
- bool collides = (proxy0->m_collisionFilterGroup &
proxy1->m_collisionFilterMask) != 0;
- collides = collides && (proxy1->m_collisionFilterGroup &
proxy0->m_collisionFilterMask);
+ bool collides = (proxy0->m_collisionFilterGroup &
proxy1->m_collisionFilterMask) != 0;
+ collides = collides && (proxy1->m_collisionFilterGroup &
proxy0->m_collisionFilterMask);
- btVector3 aabbMin, aabbMax;
+ btVector3 aabbMin, aabbMax;
- //This would prevent collision between proxy0 and proxy1
inspite of
- //AABB overlap being detected
- btRigidBody* boxA = (btRigidBody*)proxy0->m_clientObject;
- btRigidBody* boxB = (btRigidBody*)proxy1->m_clientObject;
+ //This would prevent collision between proxy0 and proxy1 inspite of
+ //AABB overlap being detected
+ btRigidBody* boxA = (btRigidBody*)proxy0->m_clientObject;
+ btRigidBody* boxB = (btRigidBody*)proxy1->m_clientObject;
- if (boxA != NULL && boxB != NULL) {
+ if (boxA != NULL && boxB != NULL) {
- struct rigid_body *rbA = (struct rigid_body
*)boxA->getUserPointer();
- struct rigid_body *rbB = (struct rigid_body
*)boxB->getUserPointer();
+ struct rigid_body *rbA = (struct rigid_body
*)boxA->getUserPointer();
+ struct rigid_body *rbB = (struct rigid_body
*)boxB->getUserPointer();
- bu_log("broadphase_callback: %s & %s has overlapping
AABBs",
- rbA->rb_namep, rbB->rb_namep);
+ bu_log("broadphase_callback: %s & %s has overlapping AABBs",
+ rbA->rb_namep, rbB->rb_namep);
- //Get the AABB for body A : will happen multiple times
if there are multiple overlaps
- boxA->getAabb(aabbMin, aabbMax);
- VMOVE(rbA->btbb_min, aabbMin);
- VMOVE(rbA->btbb_max, aabbMax);
+ //Get the AABB for body A : will happen multiple times if there are
multiple overlaps
+ boxA->getAabb(aabbMin, aabbMax);
+ VMOVE(rbA->btbb_min, aabbMin);
+ VMOVE(rbA->btbb_max, aabbMax);
- //Get the AABB for body B : will happen multiple times
if there are multiple overlaps
- boxB->getAabb(aabbMin, aabbMax);
- VMOVE(rbB->btbb_min, aabbMin);
- VMOVE(rbB->btbb_max, aabbMax);
- }
+ //Get the AABB for body B : will happen multiple times if there are
multiple overlaps
+ boxB->getAabb(aabbMin, aabbMax);
+ VMOVE(rbB->btbb_min, aabbMin);
+ VMOVE(rbB->btbb_max, aabbMax);
+ }
- //add some additional logic here that modifies 'collides'
- return collides;
+ //add some additional logic here that modifies 'collides'
+ return collides;
}
};
@@ -431,21 +433,21 @@
btDispatcherInfo& dispatchInfo)
{
- btRigidBody* boxA =
(btRigidBody*)(collisionPair.m_pProxy0->m_clientObject);
- btRigidBody* boxB =
(btRigidBody*)(collisionPair.m_pProxy1->m_clientObject);
+ btRigidBody* boxA =
(btRigidBody*)(collisionPair.m_pProxy0->m_clientObject);
+ btRigidBody* boxB =
(btRigidBody*)(collisionPair.m_pProxy1->m_clientObject);
- struct rigid_body *rbA = (struct rigid_body *)boxA->getUserPointer();
- struct rigid_body *rbB = (struct rigid_body *)boxB->getUserPointer();
+ struct rigid_body *rbA = (struct rigid_body *)boxA->getUserPointer();
+ struct rigid_body *rbB = (struct rigid_body *)boxB->getUserPointer();
- bu_log("nearphase_callback : Generating force for %s & %s\n",
- rbA->rb_namep,
- rbB->rb_namep);
+ bu_log("nearphase_callback : Generating force for %s & %s\n",
+ rbA->rb_namep,
+ rbB->rb_namep);
- generate_force(sim_params, rbA, rbB);
+ generate_force(sim_params, rbA, rbB);
- // Only dispatch the Bullet collision information if physics should
continue
- dispatcher.defaultNearCallback(collisionPair, dispatcher, dispatchInfo);
+ // Only dispatch the Bullet collision information if physics should
continue
+ dispatcher.defaultNearCallback(collisionPair, dispatcher, dispatchInfo);
}
@@ -453,26 +455,26 @@
* 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)
+ 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();
+ //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();
+ 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);
+ 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;
+ return true;
}
@@ -482,19 +484,19 @@
*/
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();
+ //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();
+ 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));
+ 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;
+ return true;
}
@@ -503,8 +505,8 @@
*/
bool contact_destroyed(void* userPersistentData)
{
- bu_log("CONTACT DESTROYED! %s", (char*)userPersistentData);
- return true;
+ bu_log("CONTACT DESTROYED! %s", (char*)userPersistentData);
+ return true;
}
/**
@@ -516,14 +518,14 @@
{
//int i;
