Revision: 47037
http://brlcad.svn.sourceforge.net/brlcad/?rev=47037&view=rev
Author: brlcad
Date: 2011-10-03 20:12:29 +0000 (Mon, 03 Oct 2011)
Log Message:
-----------
more mass ws indent style comment cleanup. very hard to follow when even the
file itself is so self-inconsistent. update copyright year to 2011 as year of
inception.
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simcollisionalgo.h
brlcad/trunk/src/libged/simulate/simphysics.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 2011-10-03
19:53:38 UTC (rev 47036)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-03
20:12:29 UTC (rev 47037)
@@ -1,7 +1,7 @@
-/* S I M C O L L I S I O N A L G O . C P P
+/* S I M C O L L I S I O N A L G O . C P P
* BRL-CAD
*
- * Copyright (c) 2008-2011 United States Government as represented by
+ * Copyright (c) 2011 United States Government as represented by
* the U.S. Army Research Laboratory.
*
* This library is free software; you can redistribute it and/or
@@ -17,13 +17,10 @@
* License along with this file; see the file named COPYING for more
* information.
*/
-/** @file libged/simulate/simcollisionalgo.cpp
- *
- *
- * Routines related to performing collision detection using rt
- * This is a custom algorithm that replaces the box-box collision algorithm
- * in bullet
- *
+/*
+ * Routines related to performing collision detection using rt. This
+ * is a custom algorithm that replaces the box-box collision algorithm
+ * in Bullet.
*/
#include "common.h"
@@ -38,161 +35,145 @@
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
+
#define USE_PERSISTENT_CONTACTS 1
+
btRTCollisionAlgorithm::btRTCollisionAlgorithm(
- btPersistentManifold* mf,
- const btCollisionAlgorithmConstructionInfo& ci,
- btCollisionObject* obj0,
- btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
-m_ownManifold(false),
-m_manifoldPtr(mf)
+ btPersistentManifold* mf,
+ const btCollisionAlgorithmConstructionInfo& ci,
+ btCollisionObject* obj0,
+ btCollisionObject* obj1)
+ : btActivatingCollisionAlgorithm(ci, obj0, obj1),
+ m_ownManifold(false),
+ m_manifoldPtr(mf)
{
- if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
- {
- m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
- m_ownManifold = true;
- }
+ if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0, obj1)) {
+ m_manifoldPtr = m_dispatcher->getNewManifold(obj0, obj1);
+ m_ownManifold = true;
+ }
}
+
btRTCollisionAlgorithm::~btRTCollisionAlgorithm()
{
- if (m_ownManifold)
- {
- if (m_manifoldPtr)
- m_dispatcher->releaseManifold(m_manifoldPtr);
- }
+ if (m_ownManifold) {
+ if (m_manifoldPtr)
+ m_dispatcher->releaseManifold(m_manifoldPtr);
+ }
}
-void btRTCollisionAlgorithm::processCollision (
- btCollisionObject* body0,
- btCollisionObject* body1,
- const btDispatcherInfo& dispatchInfo,
- btManifoldResult* resultOut)
+
+void
+btRTCollisionAlgorithm::processCollision (
+ btCollisionObject* body0,
+ btCollisionObject* body1,
+ const btDispatcherInfo& dispatchInfo,
+ btManifoldResult* resultOut)
{
- if (!m_manifoldPtr)
- return;
+ if (!m_manifoldPtr)
+ return;
- btCollisionObject* col0 = body0;
- btCollisionObject* col1 = body1;
- btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
- btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
+ btCollisionObject* col0 = body0;
+ btCollisionObject* col1 = body1;
+ btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
+ btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
- /// report a contact. internally this will be kept persistent, and
contact reduction is done
- resultOut->setPersistentManifold(m_manifoldPtr);
+ /// report a contact. internally this will be kept persistent, and contact
reduction is done
+ resultOut->setPersistentManifold(m_manifoldPtr);
#ifndef USE_PERSISTENT_CONTACTS
- m_manifoldPtr->clearManifold();
+ m_manifoldPtr->clearManifold();
#endif //USE_PERSISTENT_CONTACTS
- btDiscreteCollisionDetectorInterface::ClosestPointInput input;
- input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
- input.m_transformA = body0->getWorldTransform();
- input.m_transformB = body1->getWorldTransform();
+ btDiscreteCollisionDetectorInterface::ClosestPointInput input;
+ input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
+ input.m_transformA = body0->getWorldTransform();
+ input.m_transformB = body1->getWorldTransform();
- //This part will get replaced with a call to rt
- btBoxBoxDetector detector(box0,box1);
- detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+ //This part will get replaced with a call to rt
+ btBoxBoxDetector detector(box0, box1);
+ detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
+ //------------------- DEBUG ---------------------------
- //------------------- DEBUG ---------------------------
-
//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();
+ struct rigid_body *rbA = (struct rigid_body *)col0->getUserPointer();
+ struct rigid_body *rbB = (struct rigid_body *)col1->getUserPointer();
- if(rbA != NULL && rbB != NULL){
