Revision: 47455
http://brlcad.svn.sourceforge.net/brlcad/?rev=47455&view=rev
Author: abhi2011
Date: 2011-11-09 09:02:07 +0000 (Wed, 09 Nov 2011)
Log Message:
-----------
Switched to summing of normals approach to generate contact pairs. Added a
#define to switch back to velocity based generation quickly if needed.
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simulate.c
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-11-09 04:10:02 UTC (rev
47454)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-11-09 09:02:07 UTC (rev
47455)
@@ -29,6 +29,9 @@
/* Private Header */
#include "simrt.h"
+
+//#define USE_VELOCITY_FOR_NORMAL 1
+
/*
* Global lists filled up while raytracing : remove these as in the forward
* progression of a ray, the y needs to be increased gradually, no need to
@@ -1128,8 +1131,8 @@
create_contact_pairs(
struct sim_manifold *mf,
struct simulation_params *sim_params,
- vect_t UNUSED(overlap_min),
- vect_t UNUSED(overlap_max))
+ vect_t overlap_min,
+ vect_t overlap_max)
{
vect_t v;
mf->num_contacts = 0;
@@ -1139,7 +1142,9 @@
mf->rbA->rb_namep, V3ARGS(mf->rbA->btbb_center),
mf->rbB->rb_namep, V3ARGS(mf->rbB->btbb_center));
- /* Calculate the normal of the contact points as the resultant of -A & B
velocity
+
+#ifdef USE_VELOCITY_FOR_NORMAL
+ /* Calculate the normal of the contact points as the resultant of -A &
B velocity
* NOTE: Currently the sum of normals along overlapping surface , approach
is not used
*/
VMOVE(v, mf->rbA->linear_velocity);
@@ -1149,9 +1154,12 @@
VMOVE(v, mf->rbB->linear_velocity);
VUNITIZE(v);
VADD2(rt_result.resultant_normal_B, rt_result.resultant_normal_B,
mf->rbB->linear_velocity);
+#endif
+
+
bu_log("create_contact pairs : Final normal from B to A : (%f,%f,%f)",
V3ARGS(rt_result.resultant_normal_B));
- /* Begin making contact */
+ /* Begin making contacts */
/* Shoot rays along the normal to get points on B and the depth along
this direction */
shoot_normal_rays(mf, sim_params, overlap_min, overlap_max);
@@ -1199,17 +1207,16 @@
init_rayshot_results();
+#ifndef USE_VELOCITY_FOR_NORMAL
/* Shoot rays right here as the pair of rigid_body ptrs are known,
* TODO: ignore volumes already shot
- * UNUSED currently as velocity used to decide normal. Shooting rays in
3D is too time
- * consuming, but may be useful in some cases in the future
*/
- /*shoot_x_rays(rt_mf, sim_params, overlap_min, overlap_max);
+ shoot_x_rays(rt_mf, sim_params, overlap_min, overlap_max);
shoot_y_rays(rt_mf, sim_params, overlap_min, overlap_max);
- shoot_z_rays(rt_mf, sim_params, overlap_min, overlap_max);*/
+ shoot_z_rays(rt_mf, sim_params, overlap_min, overlap_max);
+#endif
-
/* Create the contact pairs and normals : Currently just 1 manifold is
allowed per pair of objects*/
create_contact_pairs(rt_mf, sim_params, overlap_min, overlap_max);
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-11-09 04:10:02 UTC (rev
47454)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-11-09 09:02:07 UTC (rev
47455)
@@ -400,7 +400,7 @@
* The libged physics simulation function.
*
* Check flags, adds regions to simulation parameters, runs the
- * simulation applies the transforms, frees memory
+ * simulation, applies the transforms, frees memory
*/
int
ged_simulate(struct ged *gedp, int argc, const char *argv[])
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
RSA(R) Conference 2012
Save $700 by Nov 18
Register now
http://p.sf.net/sfu/rsa-sfdev2dev1
_______________________________________________
BRL-CAD Source Commits mailing list
brlcad-commits@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/brlcad-commits