- sim_params = sp;
+ sim_params = sp;
- //for (i=0 ; i < sim_params->duration ; i++) {
+ //for (i=0 ; i < sim_params->duration ; i++) {
//Make a new rt_i instance from the existing db_i structure
if ((sim_params->rtip=rt_new_rti(sim_params->gedp->ged_wdbp->dbip)) ==
RTI_NULL) {
- bu_log("run_simulation: rt_new_rti failed while getting new rt
instance\n");
- return 1;
+ bu_log("run_simulation: rt_new_rti failed while getting new rt
instance\n");
+ return 1;
}
sim_params->rtip->useair = 1;
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-21 16:58:44 UTC (rev
47315)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-21 17:11:26 UTC (rev
47316)
@@ -44,17 +44,17 @@
bu_log("print_rayshot_results: -------\n");
bu_log("X bounds xr_min_x :%f, %f, %f \n",
- V3ARGS(rt_result.xr_min_x));
+ V3ARGS(rt_result.xr_min_x));
bu_log("X bounds xr_max_x :%f, %f, %f \n",
- V3ARGS(rt_result.xr_max_x));
+ 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));
+ 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));
+ 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));
+ 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));
+ V3ARGS(rt_result.xr_max_z_in));
}
@@ -400,14 +400,14 @@
int
init_rayshot_results(void)
{
- /* Initialize the result structure */
- 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;
+ /* Initialize the result structure */
+ 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;
+ return GED_OK;
}
@@ -416,7 +416,7 @@
*/
int
traverse_xray_lists(struct simulation_params *sim_params,
- point_t pt, point_t dir)
+ point_t pt, point_t dir)
{
struct overlap *ovp;
/*struct hit_reg *hrp;*/
@@ -439,7 +439,7 @@
ovp->reg2->reg_name,
ovp->index,
V3ARGS(pt), V3ARGS(dir));
- line(sim_params->gedp, bu_vls_addr(®_vls),
+ line(sim_params->gedp, bu_vls_addr(®_vls),
ovp->in_point,
ovp->out_point,
0, 210, 0);
@@ -451,26 +451,26 @@
/* 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]){
- VMOVE(rt_result.xr_min_x, ovp->in_point);
+ 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])){
- VMOVE(rt_result.xr_max_x, ovp->out_point);
+ 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_in[Y]){
- VMOVE(rt_result.xr_min_y_in, ovp->in_point);
- VMOVE(rt_result.xr_min_y_out, ovp->out_point);
+ 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_in[Y]){
- VMOVE(rt_result.xr_max_y_in, ovp->in_point);
- VMOVE(rt_result.xr_max_y_out, ovp->out_point);
+ 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 */
@@ -518,9 +518,9 @@
int
shoot_x_rays(struct sim_manifold *current_manifold,
- struct simulation_params *sim_params,
- vect_t overlap_min,
- vect_t overlap_max)
+ struct simulation_params *sim_params,
+ vect_t overlap_min,
+ vect_t overlap_max)
{
point_t r_pt, r_dir;
fastf_t startz, starty, y, z;
@@ -542,36 +542,36 @@
/* Is it thinner than TOLerance ? */
/*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;
+ /* 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]; z += TOL){
- for(y=starty; y<(overlap_max[Y]+TOL); y += TOL){
+ /* The overlap region is too thin for generating 4 contacts points, 2 will
do */
+ 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 */
- VSET(r_pt, overlap_min[X], y, z);
+ /* Shooting towards lower x, so start from max x outside of overlap
box */
+ VSET(r_pt, overlap_min[X], y, z);
- bu_log("*****shoot_x_rays : From : (%f,%f,%f)
>>> towards(%f,%f,%f)*******",
- V3ARGS(r_pt), V3ARGS(r_dir));
+ bu_log("*****shoot_x_rays : From : (%f,%f,%f) >>>
towards(%f,%f,%f)*******",
+ V3ARGS(r_pt), V3ARGS(r_dir));
- shoot_ray(sim_params->rtip, r_pt, r_dir);
+ shoot_ray(sim_params->rtip, r_pt, r_dir);
- /* Traverse the hit list and overlap list,
drawing the ray segments
- * for the current ray
- */
- traverse_xray_lists(sim_params, r_pt, r_dir);
+ /* Traverse the hit list and overlap list, drawing the ray segments
+ * for the current ray
+ */
+ traverse_xray_lists(sim_params, r_pt, r_dir);
- print_rayshot_results();
+ print_rayshot_results();
- /* Cleanup the overlap and hit lists and free
memory */
- cleanup_lists();
+ /* Cleanup the overlap and hit lists and free memory */
+ cleanup_lists();
- }
+ }
- 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]);
- }
+ 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]);
+ }
/*}*/
@@ -586,7 +586,7 @@
/* int i; */
- /* Prepare the overlap prim name */
+ /* Prepare the overlap prim name */
bu_log("create_contact_pairs : between %s & %s",
mf->rbA->rb_namep, mf->rbB->rb_namep);
@@ -594,26 +594,26 @@
