Revision: 47285
http://brlcad.svn.sourceforge.net/brlcad/?rev=47285&view=rev
Author: abhi2011
Date: 2011-10-18 15:17:58 +0000 (Tue, 18 Oct 2011)
Log Message:
-----------
Moving towards tighter integration of raytracing with the Bullet pipeline to
ensure the contact pairs are injected at the right point during the simulation,
added some extern C linkage code to allow this integration
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/simrt.h
brlcad/trunk/src/libged/simulate/simulate.c
brlcad/trunk/src/libged/simulate/simulate.h
brlcad/trunk/src/libged/simulate/simutils.h
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-18
14:43:19 UTC (rev 47284)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-10-18
15:17:58 UTC (rev 47285)
@@ -39,7 +39,7 @@
#define USE_PERSISTENT_CONTACTS 1
-#define DEBUG_MF 1
+//#define DEBUG_MF 1
btRTCollisionAlgorithm::btRTCollisionAlgorithm(btPersistentManifold* mf,
@@ -105,7 +105,7 @@
//------------------- DEBUG ---------------------------
int i;
- struct sim_manifold *bt_mf, *rt_mf;
+ struct sim_manifold *bt_mf;
//Get the user pointers to struct rigid_body, for printing the body name
struct rigid_body *rbA = (struct rigid_body *)col0->getUserPointer();
@@ -170,6 +170,8 @@
//Scan all RT manifolds of rbB looking for a rbA-rbB
manifold----------------------
#ifdef DEBUG_MF
+ struct sim_manifold *rt_mf;
+
for (rt_mf = rbB->head_rt_manifold; rt_mf != NULL;
rt_mf = rt_mf->next) {
Modified: brlcad/trunk/src/libged/simulate/simcollisionalgo.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.h 2011-10-18 14:43:19 UTC
(rev 47284)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.h 2011-10-18 15:17:58 UTC
(rev 47285)
@@ -46,7 +46,6 @@
/* private headers */
#include "./simulate.h"
-
class btPersistentManifold;
///Raytrace based collision detection
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-18 14:43:19 UTC
(rev 47284)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-10-18 15:17:58 UTC
(rev 47285)
@@ -29,15 +29,20 @@
#include <iostream>
#include <btBulletDynamicsCommon.h>
-/* public headers */
-#include "db.h"
-#include "vmath.h"
+extern "C" {
-/* private headers */
-#include "./simulate.h"
-#include "./simcollisionalgo.h"
+ /* public headers */
+ #include "db.h"
+ /* private headers */
+ #include "simulate.h"
+ #include "simcollisionalgo.h"
+ #include "simrt.h"
+}
+
+struct simulation_params *sim_params;
+
/**
* Prints the 16 by 16 transform matrices for debugging
*
@@ -81,8 +86,7 @@
*/
int
add_rigid_bodies(btDiscreteDynamicsWorld* dynamicsWorld,
- struct simulation_params *sim_params,
- btAlignedObjectArray<btCollisionShape*> collision_shapes)
+ btAlignedObjectArray<btCollisionShape*>
collision_shapes)
{
struct rigid_body *current_node;
fastf_t volume;
@@ -183,7 +187,7 @@
*
*/
int
-step_physics(btDiscreteDynamicsWorld* dynamicsWorld, struct simulation_params
*sim_params)
+step_physics(btDiscreteDynamicsWorld* dynamicsWorld)
{
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");
@@ -201,7 +205,7 @@
*
*/
int
-get_transforms(btDiscreteDynamicsWorld* dynamicsWorld, struct
simulation_params *sim_params)
+get_transforms(btDiscreteDynamicsWorld* dynamicsWorld)
{
int i;
btScalar m[16];
@@ -351,7 +355,7 @@
btDispatcherInfo& dispatchInfo)
{
- int i, j, numContacts;
+ int i, j, numContacts, rv;
int numManifolds = dispatcher.getNumManifolds();
/* First iterate through the number of manifolds for the whole dynamics
world
@@ -399,6 +403,12 @@
}
}
+ /* Generate manifolds using rt */
+ rv = generate_manifolds(sim_params->gedp, sim_params);
+ if (rv != GED_OK) {
+ bu_log("nearphase_callback: ERROR while calculating manifolds\n");
+ }
+
//Can un-comment this line, and then all points are removed
//contactManifold->clearManifold();
}
@@ -471,10 +481,12 @@
*
*/
extern "C" int
-run_simulation(struct simulation_params *sim_params)
+run_simulation(struct simulation_params *sp)
{
//int i;
+ sim_params = sp;
+
//for (i=0 ; i < sim_params->duration ; i++) {
// Initialize the physics world
@@ -503,7 +515,7 @@
