Revision: 47397
http://brlcad.svn.sourceforge.net/brlcad/?rev=47397&view=rev
Author: abhi2011
Date: 2011-11-02 17:56:56 +0000 (Wed, 02 Nov 2011)
Log Message:
-----------
Added code for shooting z rays and analyzing normals.
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simrt.h
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-11-02 16:31:14 UTC (rev
47396)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-11-02 17:56:56 UTC (rev
47397)
@@ -534,6 +534,10 @@
bu_log("traverse_xray_lists: resultant_normal_B is now
(%f,%f,%f) after adding (%f,%f,%f)",
V3ARGS(rt_result.resultant_normal_B),
V3ARGS(overlap_list[i].in_normal));
+ VUNITIZE(rt_result.resultant_normal_B);
+ bu_log("create_contact_pairs: resultant_normal_B is
(%f,%f,%f) after unitizing",
+
V3ARGS(rt_result.resultant_normal_B));
+
}
/* Check if the out solid belongs to rbB */
@@ -552,6 +556,10 @@
bu_log("traverse_xray_lists: resultant_normal_B is now
(%f,%f,%f) after adding (%f,%f,%f)",
V3ARGS(rt_result.resultant_normal_B),
V3ARGS(overlap_list[i].out_normal));
+ VUNITIZE(rt_result.resultant_normal_B);
+ bu_log("create_contact_pairs: resultant_normal_B is
(%f,%f,%f) after unitizing",
+
V3ARGS(rt_result.resultant_normal_B));
+
}
rt_db_free_internal(&intern);
@@ -660,6 +668,10 @@
bu_log("traverse_xray_lists: resultant_normal_B is now
(%f,%f,%f) after adding (%f,%f,%f)",
V3ARGS(rt_result.resultant_normal_B),
V3ARGS(overlap_list[i].in_normal));
+ VUNITIZE(rt_result.resultant_normal_B);
+ bu_log("create_contact_pairs: resultant_normal_B is
(%f,%f,%f) after unitizing",
+
V3ARGS(rt_result.resultant_normal_B));
+
}
/* Check if the out solid belongs to rbB */
@@ -678,6 +690,9 @@
bu_log("traverse_xray_lists: resultant_normal_B is now
(%f,%f,%f) after adding (%f,%f,%f)",
V3ARGS(rt_result.resultant_normal_B),
V3ARGS(overlap_list[i].out_normal));
+ VUNITIZE(rt_result.resultant_normal_B);
+ bu_log("create_contact_pairs: resultant_normal_B is
(%f,%f,%f) after unitizing",
+
V3ARGS(rt_result.resultant_normal_B));
}
rt_db_free_internal(&intern);
@@ -712,6 +727,139 @@
int
+traverse_zray_lists(
+ struct sim_manifold *current_manifold,
+ struct simulation_params *sim_params,
+ point_t pt, point_t dir)
+{
+ int i, rv;
+
+ /*struct hit_reg *hrp;*/
+ struct bu_vls reg_vls = BU_VLS_INIT_ZERO;
+ struct directory *dp;
+ struct rt_db_internal intern;
+ struct rt_comb_internal *comb =(struct rt_comb_internal *)NULL;
+
+ /* quellage */
+ bu_log("traverse_lists : From : (%f,%f,%f), towards(%f,%f,%f)",
V3ARGS(pt), V3ARGS(dir));
+
+ /* Draw all the overlap regions : lines are added for overlap segments
+ * to help visual debugging
+ */
+ for(i=0; i<num_overlaps; i++){
+
+ bu_vls_sprintf(®_vls,
"ray_overlap_%s_%s_%d_%f_%f_%f_%f_%f_%f",
+ overlap_list[i].reg1->reg_name,
+ overlap_list[i].reg2->reg_name,
+ overlap_list[i].index,
+ V3ARGS(pt), V3ARGS(dir));
+
+ clear_bad_chars(®_vls);
+
+ line(sim_params->gedp, bu_vls_addr(®_vls),
+ overlap_list[i].in_point,
+ overlap_list[i].out_point,
+ 0, 210, 0);
+
+ bu_log("traverse_xray_lists: %s", bu_vls_addr(®_vls));
+
+ add_to_comb(sim_params->gedp, sim_params->sim_comb_name,
bu_vls_addr(®_vls));
+
+
+ /* Fill up the result structure */
+
+ /* Only check with the comb of rigid body B : first get its dp