/* Determine if an arb4 needs to be generated using x/y/z diff. */
mf->num_contacts = 4;
- /* VMOVE(mf->contacts[0].ptA, rt_result.xr_min_y_in);
- VMOVE(mf->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->contacts[1].ptB, rt_result.xr_max_y_in);
- VMOVE(mf->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_contacts; i++){
- bu_log("create_contact_pairs : %d, %s(%f, %f, %f) -- %s(%f, %f, %f)",
- i, mf->rbA->rb_namep, V3ARGS(mf->contacts[i].ptA),
- mf->rbB->rb_namep, V3ARGS(mf->contacts[i].ptB));
- }
+ 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->contacts[i].ptA),
+ mf->rbB->rb_namep, V3ARGS(mf->contacts[i].ptB));
+ }
- VSUB2(a, mf->contacts[1].ptB, mf->contacts[1].ptA);
- VSUB2(b, mf->contacts[0].ptA, mf->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);
- VUNITIZE(c);
- bu_log("create_contact_pairs : Normal got as %f,%f, %f",
- V3ARGS(c));*/
+ /* VCROSS(c, a, b);
+ VUNITIZE(c);
+ 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);
@@ -629,24 +629,23 @@
mf->contacts[3].depth = c[Z];
bu_log("create_contact_pairs : Penetration depth set to %f",
mf->contacts[0].depth );
- VSET(mf->contacts[0].ptB, 1.000000, 1.000000, overlap_min[Z]);
- VSET(mf->contacts[1].ptB, 1.000000, 0.000000, overlap_min[Z]);
- VSET(mf->contacts[2].ptB, 0.000000, 0.000000, overlap_min[Z]);
- VSET(mf->contacts[3].ptB, 0.000000, 1.000000, overlap_min[Z]);
+ VSET(mf->contacts[0].ptB, 1.000000, 1.000000, overlap_min[Z]);
+ VSET(mf->contacts[1].ptB, 1.000000, 0.000000, overlap_min[Z]);
+ VSET(mf->contacts[2].ptB, 0.000000, 0.000000, overlap_min[Z]);
+ VSET(mf->contacts[3].ptB, 0.000000, 1.000000, overlap_min[Z]);
-
return GED_OK;
}
int
generate_force(struct simulation_params *sim_params,
- struct rigid_body *rbA,
- struct rigid_body *rbB)
+ struct rigid_body *rbA,
+ struct rigid_body *rbB)
{
/* The manifold between rbA & rbB will be stored in B */
- struct sim_manifold *rt_mf = &(rbB->rt_manifold);
+ struct sim_manifold *rt_mf = &(rbB->rt_manifold);
vect_t overlap_min, overlap_max;
char *prefix_overlap = "overlap_";
@@ -656,42 +655,41 @@
rt_mf->rbA = rbA;
rt_mf->rbB = rbB;
- /* Get the overlap region */
- get_overlap(rbA, rbB, overlap_min, overlap_max);
+ /* Get the overlap region */
+ get_overlap(rbA, rbB, overlap_min, overlap_max);
- /* Prepare the overlap prim name */
- bu_vls_sprintf(&overlap_name, "%s%s_%s",
+ /* Prepare the overlap prim name */
+ bu_vls_sprintf(&overlap_name, "%s%s_%s",
prefix_overlap,
rbA->rb_namep,
rbB->rb_namep);
- /* Make the overlap volume RPP */
- make_rpp(sim_params->gedp, overlap_min, overlap_max,
bu_vls_addr(&overlap_name));
+ /* Make the overlap volume RPP */
+ make_rpp(sim_params->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(sim_params->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(sim_params->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(rt_mf, sim_params, overlap_min, overlap_max);*/
+ /* Shoot rays right here as the pair of rigid_body ptrs are known,
+ * TODO: ignore volumes already shot
+ */
+ /*shoot_x_rays(rt_mf, sim_params, overlap_min, overlap_max);*/
- /* shoot_y_rays(); */
+ /* shoot_y_rays(); */
- /* shoot_z_rays(); */
+ /* shoot_z_rays(); */
+ /* Create the contact pairs and normals */
+ create_contact_pairs(rt_mf, overlap_min, overlap_max);
- /* Create the contact pairs and normals */
- create_contact_pairs(rt_mf, overlap_min, overlap_max);
-
return GED_OK;
}
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-21 16:58:44 UTC (rev
47315)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-21 17:11:26 UTC (rev
47316)
@@ -29,85 +29,85 @@
#if defined __cplusplus
- /* If the functions in this header have C linkage, this
- * will specify linkage for all C++ language compilers */
- extern "C" {
+/* If the functions in this header have C linkage, this
+ * will specify linkage for all C++ language compilers */
+extern "C" {
#endif
-/* System Headers */
+ /* System Headers */
#include <stdlib.h>
#include <ctype.h>
#include <math.h>
#include <string.h>
-/* Public Headers */
+ /* Public Headers */
#include "vmath.h"
#include "db.h"
#include "bu.h"
-/* Private Headers */
+ /* Private Headers */
#include "../ged_private.h"
#include "simulate.h"
#include "simutils.h"
-/* Rays will be at least this far apart when shot through the overlap regions
- * This is also the contact threshold for Bullet (0.04 cm if units are in
meters)
- * Overlaps regions smaller than this will have only a single plane of rays
slicing the
- * region in half, generating manifolds in a plane.