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_rigid_bodies(dynamicsWorld, collision_shapes);
//Add a broadphase callback to hook to the AABB detection algos
btOverlapFilterCallback * filterCallback = new broadphase_callback();
@@ -518,10 +530,10 @@
gContactDestroyedCallback = contact_destroyed;
//Step the physics the required number of times
- step_physics(dynamicsWorld, sim_params);
+ step_physics(dynamicsWorld);
//Get the world transforms back into the simulation params struct
- get_transforms(dynamicsWorld, sim_params);
+ get_transforms(dynamicsWorld);
//Clean and free memory used by physics objects
cleanup(dynamicsWorld, collision_shapes);
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-18 14:43:19 UTC (rev
47284)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-18 15:17:58 UTC (rev
47285)
@@ -27,6 +27,13 @@
#ifndef SIMRT_H_
#define SIMRT_H_
+#if defined __cplusplus
+
+ /* If the functions in this header have C linkage, this
+ * will specify linkage for all C++ language compilers */
+ extern "C" {
+#endif
+
/* System Headers */
#include <stdlib.h>
#include <ctype.h>
@@ -235,7 +242,11 @@
int
init_rayshot_results(void);
+#if defined __cplusplus
+ } /* matches the linkage specification at the beginning. */
+#endif
+
#endif /* SIMRT_H_ */
/*
Modified: brlcad/trunk/src/libged/simulate/simulate.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.c 2011-10-18 14:43:19 UTC (rev
47284)
+++ brlcad/trunk/src/libged/simulate/simulate.c 2011-10-18 15:17:58 UTC (rev
47285)
@@ -45,7 +45,7 @@
#include "../ged_private.h"
#include "simulate.h"
#include "simutils.h"
-#include "simrt.h"
+/*#include "simrt.h"*/
/* The C++ simulation function */
@@ -465,11 +465,11 @@
}
/* Generate manifolds using rt */
- rv = generate_manifolds(gedp, &sim_params);
+/* rv = generate_manifolds(gedp, &sim_params);
if (rv != GED_OK) {
bu_vls_printf(gedp->ged_result_str, "%s: ERROR while calculating
manifolds\n", argv[0]);
return GED_ERROR;
- }
+ }*/
free_bt_manifold_lists(&sim_params);
Modified: brlcad/trunk/src/libged/simulate/simulate.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simulate.h 2011-10-18 14:43:19 UTC (rev
47284)
+++ brlcad/trunk/src/libged/simulate/simulate.h 2011-10-18 15:17:58 UTC (rev
47285)
@@ -28,8 +28,16 @@
#ifndef SIMULATE_H_
#define SIMULATE_H_
+#if defined __cplusplus
+
+ /* If the functions in this header have C linkage, this
+ * will specify linkage for all C++ language compilers */
+ extern "C" {
+#endif
+
/* interface headers */
#include "vmath.h"
+#include "../ged_private.h"
//Copy of the rigid body state tags from btCollisionObject.h
@@ -111,10 +119,15 @@
char *ground_plane_name; /**< @brief name of the ground plane region
*/
struct rigid_body *head_node; /**< @brief link to first rigid body node */
+ struct ged *gedp; /**< @brief pass the gfx context to
allow lines to be drawn by rt */
+
/* Debugging */
int iter;
};
+#if defined __cplusplus
+ } /* matches the linkage specification at the beginning. */
+#endif
#endif /* SIMULATE_H_ */
Modified: brlcad/trunk/src/libged/simulate/simutils.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.h 2011-10-18 14:43:19 UTC (rev
47284)
+++ brlcad/trunk/src/libged/simulate/simutils.h 2011-10-18 15:17:58 UTC (rev
47285)
@@ -26,6 +26,13 @@
#ifndef SIMUTILS_H_
#define SIMUTILS_H_
+#if defined __cplusplus
+
+ /* If the functions in this header have C linkage, this
+ * will specify linkage for all C++ language compilers */
+ extern "C" {
+#endif
+
/* System Headers */
#include <stdlib.h>
#include <ctype.h>
@@ -173,9 +180,6 @@
insert_manifolds(struct ged *gedp, struct simulation_params *sim_params,
struct rigid_body *rb);
-#endif /* SIMUTILS_H_ */
-
-
/**
* This function creates and inserts a RPP
* Used to show AABB overlap volume
@@ -185,6 +189,14 @@
int
make_rpp(struct ged *gedp, vect_t max, vect_t min, char* name);
+
+#if defined __cplusplus
+ } /* matches the linkage specification at the beginning. */
+#endif
+
+
+#endif /* SIMUTILS_H_ */
+
/*
* Local Variables:
* tab-width: 8
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