Revision: 47149
http://brlcad.svn.sourceforge.net/brlcad/?rev=47149&view=rev
Author: abhi2011
Date: 2011-10-06 12:03:40 +0000 (Thu, 06 Oct 2011)
Log Message:
-----------
Added initial code to create the AABB overlap regions
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simrt.h
brlcad/trunk/src/libged/simulate/simutils.c
brlcad/trunk/src/libged/simulate/simutils.h
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-06 05:58:41 UTC (rev
47148)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-06 12:03:40 UTC (rev
47149)
@@ -29,9 +29,46 @@
int
+get_overlap(struct rigid_body *rbA, struct rigid_body *rbB)
+{
+ bu_log("Calculating overlap between BB of A %s(%f, %f, %f):(%f,%f,%f) \
+ and B %s(%f, %f, %f):(%f,%f,%f)",
+ rbA->rb_namep,
+ V3ARGS(rbA->btbb_min), V3ARGS(rbA->btbb_max),
+ rbB->rb_namep,
+ V3ARGS(rbB->btbb_min), V3ARGS(rbB->btbb_max)
+ );
+ return GED_OK;
+}
+
+
+int
generate_manifolds(struct simulation_params *sim_params)
{
/* Shoot lasers */
+
+ struct sim_manifold *current_manifold;
+ struct rigid_body *rb;
+ /*vect_t overlap_max, overlap_min;*/
+
+
+ for (rb = sim_params->head_node; rb != NULL; rb = rb->next) {
+
+ for (current_manifold = rb->bt_manifold; current_manifold !=
NULL;
+ current_manifold = current_manifold->next) {
+
+
+ get_overlap(current_manifold->rbA,
current_manifold->rbB);
+
+ /* make_rpp(gedp, overlap_max, overlap_min,
overlap_name); */
+
+
+ }
+
+
+ }
+
+
return GED_OK;
}
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-06 05:58:41 UTC (rev
47148)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-06 12:03:40 UTC (rev
47149)
@@ -41,8 +41,17 @@
/* Private Headers */
#include "../ged_private.h"
#include "simulate.h"
+#include "simutils.h"
+/* Rays will be at least this far apart when shot through the overlap regions
+ * This is also the contact threshold for Bullet (0.04 cm if units are in
meters)
+ * Overlaps regions smaller than this will have only a single plane of rays
slicing the
+ * region in half, generating manifolds in a plane.
+ */
+#define GRID_GRANULARITY 0.04
+
+
/**
* Shoots rays within the AABB overlap regions only to allow more rays to be
shot
* in a grid of finer granularity and to increase performance.
Modified: brlcad/trunk/src/libged/simulate/simutils.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.c 2011-10-06 05:58:41 UTC (rev
47148)
+++ brlcad/trunk/src/libged/simulate/simutils.c 2011-10-06 12:03:40 UTC (rev
47149)
@@ -380,6 +380,39 @@
int
+make_rpp(struct ged *gedp, vect_t max, vect_t min, char* name)
+{
+ int rv;
+ char buffer_str[MAX_FLOATING_POINT_STRLEN];
+ char* cmd_args[28];
+
+ cmd_args[0] = "in";
+ cmd_args[1] = name;
+ cmd_args[2] = "rpp";
+
+ sprintf(buffer_str, "%f", min[0]); cmd_args[3] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", max[0]); cmd_args[4] = bu_strdup(buffer_str);
+
+ sprintf(buffer_str, "%f", min[1]); cmd_args[5] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", max[1]); cmd_args[6] = bu_strdup(buffer_str);
+
+ sprintf(buffer_str, "%f", min[2]); cmd_args[7] = bu_strdup(buffer_str);
+ sprintf(buffer_str, "%f", max[2]); cmd_args[8] = bu_strdup(buffer_str);
+
+
+ cmd_args[9] = (char *)0;
+
+ rv = ged_in(gedp, 9, (const char **)cmd_args);
+ if (rv != GED_OK) {
+ bu_log("make_rpp: WARNING Could not insert RPP %s (%f, %f,
%f):(%f, %f, %f)\n",
+ name, V3ARGS(min), V3ARGS(max));
+ return GED_ERROR;
+ }
+
+ return GED_OK;
+}
+
+int
insert_AABB(struct ged *gedp, struct simulation_params *sim_params, struct
rigid_body *current_node)
{
char* cmd_args[28];
Modified: brlcad/trunk/src/libged/simulate/simutils.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.h 2011-10-06 05:58:41 UTC (rev
47148)
+++ brlcad/trunk/src/libged/simulate/simutils.h 2011-10-06 12:03:40 UTC (rev
47149)
@@ -166,6 +166,15 @@
#endif /* SIMUTILS_H_ */
+/**
+ * This function creates and inserts a RPP
+ * Used to show AABB overlap volume
+ *
+ * TODO: this function will be lowered to librt
+ */
+int
+make_rpp(struct ged *gedp, vect_t max, vect_t min, char* name);
+
/*
* Local Variables:
* tab-width: 8
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