- */
+ /* Rays will be at least this far apart when shot through the overlap
regions
+ * This is also the contact threshold for Bullet (0.04 cm if units are in
meters)
+ * Overlaps regions smaller than this will have only a single plane of
rays slicing the
+ * region in half, generating manifolds in a plane.
+ */
#define TOL 0.04
-/*
- * This structure is a single node of a circularly linked list
- * of overlap regions: similar to the one in nirt/usrfrmt.h
- */
-struct overlap {
- int index;
- struct application *ap;
- struct partition *pp;
- struct region *reg1;
- struct region *reg2;
- fastf_t in_dist;
- fastf_t out_dist;
- point_t in_point;
- point_t out_point;
- struct overlap *forw;
- struct overlap *backw;
-};
+ /*
+ * This structure is a single node of a circularly linked list
+ * of overlap regions: similar to the one in nirt/usrfrmt.h
+ */
+ struct overlap {
+ int index;
+ struct application *ap;
+ struct partition *pp;
+ struct region *reg1;
+ struct region *reg2;
+ fastf_t in_dist;
+ fastf_t out_dist;
+ point_t in_point;
+ point_t out_point;
+ struct overlap *forw;
+ struct overlap *backw;
+ };
-/*
- * This structure is a single node of a circularly linked list
- * of hit regions, similar to struct hit from raytrace.h
- */
-struct hit_reg {
- int index;
- struct application *ap;
- struct partition *pp;
- const char *reg_name;
- struct soltab *in_stp;
- struct soltab *out_stp;
- fastf_t in_dist;
- fastf_t out_dist;
- point_t in_point;
- point_t out_point;
- vect_t in_normal;
- vect_t out_normal;
- struct curvature cur;
- int hit_surfno; /**< @brief solid-specific
surface indicator */
- struct hit_reg *forw;
- struct hit_reg *backw;
-};
+ /*
+ * This structure is a single node of a circularly linked list
+ * of hit regions, similar to struct hit from raytrace.h
+ */
+ struct hit_reg {
+ int index;
+ struct application *ap;
+ struct partition *pp;
+ const char *reg_name;
+ struct soltab *in_stp;
+ struct soltab *out_stp;
+ fastf_t in_dist;
+ fastf_t out_dist;
+ point_t in_point;
+ point_t out_point;
+ vect_t in_normal;
+ vect_t out_normal;
+ struct curvature cur;
+ int hit_surfno; /**< @brief solid-specific
surface indicator */
+ struct hit_reg *forw;
+ struct hit_reg *backw;
+ };
-/**
- * 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 */
+ /**
+ * 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 */
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*/
@@ -115,127 +115,127 @@
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 */
+ /* Results of shooting rays down y axis */
- /* Results of shooting rays down z axis */
+ /* Results of shooting rays down z axis */
-};
+ };
-/**
- * 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);
+ /**
+ * 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);
-/**
- * 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. 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_force(struct simulation_params *sim_params,
- struct rigid_body *rbA,
- struct rigid_body *rbB);
+ /**
+ * 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. 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_force(struct simulation_params *sim_params,
+ struct rigid_body *rbA,
+ struct rigid_body *rbB);
-/**
- * Cleanup the hit list and overlap list: private to simrt
- */
-int
-cleanup_lists(void);
+ /**
+ * Cleanup the hit list and overlap list: private to simrt
+ */
+ int
+ cleanup_lists(void);
-/**
- * Gets the exact overlap volume between 2 AABBs
- */
-int
-get_overlap(struct rigid_body *rbA, struct rigid_body *rbB, vect_t overlap_min,
- vect_t overlap_max);
+ /**
+ * Gets the exact overlap volume between 2 AABBs
+ */
+ int
+ get_overlap(struct rigid_body *rbA, struct rigid_body *rbB, vect_t
overlap_min,
+ vect_t overlap_max);
-/**
- * Handles hits, records then in a global list
- * TODO : Stop the ray after it's left the overlap region which is being
currently
- * queried.
- */
-int
-if_hit(struct application *ap, struct partition *part_headp, struct seg
*UNUSED(segs));
+ /**
+ * Handles hits, records then in a global list
+ * TODO : Stop the ray after it's left the overlap region which is being
currently
+ * queried.
