Revision: 47271
http://brlcad.svn.sourceforge.net/brlcad/?rev=47271&view=rev
Author: abhi2011
Date: 2011-10-16 20:24:39 +0000 (Sun, 16 Oct 2011)
Log Message:
-----------
Corrected some errors in setting up the linked list
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simulate.h
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-16 20:11:13 UTC (rev
47270)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-16 20:24:39 UTC (rev
47271)
@@ -594,7 +594,7 @@
/* Determine if an arb4 needs to be generated using x/y/z diff. */
- mf->num_contacts = 2;
+ mf->num_contacts = 4;
VMOVE(mf->contacts[0].ptA, rt_result.xr_min_y_in);
VMOVE(mf->contacts[1].ptA, rt_result.xr_min_y_out);
@@ -672,7 +672,7 @@
int
generate_manifolds(struct ged *gedp, struct simulation_params *sim_params)
{
- struct sim_manifold *bt_mf, *rt_mf;
+ struct sim_manifold *bt_mf, *rt_mf, *p1, *p2;
struct rigid_body *rb;
vect_t overlap_min, overlap_max;
char *prefix_overlap = "overlap_";
@@ -726,11 +726,28 @@
/* Allocate memory for a new RT manifold */
rt_mf = (struct sim_manifold *)
bu_malloc(sizeof(struct sim_manifold), "sim_manifold: rt_mf");
- rt_mf->rbA = bt_mf->rbA;
+ rt_mf->rbA = bt_mf->rbA;
rt_mf->rbB = bt_mf->rbB;
rt_mf->num_contacts = 0;
rt_mf->next = NULL;
+ /* Setup the new manifold in the linked list of
manifolds for this rigid body */
+ if (rb->head_rt_manifold == NULL) {
+ rb->head_rt_manifold = rt_mf;
+ } else{
+ //Go upto the last manifold, keeping a ptr 1
node behind
+ p1 = rb->head_bt_manifold;
+ while (p1 != NULL) {
+ p2 = p1;
+ p1 = p1->next;
+ }
+
+ p2->next = rt_mf;
+ //print_manifold_list(rb->head_manifold);
+ }
+ rb->num_rt_manifolds++;
+
+
/* Shoot rays right here as the pair of rigid_body ptrs
are known,
* TODO: ignore volumes already shot
*/
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-16 20:11:13 UTC (rev
47270)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-16 20:24:39 UTC (rev
47271)
@@ -86,13 +86,13 @@
vect_t linear_velocity; /**< @brief linear velocity components */
vect_t angular_velocity; /**< @brief angular velocity components */
- /* Manifold generated, where this body is B, only body B has manifold info
*/
+ /* Manifold generated by Bullet, where this body is B, only body B has
manifold info */
int num_bt_manifolds; /**< @brief number
of manifolds for this body */
- struct sim_manifold *head_bt_manifold;/**< @brief head of the manifolds
linked list */
+ struct sim_manifold *head_bt_manifold; /**< @brief head of the manifolds
linked list */
- /* Manifold generated, where this body is B, only body B has manifold info
*/
+ /* Manifold generated by RT, where this body is B, only body B has
manifold info */
int num_rt_manifolds; /**< @brief number
of manifolds for this body */
- struct sim_manifold *head_rt_manifold;/**< @brief head of the manifolds
linked list */
+ struct sim_manifold *head_rt_manifold; /**< @brief head of the manifolds
linked list */
/* Debugging */
int iter;
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