*/
+ if ((dp=db_lookup(sim_params->gedp->ged_wdbp->dbip,
current_manifold->rbB->rb_namep, LOOKUP_QUIET)) == RT_DIR_NULL) {
+ bu_log("traverse_xray_lists: ERROR db_lookup(%s)
failed", current_manifold->rbB->rb_namep);
+ bu_vls_free(®_vls);
+ return GED_ERROR;
+ }
+
+ /* Now B's internal format */
+ if (!rt_db_lookup_internal(sim_params->gedp->ged_wdbp->dbip,
dp->d_namep, &dp, &intern, LOOKUP_NOISY, &rt_uniresource)) {
+ bu_exit(1, "traverse_xray_lists: ERROR
rt_db_lookup_internal(%s) failed to get the internal form", dp->d_namep);
+ bu_vls_free(®_vls);
+ return GED_ERROR;
+ }
+
+ comb = (struct rt_comb_internal *)intern.idb_ptr;
+
+
+ /* Check if the in solid belongs to rbB */
+ rv = check_tree_funcleaf(sim_params->gedp->ged_wdbp->dbip,
+ comb,
+ comb->tree,
+ find_solid,
+
(genptr_t)(overlap_list[i].insol->st_name));
+ if(rv == SOLID_FOUND){
+ /* It does, so sum the in_normal */
+ bu_log("traverse_xray_lists: %s is present in %s",
overlap_list[i].insol->st_name,
+
current_manifold->rbB->rb_namep);
+
+ bu_log("traverse_xray_lists: resultant_normal_B is
(%f,%f,%f)", V3ARGS(rt_result.resultant_normal_B));
+ VADD2(rt_result.resultant_normal_B,
rt_result.resultant_normal_B, overlap_list[i].in_normal);
+ bu_log("traverse_xray_lists: resultant_normal_B is now
(%f,%f,%f) after adding (%f,%f,%f)",
+ V3ARGS(rt_result.resultant_normal_B),
V3ARGS(overlap_list[i].in_normal));
+
+ VUNITIZE(rt_result.resultant_normal_B);
+ bu_log("create_contact_pairs: resultant_normal_B is
(%f,%f,%f) after unitizing",
+
V3ARGS(rt_result.resultant_normal_B));
+
+ }
+
+ /* Check if the out solid belongs to rbB */
+ rv = check_tree_funcleaf(sim_params->gedp->ged_wdbp->dbip,
+ comb,
+
comb->tree,
+
find_solid,
+
(genptr_t)(overlap_list[i].outsol->st_name));
+ if(rv == SOLID_FOUND){
+ /* It does, so sum the out_normal */
+ bu_log("traverse_xray_lists: %s is present in %s",
overlap_list[i].outsol->st_name,
+
current_manifold->rbB->rb_namep);
+
+ bu_log("traverse_xray_lists: resultant_normal_B is
(%f,%f,%f)", V3ARGS(rt_result.resultant_normal_B));
+ VADD2(rt_result.resultant_normal_B,
rt_result.resultant_normal_B, overlap_list[i].out_normal);
+ bu_log("traverse_xray_lists: resultant_normal_B is now
(%f,%f,%f) after adding (%f,%f,%f)",
+ V3ARGS(rt_result.resultant_normal_B),
V3ARGS(overlap_list[i].out_normal));
+
+ VUNITIZE(rt_result.resultant_normal_B);
+ bu_log("create_contact_pairs: resultant_normal_B is
(%f,%f,%f) after unitizing",
+
V3ARGS(rt_result.resultant_normal_B));
+ }
+
+ rt_db_free_internal(&intern);
+
+
+ }
+
+ /* Draw all the hit regions : not really needed to be visualized */
+ /* if (hit_list.forw != &hit_list) {
+
+ hrp = hit_list.forw;
+
+ while (hrp != &hit_list) {
+ bu_vls_sprintf(®_vls, "ray_hit_%s_%d_%f_%f_%f_%f_%f_%f",
+ hrp->reg_name,
+ hrp->index,
+ V3ARGS(pt), V3ARGS(dir));
+ line(gedp, bu_vls_addr(®_vls),
+ hrp->in_point,
+ hrp->out_point,
+ 0, 210, 0);
+
+ add_to_comb(gedp, sim_params->sim_comb_name, bu_vls_addr(®_vls));
+ hrp = hrp->forw;
+ }
+ }*/
+
+ bu_vls_free(®_vls);
+
+ return GED_OK;
+}
+
+
+int
shoot_x_rays(struct sim_manifold *current_manifold,
struct simulation_params *sim_params,
vect_t overlap_min,
@@ -803,7 +951,7 @@
fastf_t startz, startx, x, z, incr_x, incr_z;