+ */
+ int
+ if_hit(struct application *ap, struct partition *part_headp, struct seg
*UNUSED(segs));
-/**
- * Handles misses while shooting manifold rays,
- * not interested in misses.
- */
-int
-if_miss(struct application *UNUSED(ap));
+ /**
+ * Handles misses while shooting manifold rays,
+ * not interested in misses.
+ */
+ int
+ if_miss(struct application *UNUSED(ap));
-/**
- * Handles overlaps while shooting manifold rays,
- * records the overlap regions in a global list
- *
- */
-int
-if_overlap(struct application *ap, struct partition *pp, struct region *reg1,
- struct region *reg2, struct partition *InputHdp);
+ /**
+ * Handles overlaps while shooting manifold rays,
+ * records the overlap regions in a global list
+ *
+ */
+ int
+ if_overlap(struct application *ap, struct partition *pp, struct region
*reg1,
+ struct region *reg2, struct partition *InputHdp);
-/**
- * Shoots a ray at the simulation geometry and fills up the hit &
- * overlap global list
- */
-int
-shoot_ray(struct rt_i *rtip, point_t pt, point_t dir);
+ /**
+ * Shoots a ray at the simulation geometry and fills up the hit &
+ * overlap global list
+ */
+ int
+ shoot_ray(struct rt_i *rtip, point_t pt, point_t dir);
-/**
- * Shoots a grid of rays down x axis
- */
-int
-shoot_x_rays(struct sim_manifold *current_manifold,
- struct simulation_params *sim_params,
- vect_t overlap_min,
- vect_t overlap_max);
+ /**
+ * Shoots a grid of rays down x axis
+ */
+ int
+ shoot_x_rays(struct sim_manifold *current_manifold,
+ struct simulation_params *sim_params,
+ vect_t overlap_min,
+ vect_t overlap_max);
-/**
- * Traverse the hit list and overlap list, drawing the ray segments
- * for x-rays
- */
-int
-traverse_xray_lists(struct simulation_params *sim_params,
- point_t pt, point_t dir);
+ /**
+ * Traverse the hit list and overlap list, drawing the ray segments
+ * for x-rays
+ */
+ int
+ traverse_xray_lists(struct simulation_params *sim_params,
+ point_t pt, point_t dir);
-/**
- * Initializes the simulation scene for raytracing
- */
-int
-init_raytrace(struct simulation_params *sim_params);
+ /**
+ * Initializes the simulation scene for raytracing
+ */
+ int
+ init_raytrace(struct simulation_params *sim_params);
-/**
- * Initializes the rayshot results structure, called before analyzing
- * each manifold through rays shot in x, y & z directions
- */
-int
-init_rayshot_results(void);
+ /**
+ * Initializes the rayshot results structure, called before analyzing
+ * each manifold through rays shot in x, y & z directions
+ */
+ int
+ init_rayshot_results(void);
#if defined __cplusplus
- } /* matches the linkage specification at the beginning. */
+} /* matches the linkage specification at the beginning. */
#endif
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-21 16:58:44 UTC (rev
47315)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-21 17:11:26 UTC (rev
47316)
@@ -413,26 +413,24 @@
return GED_ERROR;
}
- /* Recreate sim.c to clear AABBs and manifold regions from previous
iteration */
- recreate_sim_comb(gedp, &sim_params);
+ /* Recreate sim.c to clear AABBs and manifold regions from previous
iteration */
+ recreate_sim_comb(gedp, &sim_params);
- /* Run the physics simulation */
- 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]);
- return GED_ERROR;
- }
+ /* Run the physics simulation */
+ 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]);
+ return GED_ERROR;
+ }
- /* Apply transforms on the participating objects, also shades objects */
- rv = apply_transforms(gedp, &sim_params);
- if (rv != GED_OK) {
- bu_vls_printf(gedp->ged_result_str, "%s: ERROR while applying
transforms\n", argv[0]);
- return GED_ERROR;
- }
+ /* Apply transforms on the participating objects, also shades objects */
+ rv = apply_transforms(gedp, &sim_params);
+ if (rv != GED_OK) {
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while applying
transforms\n", argv[0]);
+ return GED_ERROR;
+ }
-
-
/* Free memory in rigid_body list */
for (current_node = sim_params.head_node; current_node != NULL;) {
next_node = current_node->next;
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-21 16:58:44 UTC (rev
47315)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-21 17:11:26 UTC (rev
47316)
@@ -30,17 +30,17 @@
#if defined __cplusplus
- /* If the functions in this header have C linkage, this
- * will specify linkage for all C++ language compilers */
- extern "C" {
+/* If the functions in this header have C linkage, this
+ * will specify linkage for all C++ language compilers */
+extern "C" {
#endif
-/* interface headers */
+ /* interface headers */
#include "vmath.h"
#include "../ged_private.h"
-//Copy of the rigid body state tags from btCollisionObject.h
+ //Copy of the rigid body state tags from btCollisionObject.h
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
@@ -50,85 +50,85 @@
#define MAX_MANIFOLDS 4
#define MAX_CONTACTS_PER_MANIFOLD 4
-struct sim_contact {
- vect_t ptA;
- vect_t ptB;
- vect_t normalWorldOnB;
- fastf_t depth;
-};
+ struct sim_contact {
+ vect_t ptA;
+ vect_t ptB;
+ vect_t normalWorldOnB;
+ fastf_t depth;
+ };
-struct sim_manifold {
- struct rigid_body *rbA, *rbB;
- int num_contacts;
- struct sim_contact contacts[MAX_CONTACTS_PER_MANIFOLD];
-};
+ struct sim_manifold {
+ struct rigid_body *rbA, *rbB;
+ int num_contacts;
+ struct sim_contact contacts[MAX_CONTACTS_PER_MANIFOLD];
+ };
-/* Contains information about a single rigid body constructed from a
- * BRL-CAD region. This structure is the node of a linked list
- * containing the geometry to be added to the sim.