+ if (rbA != NULL && rbB != NULL) {
- btPersistentManifold* contactManifold =
resultOut->getPersistentManifold();
+ btPersistentManifold* contactManifold =
resultOut->getPersistentManifold();
- struct sim_manifold *current_manifold =
- (struct sim_manifold *)bu_malloc(sizeof(struct
sim_manifold), "sim_manifold: current_manifold");
- current_manifold->next = NULL;
+ 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;
- }
+ 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++;
+ 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);
+ bu_log("processCollision(box/box): %s & %s \n", rbA->rb_namep,
rbB->rb_namep);
- //Get the number of points in this manifold
- int num_contacts = contactManifold->getNumContacts();
- current_manifold->num_contacts = num_contacts;
- int i;
+ //Get the number of points in this manifold
+ int num_contacts = contactManifold->getNumContacts();
+ current_manifold->num_contacts = num_contacts;
+ int i;
- bu_log("processCollision : Manifold contacts : %d\n",
num_contacts);
+ bu_log("processCollision : Manifold contacts : %d\n", num_contacts);
- //Iterate over the points for this manifold
- for (i=0; i<num_contacts; i++){
- btManifoldPoint& pt =
contactManifold->getContactPoint(i);
+ //Iterate over the points for this manifold
+ for (i=0; i<num_contacts; i++) {
+ btManifoldPoint& pt = contactManifold->getContactPoint(i);
- btVector3 ptA = pt.getPositionWorldOnA();
- btVector3 ptB = pt.getPositionWorldOnB();
+ btVector3 ptA = pt.getPositionWorldOnA();
+ btVector3 ptB = pt.getPositionWorldOnB();
- VMOVE(current_manifold->rb_contacts[i].ptA, ptA);
- VMOVE(current_manifold->rb_contacts[i].ptB, ptB);
- VMOVE(current_manifold->rb_contacts[i].normalWorldOnB,
pt.m_normalWorldOnB);
+ VMOVE(current_manifold->rb_contacts[i].ptA, ptA);
+ VMOVE(current_manifold->rb_contacts[i].ptB, ptB);
+ VMOVE(current_manifold->rb_contacts[i].normalWorldOnB,
pt.m_normalWorldOnB);
- bu_log("%d, %s(%f, %f, %f) , %s(%f, %f, %f), n(%f, %f,
%f)\n",
- i+1,
- 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]);
+ bu_log("%d, %s(%f, %f, %f) , %s(%f, %f, %f), n(%f, %f, %f)\n",
+ i+1,
+ 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]);
- }
}
+ }
- //------------------------------------------------------
+ //------------------------------------------------------
#ifdef USE_PERSISTENT_CONTACTS
- // refreshContactPoints is only necessary when using persistent
contact points. otherwise all points are newly added
- if (m_ownManifold)
- {
- resultOut->refreshContactPoints();
- }
+ // refreshContactPoints is only necessary when using persistent contact
points. otherwise all points are newly added
+ if (m_ownManifold) {
+ resultOut->refreshContactPoints();
+ }
#endif //USE_PERSISTENT_CONTACTS
}
-btScalar btRTCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
/*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo&
/*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+
+btScalar
+btRTCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,
btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/,
btManifoldResult* /*resultOut*/)
{
- //not yet
- return 1.f;
+ //not yet
+ return 1.f;
}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
#endif
// Local Variables:
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.h 2011-10-03 19:53:38 UTC
(rev 47036)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.h 2011-10-03 20:12:29 UTC
(rev 47037)
@@ -1,7 +1,7 @@
-/* S I M C O L L I S I O N A L G O . H
+/* S I M C O L L I S I O N A L G O . H
* BRL-CAD
*
- * Copyright (c) 2008-2011 United States Government as represented by
+ * Copyright (c) 2011 United States Government as represented by
* the U.S. Army Research Laboratory.
*
* This library is free software; you can redistribute it and/or
@@ -17,11 +17,9 @@
* License along with this file; see the file named COPYING for more
* information.
*/
-/** @file libged/simulate/simcollisionalgo.h
- *
- *
- * Routines related to performing collision detection using rt
- * This is a custom algorithm that replaces the box-box collision algorithm
+/*
+ * Routines related to performing collision detection using rt. This
+ * is a custom algorithm that replaces the box-box collision algorithm
* in bullet
*
*/
@@ -52,39 +50,39 @@
///Raytrace based collision detection
class btRTCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
- bool m_ownManifold;
- btPersistentManifold* m_manifoldPtr;
+ bool m_ownManifold;
+ btPersistentManifold* m_manifoldPtr;
public:
- btRTCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
- : btActivatingCollisionAlgorithm(ci) {}
+ btRTCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+ : btActivatingCollisionAlgorithm(ci) {}
- virtual void processCollision (btCollisionObject*
body0,btCollisionObject* body1,const btDispatcherInfo&
dispatchInfo,btManifoldResult* resultOut);
+ virtual void processCollision (btCollisionObject* body0,
btCollisionObject* body1, const btDispatcherInfo& dispatchInfo,
btManifoldResult* resultOut);
