Revision: 47010
http://brlcad.svn.sourceforge.net/brlcad/?rev=47010&view=rev
Author: abhi2011
Date: 2011-10-01 19:47:23 +0000 (Sat, 01 Oct 2011)
Log Message:
-----------
Trying to pass contact manifolds via a linked list back to libged
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simulate.c
brlcad/trunk/src/libged/simulate/simulate.h
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-01
13:20:43 UTC (rev 47009)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-01
19:47:23 UTC (rev 47010)
@@ -99,33 +99,57 @@
//------------------- DEBUG ---------------------------
//Get the user pointers to struct rigid_body, for printing the body name
- struct rigid_body *upA = (struct rigid_body *)col0->getUserPointer();
- struct rigid_body *upB = (struct rigid_body *)col1->getUserPointer();
+ struct rigid_body *rbA = (struct rigid_body *)col0->getUserPointer();
+ struct rigid_body *rbB = (struct rigid_body *)col1->getUserPointer();
- if(upA != NULL && upB != NULL){
+ if(rbA != NULL && rbB != NULL){
btPersistentManifold* contactManifold =
resultOut->getPersistentManifold();
- bu_log("processCollision(box/box): %s & %s \n", upA->rb_namep,
upB->rb_namep);
+ struct sim_manifold *current_manifold =
+ (struct sim_manifold *)bu_malloc(sizeof(struct
sim_manifold), "sim_manifold: current_manifold");
+ current_manifold->next = NULL;
+ if(rbB->first_manifold == NULL){
+ rbB->first_manifold = current_manifold;
+ }
+ else{
+ //Go upto the last manifold, keeping a ptr 1 node behind
+ struct sim_manifold *p1 = rbB->first_manifold, *p2;
+ while(p1 != NULL){
+ p2 = p1;
+ p1 = p1->next;
+ }
+
+ p2->next = current_manifold;
+ //print_manifold_list(rb->first_manifold);
+ }
+ rbB->num_manifolds++;
+
+ bu_log("processCollision(box/box): %s & %s \n", rbA->rb_namep,
rbB->rb_namep);
+
//Get the number of points in this manifold
- int numContacts = contactManifold->getNumContacts();
- int j;
+ current_manifold->num_contacts =
contactManifold->getNumContacts();
+ int i;
- bu_log("processCollision : Manifold contacts : %d\n",
numContacts);
+ bu_log("processCollision : Manifold contacts : %d\n",
current_manifold->num_contacts);
//Iterate over the points for this manifold
- for (j=0;j<numContacts;j++){
- btManifoldPoint& pt =
contactManifold->getContactPoint(j);
+ for (i=0; i<current_manifold->num_contacts; i++){
+ btManifoldPoint& pt =
contactManifold->getContactPoint(i);
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();
+ VMOVE(ptA, current_manifold->rb_contacts[i].ptA);
+ VMOVE(ptB, current_manifold->rb_contacts[i].ptB);
+ VMOVE(pt.m_normalWorldOnB,
current_manifold->rb_contacts[i].normalWorldOnB);
+
bu_log("processCollision: contact %d of %d, %s(%f, %f,
%f) , %s(%f, %f, %f) \
n(%f, %f, %f)\n",
- j+1, numContacts,
- upA->rb_namep, ptA[0], ptA[1], ptA[2],
- upB->rb_namep, ptB[0], ptB[1], ptB[2],
+ i+1, current_manifold->num_contacts,
+ rbA->rb_namep, ptA[0], ptA[1], ptA[2],
+ rbB->rb_namep, ptB[0], ptB[1], ptB[2],
pt.m_normalWorldOnB[0],
pt.m_normalWorldOnB[1], pt.m_normalWorldOnB[2]);
}
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-01 13:20:43 UTC (rev
47009)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-01 19:47:23 UTC (rev
47010)
@@ -91,10 +91,35 @@
*/
void print_rigid_body(struct rigid_body *rb)
{
- bu_log("Rigid Body : \"%s\", state = %d\n", rb->rb_namep, rb->state);
+ bu_log("print_rigid_body : \"%s\", state = %d\n", rb->rb_namep, rb->state);
}
+void print_manifold_list(struct rigid_body *rb)
+{
+ struct sim_manifold *current_manifold;
+ int i;
+
+ for (current_manifold = rb->first_manifold; current_manifold != NULL;
+ current_manifold = current_manifold->next) {
+ for (i=0; i<current_manifold->num_contacts; i++) {
+ bu_log("print_manifold_list: contact %d of %d, (%f, %f,
%f) , (%f, %f, %f) \
+ n(%f, %f, %f)\n",
+ i+1, current_manifold->num_contacts,
+ current_manifold->rb_contacts[i].ptA[0],
+ current_manifold->rb_contacts[i].ptA[1],
+ current_manifold->rb_contacts[i].ptA[2],
+ current_manifold->rb_contacts[i].ptB[0],
+ current_manifold->rb_contacts[i].ptB[1],
+ current_manifold->rb_contacts[i].ptB[2],
+
current_manifold->rb_contacts[i].normalWorldOnB[0],
+
current_manifold->rb_contacts[i].normalWorldOnB[1],
+
current_manifold->rb_contacts[i].normalWorldOnB[2]);
+ }
+ }
+}
+
+
/**
* Deletes a prim/comb if it exists
* TODO : lower to librt
@@ -179,6 +204,9 @@
{
VSETALL(current_node->linear_velocity, 0.0f);
VSETALL(current_node->angular_velocity, 0.0f);
+
+ current_node->num_manifolds = 0;
+ current_node->first_manifold = NULL;
return GED_OK;
}
@@ -601,13 +629,36 @@
insertAABB(gedp, sim_params, current_node);
+ print_manifold_list(current_node);
+
}
return GED_OK;
}
+int free_manifold_lists(struct simulation_params *sim_params)
+{
+ /* Free memory in manifold list */
+ struct sim_manifold *current_manifold, *next_manifold;
+ struct rigid_body *current_node;
+
+ for (current_node = sim_params->head_node; current_node != NULL;
+ current_node = current_node->next) {
+
+ for (current_manifold = current_node->first_manifold;
current_manifold != NULL; ) {
+ next_manifold = current_manifold->next;
+ bu_free(current_manifold, "simulate :
current_manifold");
+ current_manifold = next_manifold;
+ current_node->num_manifolds--;
+ }
+ }
+
+ return GED_OK;
+}
+
+
/**
* The libged physics simulation function :
* Check flags, adds regions to simulation parameters, runs the simulation
@@ -677,6 +728,8 @@
bu_vls_printf(gedp->ged_result_str, "%s: ERROR while
applying transforms\n", argv[0]);
return GED_ERROR;
}
+
+ free_manifold_lists(&sim_params);
}
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-01 13:20:43 UTC (rev
47009)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-01 19:47:23 UTC (rev
47010)
@@ -41,12 +41,13 @@
struct sim_contact {
vect_t ptA, ptB;
- vect_t normalB;
+ vect_t normalWorldOnB;
};
struct sim_manifold {
int num_contacts;
struct sim_contact rb_contacts[MAX_CONTACTS_PER_MANIFOLD];
+ struct sim_manifold *next;
};
/* Contains information about a single rigid body constructed from a BRL-CAD
region.
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