- *
- * TODO: Only the bb is currently present, but physical properties
- * like elasticity, custom forces will be added later.
- */
-struct rigid_body {
- int index;
- char *rb_namep; /**< @brief pointer to name string */
- point_t bb_min; /**< @brief body min bb bounds, only
calculated 1st time */
- point_t bb_max; /**< @brief body max bb bounds, only
calculated 1st time */
- point_t bb_center; /**< @brief bb center */
- point_t bb_dims; /**< @brief bb dimensions */
- point_t btbb_min; /**< @brief Bullet body min bb bounds,
updated after each iter. */
- point_t btbb_max; /**< @brief Bullet body max bb bounds,
updated after each iter. */
- point_t btbb_center; /**< @brief Bullet bb center */
- point_t btbb_dims; /**< @brief Bullet bb dimensions */
- mat_t m; /**< @brief transformation matrix from
Bullet */
- mat_t m_prev; /**< @brief previous transformation matrix
from Bullet */
- int state; /**< @brief rigid body state from Bullet */
- struct directory *dp; /**< @brief directory pointer to the
related region */
- struct rigid_body *next; /**< @brief link to next body */
+ /* Contains information about a single rigid body constructed from a
+ * BRL-CAD region. This structure is the node of a linked list
+ * containing the geometry to be added to the sim.
+ *
+ * TODO: Only the bb is currently present, but physical properties
+ * like elasticity, custom forces will be added later.
+ */
+ struct rigid_body {
+ int index;
+ char *rb_namep; /**< @brief pointer to name string */
+ point_t bb_min; /**< @brief body min bb bounds, only
calculated 1st time */
+ point_t bb_max; /**< @brief body max bb bounds, only
calculated 1st time */
+ point_t bb_center; /**< @brief bb center */
+ point_t bb_dims; /**< @brief bb dimensions */
+ point_t btbb_min; /**< @brief Bullet body min bb bounds,
updated after each iter. */
+ point_t btbb_max; /**< @brief Bullet body max bb bounds,
updated after each iter. */
+ point_t btbb_center; /**< @brief Bullet bb center */
+ point_t btbb_dims; /**< @brief Bullet bb dimensions */
+ mat_t m; /**< @brief transformation matrix from
Bullet */
+ mat_t m_prev; /**< @brief previous transformation
matrix from Bullet */
+ int state; /**< @brief rigid body state from
Bullet */
+ struct directory *dp; /**< @brief directory pointer to the
related region */
+ struct rigid_body *next; /**< @brief link to next body */
- /* Can be set by libged or Bullet(checked and inserted into sim) */
- vect_t linear_velocity; /**< @brief linear velocity components */
- vect_t angular_velocity; /**< @brief angular velocity components */
+ /* Can be set by libged or Bullet(checked and inserted into sim) */
+ vect_t linear_velocity; /**< @brief linear velocity components
*/
+ vect_t angular_velocity; /**< @brief angular velocity components
*/
- /* Manifold generated by Bullet, where this body is B, only body B has
manifold info */
- int num_bt_manifolds;
/**< @brief number of manifolds for this body */
- struct sim_manifold bt_manifold[MAX_MANIFOLDS]; /**< @brief the manifolds
for this body */
+ /* Manifold generated by Bullet, where this body is B, only body B has
manifold info */
+ int num_bt_manifolds;
/**< @brief number of manifolds for this body */
+ struct sim_manifold bt_manifold[MAX_MANIFOLDS]; /**< @brief the
manifolds for this body */
- /* Manifold generated by RT, 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 rt_manifold; /**< @brief only 1 manifold struct needed
as the manifold is used
-
immediately after being generated in the nearphase callback*/
+ /* Manifold generated by RT, 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 rt_manifold; /**< @brief only 1 manifold struct
needed as the manifold is used
+ immediately after being generated
in the nearphase callback*/
- /* Debugging */
- int iter;
-};
+ /* Debugging */
+ int iter;
+ };
-/* Contains the simulation parameters, such as number of rigid bodies,
- * the head node of the linked list containing the bodies and
- * time/steps for which the simulation will be run.