- virtual btScalar calculateTimeOfImpact(btCollisionObject*
body0,btCollisionObject* body1,const btDispatcherInfo&
dispatchInfo,btManifoldResult* resultOut);
+ virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,
btCollisionObject* body1, const btDispatcherInfo& dispatchInfo,
btManifoldResult* resultOut);
- btRTCollisionAlgorithm(btPersistentManifold* mf,const
btCollisionAlgorithmConstructionInfo& ci,btCollisionObject*
body0,btCollisionObject* body1);
+ btRTCollisionAlgorithm(btPersistentManifold* mf, const
btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,
btCollisionObject* body1);
- virtual ~btRTCollisionAlgorithm();
+ virtual ~btRTCollisionAlgorithm();
- virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
- {
- if (m_manifoldPtr && m_ownManifold)
- {
- manifoldArray.push_back(m_manifoldPtr);
- }
+ virtual void
+ getAllContactManifolds(btManifoldArray& manifoldArray)
+ {
+ if (m_manifoldPtr && m_ownManifold) {
+ manifoldArray.push_back(m_manifoldPtr);
}
+ }
- struct CreateFunc :public btCollisionAlgorithmCreateFunc
+ struct CreateFunc : public btCollisionAlgorithmCreateFunc
+ {
+ virtual btCollisionAlgorithm*
CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci,
btCollisionObject* body0, btCollisionObject* body1)
{
- virtual btCollisionAlgorithm*
CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci,
btCollisionObject* body0,btCollisionObject* body1)
- {
- int bbsize = sizeof(btRTCollisionAlgorithm);
- void* ptr =
ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
- return new(ptr)
btRTCollisionAlgorithm(0,ci,body0,body1);
- }
- };
+ int bbsize = sizeof(btRTCollisionAlgorithm);
+ void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+ return new(ptr) btRTCollisionAlgorithm(0, ci, body0, body1);
+ }
+ };
};
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-03 19:53:38 UTC
(rev 47036)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-03 20:12:29 UTC
(rev 47037)
@@ -1,7 +1,7 @@
-/* S I M P H Y S I C S . C P P
+/* S I M P H Y S I C S . C P P
* BRL-CAD
*
- * Copyright (c) 2008-2011 United States Government as represented by
+ * Copyright (c) 2011 United States Government as represented by
* the U.S. Army Research Laboratory.
*
* This library is free software; you can redistribute it and/or
@@ -17,13 +17,8 @@
* License along with this file; see the file named COPYING for more
* information.
*/
-/** @file libged/simulate/simphysics.cpp
- *
- *
+/*
* Routines related to performing physics on the passed regions
- *
- *
- *
*/
#include "common.h"
@@ -43,7 +38,8 @@
* Prints the 16 by 16 transform matrices for debugging
*
*/
-void print_matrices(char *rb_namep, mat_t t, btScalar *m)
+void
+print_matrices(char *rb_namep, mat_t t, btScalar *m)
{
int i, j;
char buffer[800];
@@ -53,7 +49,7 @@
for (i=0 ; i<4 ; i++) {
for (j=0 ; j<4 ; j++) {
- sprintf(buffer, "%st[%d]: %f\t", buffer, (j*4 + i), t[j*4 + i]
);
+ sprintf(buffer, "%st[%d]: %f\t", buffer, (j*4 + i), t[j*4 + i]);
}
sprintf(buffer, "%s\n", buffer);
}
@@ -62,7 +58,7 @@
for (i=0 ; i<4 ; i++) {
for (j=0 ; j<4 ; j++) {
- sprintf(buffer, "%sm[%d]: %f\t", buffer, (j*4 + i), m[j*4 + i] );
+ sprintf(buffer, "%sm[%d]: %f\t", buffer, (j*4 + i), m[j*4 + i]);
}
sprintf(buffer, "%s\n", buffer);
}
@@ -79,8 +75,10 @@
* The plane will be static and have the same dimensions as the region
*
*/
-int add_rigid_bodies(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params,
- btAlignedObjectArray<btCollisionShape*> collision_shapes)
+int
+add_rigid_bodies(btDiscreteDynamicsWorld* dynamicsWorld,
+ struct simulation_params *sim_params,
+ btAlignedObjectArray<btCollisionShape*> collision_shapes)
{
struct rigid_body *current_node;
fastf_t volume;
@@ -89,34 +87,33 @@
btVector3 v;
-
for (current_node = sim_params->head_node; current_node != NULL;
current_node = current_node->next) {
// Check if we should add a ground plane
- if(strcmp(current_node->rb_namep, sim_params->ground_plane_name) == 0){
+ if (strcmp(current_node->rb_namep, sim_params->ground_plane_name) ==
0) {
// Add a static ground plane : should be controlled by an option :
TODO
btCollisionShape* groundShape = new
btBoxShape(btVector3(current_node->bb_dims[0]/2,
current_node->bb_dims[1]/2,
current_node->bb_dims[2]/2));
/*btDefaultMotionState* groundMotionState = new
btDefaultMotionState(
-
btTransform(btQuaternion(0,0,0,1),
-
btVector3(current_node->bb_center[0],
-
current_node->bb_center[1],
-
current_node->bb_center[2])));*/
+ btTransform(btQuaternion(0, 0, 0, 1),
+ btVector3(current_node->bb_center[0],
+ current_node->bb_center[1],
+ current_node->bb_center[2])));*/
- btDefaultMotionState* groundMotionState = new
btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),
-
btVector3(0, 0, 0)));
+ btDefaultMotionState* groundMotionState = new
btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1),
+
btVector3(0, 0, 0)));
//Copy the transform matrix
MAT_COPY(m, current_node->m);
groundMotionState->m_graphicsWorldTrans.setFromOpenGLMatrix(m);
- /* btCollisionShape* groundShape = new
