Revision: 47274
http://brlcad.svn.sourceforge.net/brlcad/?rev=47274&view=rev
Author: abhi2011
Date: 2011-10-17 00:17:16 +0000 (Mon, 17 Oct 2011)
Log Message:
-----------
More changes to help in debugging, disabled rayshooting for now, generating
points only from the overlap region as I am debugging the case of a small box
lying on a thin but larger box, so the overlap region can be used to generate
correct contact pairs. Apparently the contact pairs are getting inserted but
are not making it till the dynamics component of Bullet
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simrt.c
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-16
23:26:49 UTC (rev 47273)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-17
00:17:16 UTC (rev 47274)
@@ -39,7 +39,9 @@
#define USE_PERSISTENT_CONTACTS 1
+#define DEBUG_MF 1
+
btRTCollisionAlgorithm::btRTCollisionAlgorithm(btPersistentManifold* mf,
const
btCollisionAlgorithmConstructionInfo& ci,
btCollisionObject* obj0,
@@ -75,8 +77,10 @@
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
- /* btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
- btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();*/
+#ifndef DEBUG_MF
+ btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
+ btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
+#endif //DEBUG_MF
//quellage
bu_log("%d", dispatchInfo.m_stepCount);
@@ -92,11 +96,12 @@
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
+#ifndef DEBUG_MF
//This part will get replaced with a call to rt
- // btBoxBoxDetector detector(box0, box1);
- // detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
+ btBoxBoxDetector detector(box0, box1);
+ detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
+#endif //DEBUG_MF
-
//------------------- DEBUG ---------------------------
int i;
@@ -164,7 +169,7 @@
//Scan all RT manifolds of rbB looking for a rbA-rbB
manifold----------------------
-
+#ifdef DEBUG_MF
for (rt_mf = rbB->head_rt_manifold; rt_mf != NULL;
rt_mf = rt_mf->next) {
@@ -208,11 +213,11 @@
}//end- for (rt_mf = rbB->head_rt_manifold...
} //end-if
+#endif //DEBUG_MF
-
//------------------------------------------------------
#ifdef USE_PERSISTENT_CONTACTS
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-16 23:26:49 UTC (rev
47273)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-17 00:17:16 UTC (rev
47274)
@@ -726,7 +726,7 @@
add_to_comb(gedp, sim_params->sim_comb_name,
bu_vls_addr(&overlap_name));
/* Initialize the rayshot results structure, has to be
done for each manifold */
- init_rayshot_results();
+ /*init_rayshot_results();*/
/* Allocate memory for a new RT manifold */
rt_mf = (struct sim_manifold *)
@@ -740,7 +740,7 @@
if (rb->head_rt_manifold == NULL) {
rb->head_rt_manifold = rt_mf;
} else{
- //Go upto the last manifold, keeping a ptr 1
node behind
+ /* Go upto the last manifold, keeping a ptr 1
node behind */
p1 = rb->head_bt_manifold;
while (p1 != NULL) {
p2 = p1;
@@ -748,7 +748,6 @@
}
p2->next = rt_mf;
- //print_manifold_list(rb->head_manifold);
}
rb->num_rt_manifolds++;
@@ -756,7 +755,7 @@
/* Shoot rays right here as the pair of rigid_body ptrs
are known,
* TODO: ignore volumes already shot
*/
- shoot_x_rays(gedp, rt_mf, sim_params, rtip,
overlap_min, overlap_max);
+ /*shoot_x_rays(gedp, rt_mf, sim_params, rtip,
overlap_min, overlap_max);*/
/* shoot_y_rays(); */
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