- */
-struct simulation_params {
- int duration; /**< @brief contains either the number of
steps or the time */
- int num_bodies; /**< @brief number of rigid bodies
participating in the sim */
- struct bu_vls *result_str; /**< @brief handle to the libged object to
access geometry info */
- 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 */
+ /* Contains the simulation parameters, such as number of rigid bodies,
+ * the head node of the linked list containing the bodies and
+ * time/steps for which the simulation will be run.
+ */
+ struct simulation_params {
+ int duration; /**< @brief contains either the number
of steps or the time */
+ int num_bodies; /**< @brief number of rigid bodies
participating in the sim */
+ struct bu_vls *result_str; /**< @brief handle to the libged object
to access geometry info */
+ 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 */
- struct rt_i *rtip; /**< @brief the raytrace instance
used by rt to find contact points */
- struct ged *gedp; /**< @brief pass the gfx context to
allow lines to be drawn by rt */
+ struct rt_i *rtip; /**< @brief the raytrace
instance used by rt to find contact points */
+ struct ged *gedp; /**< @brief pass the gfx
context to allow lines to be drawn by rt */
- /* Debugging */
- int iter;
-};
+ /* Debugging */
+ int iter;
+ };
#if defined __cplusplus
- } /* matches the linkage specification at the beginning. */
+} /* matches the linkage specification at the beginning. */
#endif
#endif /* SIMULATE_H_ */
Modified: brlcad/trunk/src/libged/simulate/simutils.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.c 2011-10-21 16:58:44 UTC (rev
47315)
+++ brlcad/trunk/src/libged/simulate/simutils.c 2011-10-21 17:11:26 UTC (rev
47316)
@@ -85,7 +85,7 @@
for (i=0; i<rb->num_bt_manifolds; i++) {
bu_log("--Manifold %d between %s & %s has %d contacts--\n",
- i+1,
+ i+1,
rb->bt_manifold[i].rbA->rb_namep,
rb->bt_manifold[i].rbB->rb_namep,
rb->bt_manifold[i].num_contacts);
@@ -492,13 +492,13 @@
rv = ged_in(gedp, argc, (const char **)cmd_args);
if (rv != GED_OK) {
- if (kill(gedp, name) != GED_OK) {
- bu_log("line: ERROR Could not delete existing \"%s\"\n", name);
- return GED_ERROR;
- }
- bu_log("make_rpp: WARNING Could not insert RPP %s (%f, %f, %f):(%f,
%f, %f)\n",
+ if (kill(gedp, name) != GED_OK) {
+ bu_log("line: ERROR Could not delete existing \"%s\"\n", name);
+ return GED_ERROR;
+ }
+ bu_log("make_rpp: WARNING Could not insert RPP %s (%f, %f, %f):(%f, %f,
%f)\n",
name, V3ARGS(min), V3ARGS(max));
- return GED_ERROR;
+ return GED_ERROR;
}
bu_free_array(argc, cmd_args, "make_rpp: free cmd_args");
Modified: brlcad/trunk/src/libged/simulate/simutils.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.h 2011-10-21 16:58:44 UTC (rev
47315)
+++ brlcad/trunk/src/libged/simulate/simutils.h 2011-10-21 17:11:26 UTC (rev
47316)
@@ -28,170 +28,170 @@
#if defined __cplusplus
- /* If the functions in this header have C linkage, this
- * will specify linkage for all C++ language compilers */
- extern "C" {
+/* If the functions in this header have C linkage, this
+ * will specify linkage for all C++ language compilers */
+extern "C" {
#endif
-/* System Headers */
+ /* System Headers */
#include <stdlib.h>
#include <ctype.h>
#include <math.h>
#include <string.h>
-/* Public Headers */
+ /* Public Headers */
#include "vmath.h"
#include "db.h"
#include "bu.h"
-/* Private Headers */
+ /* Private Headers */
#include "../ged_private.h"
#include "simulate.h"
-/**
- * How to use simulate.Blissfully simple interface, more options will be added
soon
- */
-void
-print_usage(struct bu_vls *str);
+ /**
+ * How to use simulate.Blissfully simple interface, more options will be
added soon
+ */
+ void
+ print_usage(struct bu_vls *str);
-/**
- * Prints a 16 by 16 transform matrix for debugging
- *
- */
-void
-print_matrix(char *rb_namep, mat_t t);
+ /**
+ * Prints a 16 by 16 transform matrix for debugging
+ *
+ */
+ void
+ print_matrix(char *rb_namep, mat_t t);
-/**
- * Prints a struct rigid_body for debugging, more members will be printed later
- */
-void
-print_rigid_body(struct rigid_body *rb);
+ /**
+ * Prints a struct rigid_body for debugging, more members will be printed
later
+ */
+ void
+ print_rigid_body(struct rigid_body *rb);
-/**
- * Prints the list of contacts in each manifold of a rigid body
- */
-void
-print_manifold_list(struct rigid_body *rb);
+ /**
+ * Prints the list of contacts in each manifold of a rigid body
+ */
+ void
+ print_manifold_list(struct rigid_body *rb);
-/**
- * Prints the args of a command to be executed using libged
- */
-void
-print_command(char* cmd_args[], int num_args);
+ /**
+ * Prints the args of a command to be executed using libged
+ */
+ void
+ print_command(char* cmd_args[], int num_args);
-/**
- * Deletes a prim/comb if it exists.