btStaticPlaneShape(btVector3(0,0,1),1);
- btDefaultMotionState* groundMotionState =
- new
btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,-1)));*/
+ /* btCollisionShape* groundShape = new
btStaticPlaneShape(btVector3(0, 0, 1), 1);
+ btDefaultMotionState* groundMotionState =
+ new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1),
btVector3(0, 0, -1)));*/
btRigidBody::btRigidBodyConstructionInfo
-
groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0,0,0));
+ groundRigidBodyCI(0, groundMotionState, groundShape,
btVector3(0, 0, 0));
btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI);
groundRigidBody->setUserPointer((void *)current_node);
@@ -124,35 +121,34 @@
collision_shapes.push_back(groundShape);
bu_vls_printf(sim_params->result_str, "Added static ground plane :
%s to simulation with mass %f Kg\n",
- current_node->rb_namep,
0.f);
+ current_node->rb_namep, 0.f);
- }
- else{
+ } else{
//Nope, its a rigid body
btCollisionShape* bb_Shape = new
btBoxShape(btVector3(current_node->bb_dims[0]/2,
-
current_node->bb_dims[1]/2,
-
current_node->bb_dims[2]/2));
+
current_node->bb_dims[1]/2,
+
current_node->bb_dims[2]/2));
collision_shapes.push_back(bb_Shape);
volume = current_node->bb_dims[0] * current_node->bb_dims[1] *
current_node->bb_dims[2];
mass = volume; // density is 1
- btVector3 bb_Inertia(0,0,0);
+ btVector3 bb_Inertia(0, 0, 0);
bb_Shape->calculateLocalInertia(mass, bb_Inertia);
- /* btDefaultMotionState* bb_MotionState = new
btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),
-
btVector3(current_node->bb_center[0],
-
current_node->bb_center[1],
-
current_node->bb_center[2])));*/
- btDefaultMotionState* bb_MotionState = new
btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),
-
btVector3(0, 0, 0)));
+ /* btDefaultMotionState* bb_MotionState = new
btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1),
+ btVector3(current_node->bb_center[0],
+ current_node->bb_center[1],
+ current_node->bb_center[2])));*/
+ btDefaultMotionState* bb_MotionState = new
btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1),
+
btVector3(0, 0, 0)));
//Copy the transform matrix
MAT_COPY(m, current_node->m);
bb_MotionState->m_graphicsWorldTrans.setFromOpenGLMatrix(m);
btRigidBody::btRigidBodyConstructionInfo
- bb_RigidBodyCI(mass, bb_MotionState, bb_Shape,
bb_Inertia);
+ bb_RigidBodyCI(mass, bb_MotionState, bb_Shape, bb_Inertia);
btRigidBody* bb_RigidBody = new btRigidBody(bb_RigidBodyCI);
bb_RigidBody->setUserPointer((void *)current_node);
@@ -166,7 +162,7 @@
dynamicsWorld->addRigidBody(bb_RigidBody);
bu_vls_printf(sim_params->result_str, "Added new rigid body : %s
to simulation with mass %f Kg\n",
- current_node->rb_namep,
mass);
+ current_node->rb_namep, mass);
}
@@ -175,17 +171,19 @@
return 0;
}
+
/**
* Steps the dynamics world according to the simulation parameters
*
*/
-int step_physics(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params)
+int
+step_physics(btDiscreteDynamicsWorld* dynamicsWorld, struct simulation_params
*sim_params)
{
bu_vls_printf(sim_params->result_str, "Simulation will run for %d
steps.\n", sim_params->duration);
bu_vls_printf(sim_params->result_str, "----- Starting simulation -----\n");
//time step of 1/60th of a second(same as internal fixedTimeStep,
maxSubSteps=10 to cover 1/60th sec.)
- dynamicsWorld->stepSimulation(1/60.f,10);
+ dynamicsWorld->stepSimulation(1/60.f, 10);
bu_vls_printf(sim_params->result_str, "----- Simulation Complete -----\n");
return 0;
@@ -196,25 +194,26 @@
* Get the final transforms and pack off back to libged
*
*/
-int get_transforms(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params)
+int
+get_transforms(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params)
{
int i;
btScalar m[16];
btVector3 aabbMin, aabbMax, v;
- btTransform identity;
+ btTransform identity;
identity.setIdentity();
const int num_bodies = dynamicsWorld->getNumCollisionObjects();
- for(i=0; i < num_bodies; i++){
+ for (i=0; i < num_bodies; i++) {
//Common properties among all rigid bodies
- btCollisionObject* bb_ColObj =
dynamicsWorld->getCollisionObjectArray()[i];
- btRigidBody* bb_RigidBody = btRigidBody::upcast(bb_ColObj);
+ btCollisionObject* bb_ColObj =
dynamicsWorld->getCollisionObjectArray()[i];
+ btRigidBody* bb_RigidBody = btRigidBody::upcast(bb_ColObj);
const btCollisionShape* bb_Shape = bb_ColObj->getCollisionShape();
//may be used later
- if( bb_RigidBody && bb_RigidBody->getMotionState()){
+ if (bb_RigidBody && bb_RigidBody->getMotionState()) {
//Get the motion state and the world transform from it
btDefaultMotionState* bb_MotionState =
(btDefaultMotionState*)bb_RigidBody->getMotionState();
@@ -223,7 +222,7 @@
struct rigid_body *current_node = (struct rigid_body
*)bb_RigidBody->getUserPointer();
- if(current_node == NULL){
+ if (current_node == NULL) {
bu_vls_printf(sim_params->result_str, "get_transforms : Could
not get the user pointer \
(ground plane perhaps)\n");
continue;
@@ -248,12 +247,12 @@
