Revision: 47437
http://brlcad.svn.sourceforge.net/brlcad/?rev=47437&view=rev
Author: abhi2011
Date: 2011-11-04 23:00:53 +0000 (Fri, 04 Nov 2011)
Log Message:
-----------
Got the contact points, removed some unnecessary older code, now they need to
inserted correctly in Bullet. Need to check if the area of the contact points
need to be maximized.
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 2011-11-04 21:42:23 UTC (rev
47436)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-11-04 23:00:53 UTC (rev
47437)
@@ -45,29 +45,6 @@
void
-print_rayshot_results(void)
-{
-
- bu_log("print_rayshot_results: -------\n");
-
- bu_log("X bounds xr_min_x :%f, %f, %f \n",
- V3ARGS(rt_result.xr_min_x));
- bu_log("X bounds xr_max_x :%f, %f, %f \n",
- 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));
- 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));
- bu_log("Z bounds xr_min_z :%f, %f, %f\n",
- 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));
-
-
-}
-
-
-void
print_overlap_node(int i)
{
bu_log("--------- Index %d -------\n", overlap_list[i].index);
@@ -372,7 +349,7 @@
ap.a_overlap = if_overlap;/* branch to if_overlap routine */
/*ap.a_logoverlap = rt_silent_logoverlap;*/
ap.a_onehit = 0; /* continue through shotline after hit */
- ap.a_purpose = "Manifold ray";
+ ap.a_purpose = "Sim Manifold ray";
ap.a_rt_i = rtip; /* rt_i pointer */
ap.a_zero1 = 0; /* sanity check, sayth raytrace.h */
ap.a_zero2 = 0; /* sanity check, sayth raytrace.h */
@@ -432,12 +409,6 @@
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;
-
VSETALL(rt_result.resultant_normal_A, SMALL_FASTF);
VSETALL(rt_result.resultant_normal_B, SMALL_FASTF);
@@ -532,6 +503,7 @@
/* Fill up the result structure */
/* Only check with the comb of rigid body B : first get its dp
*/
+ /* TODO : move this to generate_manifolds() */
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);
@@ -810,6 +782,103 @@
int
+traverse_normalray_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;
+ fastf_t depth;
+
+
+ /* 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_normal_%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_normalray_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
+ * TODO : move this to generate_manifolds()
+ * TODO : ignore points outside overlap region
+ * TODO : Must check if insol belongs to rbA and outsol to rbB
IN THIS ORDER, else results may
+ * be incorrect if geometry of either has overlap defects
within.
+ */
+ if ((dp=db_lookup(sim_params->gedp->ged_wdbp->dbip,
current_manifold->rbA->rb_namep, LOOKUP_QUIET)) == RT_DIR_NULL) {
+ bu_log("traverse_normalray_lists: ERROR db_lookup(%s)
failed", current_manifold->rbA->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_normalray_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 rbA */
+ 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 == NOT_FOUND)
+ continue;
+
+ depth = DIST_PT_PT(overlap_list[i].in_point,
overlap_list[i].out_point);
+
+ bu_log("traverse_normalray_lists: Candidate contact point for
B:%s at (%f,%f,%f) , depth %f \
+ n=(%f,%f,%f), at solid %s",
current_manifold->rbB->rb_namep,
+
V3ARGS(overlap_list[i].in_point),
+ depth,
+
V3ARGS(rt_result.resultant_normal_B),
+
overlap_list[i].insol->st_name);
+
+ /* TODO : Check if the out solid belongs to rbA */
+
+
+ /* TODO : Maximize area of points ? , or just add all the
points and let Bullet handle it ? */
+
+
+ rt_db_free_internal(&intern);
+ }
+
+
+ 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,
@@ -873,7 +942,6 @@
*/
traverse_yray_lists(current_manifold, sim_params, r_pt,
r_dir);
- /* print_rayshot_results(); */
/* Cleanup the overlap and hit lists and free memory */
cleanup_lists();
@@ -955,8 +1023,6 @@
*/
traverse_yray_lists(current_manifold, sim_params, r_pt,
r_dir);
- /* print_rayshot_results(); */
-
/* Cleanup the overlap and hit lists and free memory */
cleanup_lists();
@@ -1037,8 +1103,6 @@
*/
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();
@@ -1075,7 +1139,10 @@
center_ray.index = 0;
VMOVE(center_ray.r_dir, rt_result.resultant_normal_B);
-
+ /* The radius of the circular bunch of rays to shoot to get depth and
points on B is
+ * the half of the diagonal of the overlap RPP , so that no matter how
the normal is
+ * oriented, rays are shot to cover the entire volume
+ */
VSUB2(diff, overlap_max, overlap_min);
d = MAGNITUDE(diff);
r = d/2;
@@ -1114,8 +1181,15 @@
/* Lets check the rays */
while (BU_LIST_WHILE(entry, xrays, &(xrayp->l))) {
- bu_log("shoot_normal_rays: center_ray pt(%f,%f,%f) dir(%f,%f,%f)",
+ bu_log("shoot_normal_rays: *****ray pt(%f,%f,%f) dir(%f,%f,%f)
******",
V3ARGS(entry->ray.r_pt),
V3ARGS(entry->ray.r_dir));
+
+ shoot_ray(sim_params->rtip, entry->ray.r_pt, entry->ray.r_dir);
+
+ traverse_normalray_lists(current_manifold, sim_params,
entry->ray.r_pt, entry->ray.r_dir);
+
+ cleanup_lists();
+
BU_LIST_DEQUEUE(&(entry->l));
bu_free(entry, "free xrays entry");
}
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-11-04 21:42:23 UTC (rev
47436)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-11-04 23:00:53 UTC (rev
47437)
@@ -126,19 +126,9 @@
vect_t normals[MAX_NORMALS];
int num_normals;
- /* 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*/
- point_t xr_max_y_in, xr_max_y_out; /* the max y where overlap was
still found */
- 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 */
+ /* The following members are used while shooting rays parallel to the
resultant normal */
- /* Results of shooting rays down y axis */
-
- /* Results of shooting rays down z axis */
-
};
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