Revision: 47015
http://brlcad.svn.sourceforge.net/brlcad/?rev=47015&view=rev
Author: abhi2011
Date: 2011-10-02 16:07:57 +0000 (Sun, 02 Oct 2011)
Log Message:
-----------
Corrected positioning code and removed BB calculation in every iteration
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 2011-10-02
09:08:53 UTC (rev 47014)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-02
16:07:57 UTC (rev 47015)
@@ -98,7 +98,7 @@
//------------------- DEBUG ---------------------------
- //Get the user pointers to struct rigid_body, for printing the body name
+/* //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();
@@ -154,8 +154,8 @@
}
}
+*/
-
//------------------------------------------------------
#ifdef USE_PERSISTENT_CONTACTS
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-02 09:08:53 UTC (rev
47014)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-02 16:07:57 UTC (rev
47015)
@@ -205,6 +205,7 @@
int add_physics_attribs(struct rigid_body *current_node)
{
+
VSETALL(current_node->linear_velocity, 0.0f);
VSETALL(current_node->angular_velocity, 0.0f);
@@ -343,6 +344,8 @@
current_node->m[12] = current_node->bb_center[0];
current_node->m[13] = current_node->bb_center[1];
current_node->m[14] = current_node->bb_center[2];
+
+ MAT_COPY(current_node->m_prev, current_node->m);
}
return GED_OK;
@@ -580,13 +583,17 @@
/* Get the internal representation of the object */
GED_DB_GET_INTERNAL(gedp, &intern, current_node->dp,
bn_mat_identity, &rt_uniresource, GED_ERROR);
+ bu_log("Got this matrix for current iteration :");
print_matrix(current_node->dp->d_namep, current_node->m);
+ bu_log("Previous iteration matrix:");
+ print_matrix(current_node->dp->d_namep, current_node->m_prev);
+
/* Translate to origin without any rotation, before applying
rotation */
MAT_IDN(m);
- m[12] = - (current_node->bb_center[0]);
- m[13] = - (current_node->bb_center[1]);
- m[14] = - (current_node->bb_center[2]);
+ m[12] = - (current_node->m_prev[12]);
+ m[13] = - (current_node->m_prev[13]);
+ m[14] = - (current_node->m_prev[14]);
MAT_TRANSPOSE(t, m);
if (rt_matrix_transform(&intern, t, &intern, 0,
gedp->ged_wdbp->dbip, &rt_uniresource) < 0){
bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR rt_matrix_transform(%s) failed while \
@@ -595,6 +602,27 @@
return GED_ERROR;
}
+ bu_log("Translating back : %f, %f, %f", m[12], m[13], m[14]);
+ print_matrix(current_node->dp->d_namep, t);
+
+ /* Apply inverse rotation with no translation to undo previous
iteration's rotation */
+ MAT_COPY(m, current_node->m_prev);
+ m[12] = 0;
+ m[13] = 0;
+ m[14] = 0;
+ MAT_COPY(t, m);
+ if (rt_matrix_transform(&intern, t, &intern, 0,
gedp->ged_wdbp->dbip, &rt_uniresource) < 0){
+ bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR rt_matrix_transform(%s) failed while \
+ applying rotation\n",
+ current_node->dp->d_namep);
+ return GED_ERROR;
+ }
+
+ bu_log("Rotating back :");
+ print_matrix(current_node->dp->d_namep, t);
+
+ /*---------------------- Now apply current transformation
-------------------------*/
+
/* Apply rotation with no translation*/
MAT_COPY(m, current_node->m);
m[12] = 0;
@@ -608,6 +636,10 @@
return GED_ERROR;
}
+ bu_log("Rotating forward :");
+ print_matrix(current_node->dp->d_namep, t);
+
+
/* Translate again without any rotation, to apply final
position */
MAT_IDN(m);
m[12] = current_node->m[12];
@@ -615,6 +647,7 @@
m[14] = current_node->m[14];
MAT_TRANSPOSE(t, m);
+ bu_log("Translating forward by %f, %f, %f", m[12], m[13],
m[14]);
print_matrix(current_node->dp->d_namep, t);
if (rt_matrix_transform(&intern, t, &intern, 0,
gedp->ged_wdbp->dbip, &rt_uniresource) < 0){
@@ -624,6 +657,8 @@
return GED_ERROR;
}
+
+
/* Write the modified solid to the db so it can be redrawn at
the new position & orientation by Mged */
if (rt_db_put_internal(current_node->dp, gedp->ged_wdbp->dbip,
&intern, &rt_uniresource) < 0) {
bu_vls_printf(gedp->ged_result_str, "apply_transforms:
ERROR Database write error for '%s', aborting\n",
@@ -631,6 +666,13 @@
return GED_ERROR;
}
+ /*current_node->bb_center[0] = m[12];
+ current_node->bb_center[1] = m[13];
+ current_node->bb_center[2] = m[14];*/
+
+ /* Store this world transformation to undo it before next world
transformation */
+ MAT_COPY(current_node->m_prev, current_node->m);
+
insertAABB(gedp, sim_params, current_node);
print_manifold_list(current_node);
@@ -641,7 +683,11 @@
return GED_OK;
}
-
+/**
+ * Frees the list of manifolds as generated by Bullet: this list is used
+ * to compare with rt generated manifold for accuracy
+ *
+ */
int free_manifold_lists(struct simulation_params *sim_params)
{
/* Free memory in manifold list */
@@ -713,18 +759,21 @@
return GED_ERROR;
}
+ rv = get_bb(gedp, &sim_params);
+ if (rv != GED_OK){
+ bu_vls_printf(gedp->ged_result_str, "%s: ERROR while getting
bounding boxes\n", argv[0]);
+ return GED_ERROR;
+ }
+
for (i=0 ; i < sim_params.duration ; i++) {
bu_log("%s: ------------------------- Iteration %d
-----------------------\n", argv[0], i+1);
- rv = get_bb(gedp, &sim_params);
- if (rv != GED_OK){
- bu_vls_printf(gedp->ged_result_str, "%s: ERROR while getting
bounding boxes\n", argv[0]);
- return GED_ERROR;
- }
- /* */
+ /* Generate manifolds using rt */
+ //generate_manifolds(sim_params);
+
/* Run the physics simulation */
rv = run_simulation(&sim_params);
if (rv != GED_OK){
@@ -740,6 +789,7 @@
}
free_manifold_lists(&sim_params);
+
}
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-02 09:08:53 UTC (rev
47014)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-02 16:07:57 UTC (rev
47015)
@@ -62,7 +62,7 @@
point_t bb_center, bb_dims; /**< @brief bb center and dimensions */
point_t btbb_min, btbb_max; /**< @brief Bullet body bb bounds */
point_t btbb_center, btbb_dims; /**< @brief Bullet bb center and
dimensions */
- mat_t m; /**< @brief transformation matrix from
Bullet */
+ mat_t m, m_prev; /**< @brief 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 */
@@ -72,8 +72,8 @@
vect_t angular_velocity; /**< @brief angular velocity components
*/
/* Manifolds in which this body participates and is body B, only body B
has manifold info*/
- int num_manifolds;
- struct sim_manifold *first_manifold;
+ int num_manifolds; /**< @brief angular velocity
components */
+ struct sim_manifold *first_manifold; /**< @brief angular velocity
components */
};
/* Contains the simulation parameters, such as number of rigid bodies,
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