VSUB2(current_node->btbb_dims, current_node->btbb_max,
current_node->btbb_min);
bu_vls_printf(sim_params->result_str, "get_transforms: Dimensions
of this BB : %f %f %f\n",
- current_node->btbb_dims[0], current_node->btbb_dims[1],
current_node->btbb_dims[2]);
+ current_node->btbb_dims[0],
current_node->btbb_dims[1], current_node->btbb_dims[2]);
//Get BB position in 3D space
VCOMB2(current_node->btbb_center, 1, current_node->btbb_min, 0.5,
current_node->btbb_dims)
- v = bb_RigidBody->getLinearVelocity();
+ v = bb_RigidBody->getLinearVelocity();
VMOVE(current_node->linear_velocity, v);
v = bb_RigidBody->getAngularVelocity();
@@ -270,26 +269,26 @@
* Cleanup the physics collision shapes, rigid bodies etc
*
*/
-int cleanup(btDiscreteDynamicsWorld* dynamicsWorld,
- btAlignedObjectArray<btCollisionShape*> collision_shapes)
+int
+cleanup(btDiscreteDynamicsWorld* dynamicsWorld,
+ btAlignedObjectArray<btCollisionShape*> collision_shapes)
{
//remove the rigid bodies from the dynamics world and delete them
int i;
- for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0; i--){
+ for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0; i--) {
btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
- if (body && body->getMotionState()){
+ if (body && body->getMotionState()) {
delete body->getMotionState();
}
- dynamicsWorld->removeCollisionObject( obj );
+ dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
//delete collision shapes
- for (i=0; i<collision_shapes.size(); i++)
- {
+ for (i=0; i<collision_shapes.size(); i++) {
btCollisionShape* shape = collision_shapes[i];
delete shape;
}
@@ -311,8 +310,7 @@
{
//Return true when pairs need collision
virtual bool
- needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy*
proxy1) const
- {
+ needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy*
proxy1) const {
bool collides = (proxy0->m_collisionFilterGroup &
proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup &
proxy0->m_collisionFilterMask);
@@ -321,13 +319,13 @@
//collides = false;
btRigidBody* box0 = (btRigidBody*)proxy0->m_clientObject;
btRigidBody* box1 = (btRigidBody*)proxy1->m_clientObject;
- if(box0 != NULL && box0 != NULL){
- struct rigid_body *upA = (struct rigid_body
*)box0->getUserPointer();
- struct rigid_body *upB = (struct rigid_body
*)box1->getUserPointer();
+ if (box0 != NULL && box0 != NULL) {
+ struct rigid_body *upA = (struct rigid_body
*)box0->getUserPointer();
+ struct rigid_body *upB = (struct rigid_body
*)box1->getUserPointer();
- if(upA != NULL && upB != NULL)
- bu_log("broadphase_callback: %s & %s has
overlapping AABBs",
- upA->rb_namep, upB->rb_namep);
+ if (upA != NULL && upB != NULL)
+ bu_log("broadphase_callback: %s & %s has overlapping AABBs",
+ upA->rb_namep, upB->rb_namep);
}
//add some additional logic here that modifies 'collides'
@@ -340,9 +338,10 @@
* Narrowphase filter callback : used to show the generated collision points
*
*/
-void nearphase_callback(btBroadphasePair& collisionPair,
- btCollisionDispatcher& dispatcher,
- btDispatcherInfo& dispatchInfo)
+void
+nearphase_callback(btBroadphasePair& collisionPair,
+ btCollisionDispatcher& dispatcher,
+ btDispatcherInfo& dispatchInfo)
{
int i, j, numContacts;
@@ -352,17 +351,17 @@
* A manifold is a set of contact points containing upto 4 points
* There may be multiple manifolds where objects touch
*/
- for (i=0; i<numManifolds; i++){
+ for (i=0; i<numManifolds; i++) {
//Get the manifold and the objects which created it
btPersistentManifold* contactManifold =
- dispatcher.getManifoldByIndexInternal(i);
+ dispatcher.getManifoldByIndexInternal(i);
btCollisionObject* obA =
static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB =
static_cast<btCollisionObject*>(contactManifold->getBody1());
//Get the user pointers to struct rigid_body, for printing the body
name
- btRigidBody* rbA = btRigidBody::upcast(obA);
- btRigidBody* rbB = btRigidBody::upcast(obB);
+ btRigidBody* rbA = btRigidBody::upcast(obA);
+ btRigidBody* rbB = btRigidBody::upcast(obB);
struct rigid_body *upA = (struct rigid_body *)rbA->getUserPointer();
struct rigid_body *upB = (struct rigid_body *)rbB->getUserPointer();
@@ -370,27 +369,26 @@
numContacts = contactManifold->getNumContacts();
bu_log("nearphase_callback : Manifold %d of %d, contacts : %d\n",
- i+1,
- numManifolds,
- numContacts);
+ i+1,
+ numManifolds,
+ numContacts);
//Iterate over the points for this manifold
- for (j=0;j<numContacts;j++){
+ for (j=0;j<numContacts;j++) {
btManifoldPoint& pt = contactManifold->getContactPoint(j);
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();
- if(upA == NULL || upB == NULL){
+ if (upA == NULL || upB == NULL) {
bu_log("nearphase_callback : contact %d of %d, could not get
user pointers\n",
- j+1, numContacts);
+ j+1, numContacts);
- }
- else{
+ } else{
bu_log("nearphase_callback: contact %d of %d, %s(%f, %f, %f) ,
%s(%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]);
+ j+1, numContacts,
+ upA->rb_namep, ptA[0], ptA[1], ptA[2],