- *
- * TODO: lower to librt
- */
-int
-kill(struct ged *gedp, char *name);
+ /**
+ * Deletes a prim/comb if it exists.
+ *
+ * TODO: lower to librt
+ */
+ int
+ kill(struct ged *gedp, char *name);
-/**
- * Deletes and duplicates the prim/comb passed in dp as new_name.
- *
- * TODO : lower to librt
- */
-int
-kill_copy(struct ged *gedp, struct directory *dp, char* new_name);
+ /**
+ * Deletes and duplicates the prim/comb passed in dp as new_name.
+ *
+ * TODO : lower to librt
+ */
+ int
+ kill_copy(struct ged *gedp, struct directory *dp, char* new_name);
-/**
- * Adds a prim/comb to an existing comb or creates it if not existing.
- *
- * TODO: lower to librt
- */
-int
-add_to_comb(struct ged *gedp, char *target, char *add);
+ /**
+ * Adds a prim/comb to an existing comb or creates it if not existing.
+ *
+ * TODO: lower to librt
+ */
+ int
+ add_to_comb(struct ged *gedp, char *target, char *add);
-/**
- * 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);
+ /**
+ * 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: find a simpler way
- */
-int
-arrow(struct ged *gedp, char* name, point_t from, point_t to);
+ /**
+ * Draws an arrow from, to using the BOT primitive & TRC
+ * Used to draw manifold normals
+ * TODO: find a simpler way
+ */
+ int
+ arrow(struct ged *gedp, char* name, point_t from, point_t to);
-/**
- * Applies a material to passed comb using libged
- * TODO: lower to librt
- */
-int
-apply_material(struct ged *gedp,
- char* comb,
- char* material,
- unsigned char r,
- unsigned char g,
- unsigned char b);
+ /**
+ * Applies a material to passed comb using libged
+ * TODO: lower to librt
+ */
+ int
+ apply_material(struct ged *gedp,
+ char* comb,
+ char* material,
+ unsigned char r,
+ unsigned char g,
+ unsigned char b);
-/**
- * This function colors the passed comb. It's for showing the current
- * state of the object inside the physics engine.
- *
- * TODO : this should be used with a debugging flag
- */
-int
-apply_color(struct ged *gedp,
- char* name,
- unsigned char r,
- unsigned char g,
- unsigned char b);
+ /**
+ * This function colors the passed comb. It's for showing the current
+ * state of the object inside the physics engine.
+ *
+ * TODO : this should be used with a debugging flag
+ */
+ int
+ apply_color(struct ged *gedp,
+ char* name,
+ unsigned char r,
+ unsigned char g,
+ unsigned char b);
-/**
- * This function draws the bounding box around a comb as reported by
- * Bullet.
- *
- * TODO: this should be used with a debugging flag
- * TODO: this function will soon be lowered to librt
- */
-int
-insert_AABB(struct ged *gedp,
- struct simulation_params *sim_params,
- struct rigid_body *current_node);
+ /**
+ * This function draws the bounding box around a comb as reported by
+ * Bullet.
+ *
+ * TODO: this should be used with a debugging flag
+ * TODO: this function will soon be lowered to librt
+ */
+ int
+ insert_AABB(struct ged *gedp,
+ struct simulation_params *sim_params,
+ struct rigid_body *current_node);
-/**
- * This function inserts a manifold comb as reported by Bullet.
- *
- * TODO: this should be used with a debugging flag
- * TODO: this function should be lowered to librt
- */
-int
-insert_manifolds(struct ged *gedp, struct simulation_params *sim_params,
struct rigid_body *rb);
+ /**
+ * This function inserts a manifold comb as reported by Bullet.
+ *
+ * TODO: this should be used with a debugging flag
+ * TODO: this function should be lowered to librt
+ */
+ int
+ insert_manifolds(struct ged *gedp, struct simulation_params *sim_params,
struct rigid_body *rb);
-/**
- * This function creates and inserts a RPP
- * Used to show AABB overlap volume
- *
- * TODO: this function should be lowered to librt
- */
-int
-make_rpp(struct ged *gedp, vect_t max, vect_t min, char* name);
+ /**
+ * This function creates and inserts a RPP
+ * Used to show AABB overlap volume
+ *
+ * TODO: this function should be lowered to librt
+ */
+ int
+ make_rpp(struct ged *gedp, vect_t max, vect_t min, char* name);
#if defined __cplusplus
- } /* matches the linkage specification at the beginning. */
+} /* matches the linkage specification at the beginning. */
#endif
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