vect_t diff;
- /* Set direction as straight down X-axis */
+ /* Set direction as straight down Y-axis */
VSET(r_dir, 0.0, 1.0, 0.0);
@@ -876,6 +1024,88 @@
int
+shoot_z_rays(struct sim_manifold *current_manifold,
+ struct simulation_params *sim_params,
+ vect_t overlap_min,
+ vect_t overlap_max)
+{
+ point_t r_pt, r_dir;
+ fastf_t startz, startx, x, z, incr_x, incr_z;
+ vect_t diff;
+
+ /* Set direction as straight down Z-axis */
+ VSET(r_dir, 0.0, 0.0, 1.0);
+
+
+ bu_log("Querying overlap between %s & %s",
+ current_manifold->rbA->rb_namep,
+ current_manifold->rbB->rb_namep);
+
+ /* Determine the width along z axis */
+ VSUB2(diff, overlap_max, overlap_min);
+
+ /* If it's thinner than TOLerance, reduce TOL, so that only 2 boundary
rays shot
+ */
+ incr_z = TOL;
+ if(diff[Z] < TOL){
+ incr_z = diff[Z]*0.5;
+ }
+
+ incr_x = TOL;
+ if(diff[X] < TOL){
+ incr_x = diff[X]*0.5;
+ }
+
+ startz = overlap_min[Z] - incr_z;
+
+ /* Shoot rays vertically and across the yz plane */
+ for(z=startz; z<overlap_max[Z]; ){
+
+ z += incr_z;
+ if(z > overlap_max[Z])
+ z = overlap_max[Z];
+
+ startx = overlap_min[X] - incr_x;
+
+ for(x=startx; x<overlap_max[X]; ){
+
+ x += incr_x;
+ if(x > overlap_max[X])
+ x = overlap_max[X];
+
+ /* Shooting towards higher y, so start from min y
outside of overlap box */
+ VSET(r_pt, x, overlap_min[Y], z);
+
+ bu_log("*****shoot_y_rays : From : (%f,%f,%f) ,
dir:(%f,%f,%f)*******",
+ V3ARGS(r_pt), V3ARGS(r_dir));
+
+ num_overlaps = 0;
+ 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_zray_lists(current_manifold, sim_params, r_pt,
r_dir);
+
+ /* print_rayshot_results(); */
+
+ /* Cleanup the overlap and hit lists and free memory */
+ cleanup_lists();
+
+ bu_log("Last x ray fired from x = %f,
overlap_max[X]=%f", x, overlap_max[X]);
+
+ }
+
+ bu_log("Last z ray fired from z = %f, overlap_max[Z]=%f", z,
overlap_max[Z]);
+
+ }
+
+
+ return GED_OK;
+}
+
+
+int
create_contact_pairs(struct sim_manifold *mf, vect_t overlap_min, vect_t
overlap_max)
{
/* vect_t diff;*/
@@ -909,11 +1139,9 @@
VSET(mf->contacts[2].ptB, 1.000000, 0.300000, overlap_max[Z]);
VSET(mf->contacts[3].ptB, 1.000000, 1.000000, overlap_max[Z]);*/
- VUNITIZE(rt_result.resultant_normal_B);
- bu_log("create_contact_pairs: resultant_normal_B is (%f,%f,%f) after
unitizing",
-
V3ARGS(rt_result.resultant_normal_B));
+
/*bu_log("create_contact_pairs : ptB set to (%f,%f,%f)",
V3ARGS((mf->contacts[0].ptB)));
bu_log("create_contact_pairs : normalWorldOnB set to (%f,%f,%f)",
V3ARGS(mf->contacts[0].normalWorldOnB));
bu_log("create_contact_pairs : Penetration depth set to %f",
mf->contacts[0].depth);*/
@@ -966,7 +1194,7 @@
shoot_y_rays(rt_mf, sim_params, overlap_min, overlap_max);
- /* shoot_z_rays(); */
+ shoot_z_rays(rt_mf, sim_params, overlap_min, overlap_max);
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-11-02 16:31:14 UTC (rev
47396)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-11-02 17:56:56 UTC (rev
47397)
@@ -222,6 +222,26 @@
/**
+ * Shoots a grid of rays down y axis
+ */
+int
+shoot_y_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 z axis
+ */
+int
+shoot_z_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
*/
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