+ upB->rb_namep, ptB[0], ptB[1], ptB[2]);
}
}
@@ -405,7 +403,7 @@
/**
* C++ wrapper for doing physics using bullet
- *
+ *
*/
extern "C" int
run_simulation(struct simulation_params *sim_params)
@@ -414,63 +412,64 @@
//for (i=0 ; i < sim_params->duration ; i++) {
- // Initialize the physics world
- btDiscreteDynamicsWorld* dynamicsWorld;
+ // Initialize the physics world
+ btDiscreteDynamicsWorld* dynamicsWorld;
- // Keep the collision shapes, for deletion/cleanup
- btAlignedObjectArray<btCollisionShape*> collision_shapes;
+ // Keep the collision shapes, for deletion/cleanup
+ btAlignedObjectArray<btCollisionShape*> collision_shapes;
- btBroadphaseInterface* broadphase = new btDbvtBroadphase();
- btDefaultCollisionConfiguration* collisionConfiguration = new
btDefaultCollisionConfiguration();
- btCollisionDispatcher* dispatcher = new
btCollisionDispatcher(collisionConfiguration);
+ btBroadphaseInterface* broadphase = new btDbvtBroadphase();
+ btDefaultCollisionConfiguration* collisionConfiguration = new
btDefaultCollisionConfiguration();
+ btCollisionDispatcher* dispatcher = new
btCollisionDispatcher(collisionConfiguration);
- //Register custom rt based nearphase algo for box-box collision,
- //arbitrary shapes from brlcad are all represented by the box collision
shape
- //in bullet, the movement will not be like a box however, but according
to
- //the collisions detected by rt and therefore should follow any
arbitrary shape correctly
- dispatcher->registerCollisionCreateFunc(
- BOX_SHAPE_PROXYTYPE,
- BOX_SHAPE_PROXYTYPE,
- new btRTCollisionAlgorithm::CreateFunc);
+ //Register custom rt based nearphase algo for box-box collision,
+ //arbitrary shapes from brlcad are all represented by the box collision
shape
+ //in bullet, the movement will not be like a box however, but according to
+ //the collisions detected by rt and therefore should follow any arbitrary
shape correctly
+ dispatcher->registerCollisionCreateFunc(
+ BOX_SHAPE_PROXYTYPE,
+ BOX_SHAPE_PROXYTYPE,
+ new btRTCollisionAlgorithm::CreateFunc);
- btSequentialImpulseConstraintSolver* solver = new
btSequentialImpulseConstraintSolver;
+ btSequentialImpulseConstraintSolver* solver = new
btSequentialImpulseConstraintSolver;
- dynamicsWorld = new
btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
+ dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase,
solver, collisionConfiguration);
- //Set the gravity direction along -ve Z axis
- dynamicsWorld->setGravity(btVector3(0, 0, -10));
+ //Set the gravity direction along -ve Z axis
+ dynamicsWorld->setGravity(btVector3(0, 0, -10));
- //Add the rigid bodies to the world, including the ground plane
- add_rigid_bodies(dynamicsWorld, sim_params, collision_shapes);
+ //Add the rigid bodies to the world, including the ground plane
+ add_rigid_bodies(dynamicsWorld, sim_params, collision_shapes);
- //Add a broadphase callback to hook to the AABB detection algos
- btOverlapFilterCallback * filterCallback = new broadphase_callback();
- dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
+ //Add a broadphase callback to hook to the AABB detection algos
+ btOverlapFilterCallback * filterCallback = new broadphase_callback();
+ dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
- //Add a nearphase callback to hook to the contact points generation
algos
- dispatcher->setNearCallback((btNearCallback)nearphase_callback);
+ //Add a nearphase callback to hook to the contact points generation algos
+ dispatcher->setNearCallback((btNearCallback)nearphase_callback);
- //Step the physics the required number of times
- step_physics(dynamicsWorld, sim_params);
+ //Step the physics the required number of times
+ step_physics(dynamicsWorld, sim_params);
- //Get the world transforms back into the simulation params struct
- get_transforms(dynamicsWorld, sim_params);
+ //Get the world transforms back into the simulation params struct
+ get_transforms(dynamicsWorld, sim_params);
- //Clean and free memory used by physics objects
- cleanup(dynamicsWorld, collision_shapes);
+ //Clean and free memory used by physics objects
+ cleanup(dynamicsWorld, collision_shapes);
- //Clean up stuff in here
- delete solver;
- delete dispatcher;
- delete collisionConfiguration;
- delete broadphase;
+ //Clean up stuff in here
+ delete solver;
+ delete dispatcher;
+ delete collisionConfiguration;
+ delete broadphase;
//}
return 0;
}
+
#endif
// Local Variables:
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-03 19:53:38 UTC (rev
47036)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-03 20:12:29 UTC (rev
47037)
@@ -1,7 +1,7 @@
/* S I M U L A T E . C
* BRL-CAD
*
- * Copyright (c) 2008-2011 United States Government as represented by
+ * Copyright (c) 2011 United States Government as represented by
* the U.S. Army Research Laboratory.
*
* This library is free software; you can redistribute it and/or
@@ -17,13 +17,11 @@
* License along with this file; see the file named COPYING for more
* information.
*/
-/** @file libged/simulate/simulate.c
- *
+/*
* The simulate command.
*
* Routines related to performing physics on passed objects only
*
- *
*/
#include "common.h"
@@ -68,7 +66,8 @@
* Prints a 16 by 16 transform matrix for debugging
*
*/
-void print_matrix(char *rb_namep, mat_t t)
+void
+print_matrix(char *rb_namep, mat_t t)
{
int i, j;
struct bu_vls buffer = BU_VLS_INIT_ZERO;
@@ -92,7 +91,8 @@
/**
* Prints a struct rigid_body for debugging, more members will be printed later
*/
-void print_rigid_body(struct rigid_body *rb)
+void
+print_rigid_body(struct rigid_body *rb)
{
bu_log("print_rigid_body : \"%s\", state = %d\n", rb->rb_namep, rb->state);
}
@@ -101,7 +101,8 @@
/**
* Prints the list of contacts in each manifold of a rigid body
*/
-void print_manifold_list(struct rigid_body *rb)
+void
+print_manifold_list(struct rigid_body *rb)
{
struct sim_manifold *current_manifold;
int i;
@@ -130,7 +131,8 @@
/**
* Prints the args of a command to be executed using libged
*/
-void print_command(char* cmd_args[], int num_args)
+void
+print_command(char* cmd_args[], int num_args)
{
int i;
char buffer[200] = "";
@@ -145,7 +147,9 @@
/**
* Used to prefix a name, requires memory to be freed by caller
*/
-char* prefix_name(char *prefix, char *original) {
+char*
+prefix_name(char *prefix, char *original)
+{
/* Prepare prefixed bounding box primitive name */
size_t prefix_len, prefixed_name_len;
char *prefixed_name;
@@ -161,10 +165,12 @@
/**
- * Deletes a prim/comb if it exists
- * TODO : lower to librt
+ * Deletes a prim/comb if it exists.
+ *
+ * TODO: lower to librt
*/
-int kill(struct ged *gedp, char *name)
+int
+kill(struct ged *gedp, char *name)
{
char *cmd_args[5];
@@ -186,10 +192,12 @@
/**
- * Deletes and duplicates the prim/comb passed in dp as new_name
+ * Deletes and duplicates the prim/comb passed in dp as new_name.
+ *
* TODO : lower to librt
*/
-int kill_copy(struct ged *gedp, struct directory *dp, char* new_name)
+int
+kill_copy(struct ged *gedp, struct directory *dp, char* new_name)
{
char *cmd_args[5];
int rv;
@@ -216,10 +224,12 @@
/**
- * Adds a prim/comb to an existing comb or creates it if not existing
- * TODO : lower to librt
+ * Adds a prim/comb to an existing comb or creates it if not existing.
+ *
+ * TODO: lower to librt
*/
-int add_to_comb(struct ged *gedp, char *target, char *add)
+int
+add_to_comb(struct ged *gedp, char *target, char *add)
{
char *cmd_args[5];
int rv;
@@ -240,7 +250,8 @@
}
-int add_physics_attribs(struct rigid_body *current_node)
+int
+add_physics_attribs(struct rigid_body *current_node)
{
VSETALL(current_node->linear_velocity, 0.0f);
@@ -255,11 +266,13 @@
/**
* Add the list of regions in the model to the rigid bodies list in
- * simulation parameters. This function will duplicate the existing regions
- * prefixing "sim_" to the new region and putting them all under a new
- * comb "sim.c". It will skip over any existing regions with "sim_" in the name
+ * simulation parameters. This function will duplicate the existing
+ * regions prefixing "sim_" to the new region and putting them all
+ * under a new comb "sim.c". It will skip over any existing regions
+ * with "sim_" in the name
*/
-int add_regions(struct ged *gedp, struct simulation_params *sim_params)
+int
+add_regions(struct ged *gedp, struct simulation_params *sim_params)
{
struct directory *dp, *ndp;
char *prefixed_name;
@@ -341,7 +354,8 @@
}
-int get_bb(struct ged *gedp, struct simulation_params *sim_params)
+int
+get_bb(struct ged *gedp, struct simulation_params *sim_params)
{
struct rigid_body *current_node;
point_t rpp_min, rpp_max;
@@ -390,13 +404,13 @@
/**
* This function draws the bounding box around a comb as reported by
- * Bullet
- * TODO : this should be used with a debugging flag
- * TODO : this function will soon be lowered to librt
+ * Bullet.
*
+ * TODO: this should be used with a debugging flag
+ * TODO: this function will soon be lowered to librt
*/
-int insert_AABB(struct ged *gedp, struct simulation_params *sim_params,
- struct rigid_body *current_node)
+int
+insert_AABB(struct ged *gedp, struct simulation_params *sim_params, struct
rigid_body *current_node)
{
char* cmd_args[28];
char buffer[20];
@@ -536,14 +550,13 @@
/**
- * This function inserts a manifold comb as reported by
- * Bullet
- * TODO : this should be used with a debugging flag
- * TODO : this function will be lowered to librt
+ * This function inserts a manifold comb as reported by Bullet.
*
+ * TODO: this should be used with a debugging flag
+ * TODO: this function will be lowered to librt
*/
-int insert_manifolds(struct ged *gedp, struct simulation_params *sim_params,
- struct rigid_body *rb)
+int
+insert_manifolds(struct ged *gedp, struct simulation_params *sim_params,
struct rigid_body *rb)
{
char* cmd_args[28];
char buffer[20];
@@ -711,12 +724,15 @@
/**
* This function colors the passed comb. It's for showing the current
* state of the object inside the physics engine.
+ *
* TODO : this should be used with a debugging flag
- *
*/
-int apply_color(struct ged *gedp, char* rb_namep, unsigned char r,
- unsigned char g,
- unsigned char b)
+int
+apply_color(struct ged *gedp,
+ char* rb_namep,
+ unsigned char r,
+ unsigned char g,
+ unsigned char b)
{
struct directory *dp = NULL;
struct rt_comb_internal *comb = NULL;
@@ -766,11 +782,13 @@
/**
- * This function takes the transforms present in the current node and applies
them
- * in 3 steps : translate to origin, apply the rotation, then translate to
final
- * position with respect to origin(as obtained from physics)
+ * This function takes the transforms present in the current node and
+ * applies them in 3 steps : translate to origin, apply the rotation,
+ * then translate to final position with respect to origin(as obtained
+ * from physics)
*/
-int apply_transforms(struct ged *gedp, struct simulation_params *sim_params)
+int
+apply_transforms(struct ged *gedp, struct simulation_params *sim_params)
{
struct rt_db_internal intern;
struct rigid_body *current_node;
@@ -883,11 +901,11 @@
/**
- * Frees the list of manifolds as generated by Bullet: this list is used
- * to compare with rt generated manifold for accuracy
- *
+ * 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)
+int
+free_manifold_lists(struct simulation_params *sim_params)
{
/* Free memory in manifold list */
struct sim_manifold *current_manifold, *next_manifold;
@@ -913,9 +931,10 @@
/**
- * The libged physics simulation function :
- * Check flags, adds regions to simulation parameters, runs the simulation
- * applies the transforms, frees memory
+ * The libged physics simulation function.
+ *
+ * Check flags, adds regions to simulation parameters, runs the
+ * simulation applies the transforms, frees memory
*/
int
ged_simulate(struct ged *gedp, int argc, const char *argv[])
@@ -942,7 +961,6 @@
bu_vls_printf(gedp->ged_result_str, "Usage: %s <steps>", argv[0]);
return GED_ERROR;
}
-
/* Make a list containing the bb and existing transforms of all the
objects in the model
* which will participate in the simulation
@@ -1001,7 +1019,7 @@
bu_vls_printf(gedp->ged_result_str, "%s: The simulation result is in group
: %s\n", argv[0], sim_comb_name);
-
+
/* Draw the result : inserting it in argv[1] will cause it to be
automatically drawn in the cmd_wrapper */
argv[1] = sim_comb_name;
argv[2] = (char *)0;
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-03 19:53:38 UTC (rev
47036)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-03 20:12:29 UTC (rev
47037)
@@ -1,7 +1,7 @@
-/* S I M U L A T E . H
+/* S I M U L A T E . H
* BRL-CAD
*
- * Copyright (c) 2008-2011 United States Government as represented by
+ * Copyright (c) 2011 United States Government as represented by
* the U.S. Army Research Laboratory.
*
* This library is free software; you can redistribute it and/or
@@ -17,8 +17,7 @@
* License along with this file; see the file named COPYING for more
* information.
*/
-/** @file libged/simulate/simulate.h
- *
+/*
* The simulate command.
*
* Declares structures for passing simulation parameters and
@@ -40,22 +39,26 @@
#define MAX_CONTACTS_PER_MANIFOLD 4
struct sim_contact {
- vect_t ptA, ptB;
- vect_t normalWorldOnB;
+ vect_t ptA, ptB;
+ vect_t normalWorldOnB;
};
+
struct sim_manifold {
- int num_contacts;
- int indexA, indexB;
- char *nameA, *nameB;
- struct sim_contact rb_contacts[MAX_CONTACTS_PER_MANIFOLD];
- struct sim_manifold *next;
+ int num_contacts;
+ int indexA, indexB;
+ char *nameA, *nameB;
+ 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.
- * This structure is the node of a linked list containing the geometry to be
added to the sim
- * Only the bb is currently present, but physical properties like elasticity,
custom forces
- * will be added later: TODO
+
+/* Contains information about a single rigid body constructed from a
+ * BRL-CAD region. This structure is the node of a linked list
+ * containing the geometry to be added to the sim.
+ *
+ * TODO: Only the bb is currently present, but physical properties
+ * like elasticity, custom forces will be added later.
*/
struct rigid_body {
int index;
@@ -64,23 +67,24 @@
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, m_prev; /**< @brief transformation matrix
from Bullet */
- int state; /**< @brief rigid body
state 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 */
/* Can be set by libged or Bullet(checked and inserted into sim) */
- vect_t linear_velocity; /**< @brief linear velocity components
*/
- vect_t angular_velocity; /**< @brief angular velocity components
*/
+ vect_t linear_velocity; /**< @brief linear velocity components */
+ 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; /**< @brief angular velocity
components */
+ 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,
- * the head node of the linked list containing the bodies and time/steps for
- * which the simulation will be run.
+ * the head node of the linked list containing the bodies and
+ * time/steps for which the simulation will be run.
*/
struct simulation_params {
int duration; /**< @brief contains either the number of
steps or the time */
@@ -92,8 +96,6 @@
};
-
-
#endif /* SIMULATE_H_ */
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