Revision: 47409
http://brlcad.svn.sourceforge.net/brlcad/?rev=47409&view=rev
Author: abhi2011
Date: 2011-11-03 17:15:51 +0000 (Thu, 03 Nov 2011)
Log Message:
-----------
Started shooting for getting the depth and points on surface of object B
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simphysics.cpp
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simrt.h
Modified: brlcad/trunk/src/libged/simulate/simphysics.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-11-03 05:27:51 UTC
(rev 47408)
+++ brlcad/trunk/src/libged/simulate/simphysics.cpp 2011-11-03 17:15:51 UTC
(rev 47409)
@@ -397,6 +397,7 @@
{
int rv;
+ btVector3 va, vb;
btRigidBody* box0 =
(btRigidBody*)(collisionPair.m_pProxy0->m_clientObject);
btRigidBody* box1 =
(btRigidBody*)(collisionPair.m_pProxy1->m_clientObject);
@@ -405,9 +406,16 @@
struct rigid_body *rbA = (struct rigid_body *)box0->getUserPointer();
struct rigid_body *rbB = (struct rigid_body *)box1->getUserPointer();
- bu_log("nearphase_callback : Creating manifold between %s &
%s\n",
- rbA->rb_namep, rbB->rb_namep);
+ va = box0->getLinearVelocity();
+ VMOVE(rbA->linear_velocity, va);
+ vb = box1->getLinearVelocity();
+ VMOVE(rbB->linear_velocity, vb);
+
+
+ bu_log("nearphase_callback : Creating manifold between
A:%s(v=%f,%f,%f) & B:%s(v=%f,%f,%f)\n",
+ rbA->rb_namep, V3ARGS(va), rbB->rb_namep,
V3ARGS(vb));
+
/* Generate manifolds using rt */
rv = generate_manifolds(sim_params, rbA, rbB);
if (rv != GED_OK) {
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-11-03 05:27:51 UTC (rev
47408)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-11-03 17:15:51 UTC (rev
47409)
@@ -1055,23 +1055,82 @@
}
+/*
+ * Shoots a circular bunch of rays from B towards A along resultant_normal_B
+ *
+ */
int
-create_contact_pairs(struct sim_manifold *mf, vect_t UNUSED(overlap_min),
vect_t UNUSED(overlap_max))
+shoot_normal_rays(struct sim_manifold *current_manifold,
+ struct simulation_params *sim_params,
+ vect_t overlap_min,
+ vect_t overlap_max)
{
- /* vect_t diff;*/
- /* int i; */
+ vect_t diff, up_vec, z_axis;
+ point_t overlap_center;
+ fastf_t d, r;
+ struct xrays *xrayp = NULL;
+ struct xray center_ray;
+ /* Setup center ray */
+ center_ray.index = 0;
+ VMOVE(center_ray.r_dir, rt_result.resultant_normal_B);
+
+ VSUB2(diff, overlap_max, overlap_min);
+ d = MAGNITUDE(diff);
+ r = d/2;
+
+ /* Get overlap volume position in 3D space */
+ VCOMB2(overlap_center, 1, overlap_min, 0.5, overlap_max);
+
+ /* Step back from the overlap_center, along the normal by r
+ * to ensure rays start from outside overlap region
+ */
+ VSCALE(diff, rt_result.resultant_normal_B, -r);
+ VADD2(center_ray.r_pt, overlap_center, diff);
+
+ /* Generate the up vector */
+ VSET(z_axis, 0, 0, 1);
+ VCROSS(up_vec, rt_result.resultant_normal_B, z_axis);
+
+ rt_gen_circular_grid(xrayp, ¢er_ray, r, up_vec,r*2);
+
+ return GED_OK;
+}
+
+
+int
+create_contact_pairs(
+ struct sim_manifold *mf,
+ struct simulation_params *sim_params,
+ vect_t UNUSED(overlap_min),
+ vect_t UNUSED(overlap_max))
+{
+ vect_t v;
mf->num_contacts = 0;
- /* Prepare the overlap prim name */
- bu_log("create_contact pairs : between A : %s(%f,%f,%f) & B :
%s(%f,%f,%f)",
+ bu_log("create_contact pairs : between A : %s(%f,%f,%f) & B :
%s(%f,%f,%f)",
mf->rbA->rb_namep, V3ARGS(mf->rbA->btbb_center),
mf->rbB->rb_namep, V3ARGS(mf->rbB->btbb_center));
+ /* Calculate the normal of the contact points as the resultant of -A & B
velocity
+ * NOTE: Currently the sum of normals along overlapping surface , approach
is not used
+ */
+ VMOVE(v, mf->rbA->linear_velocity);
+ VUNITIZE(v);
+ VREVERSE(rt_result.resultant_normal_B, v);
+
+ VMOVE(v, mf->rbB->linear_velocity);
+ VUNITIZE(v);
+ VADD2(rt_result.resultant_normal_B, rt_result.resultant_normal_B,
mf->rbB->linear_velocity);
+ bu_log("create_contact pairs : Final normal from B to A :
%s(%f,%f,%f)", V3ARGS(rt_result.resultant_normal_B));
+
/* Begin making contact */
+ /* Shoot rays along the normal to get points on B and the depth along
this direction */
+ shoot_normal_rays(mf, sim_params, overlap_min, overlap_max);
+
/* VSET(mf->contacts[0].normalWorldOnB, 0, 0, 1.0000);
VSET(mf->contacts[1].normalWorldOnB, 0, 0, 1.0000);
VSET(mf->contacts[2].normalWorldOnB, 0, 0, 1.0000);
@@ -1139,18 +1198,14 @@
/* Shoot rays right here as the pair of rigid_body ptrs are known,
* TODO: ignore volumes already shot
*/
- shoot_x_rays(rt_mf, sim_params, overlap_min, overlap_max);
-
-
+ /*shoot_x_rays(rt_mf, sim_params, overlap_min, overlap_max);
shoot_y_rays(rt_mf, sim_params, overlap_min, overlap_max);
+ shoot_z_rays(rt_mf, sim_params, overlap_min, overlap_max);*/
- shoot_z_rays(rt_mf, sim_params, overlap_min, overlap_max);
-
-
/* Create the contact pairs and normals */
- create_contact_pairs(rt_mf, overlap_min, overlap_max);
+ create_contact_pairs(rt_mf, sim_params, overlap_min, overlap_max);
return GED_OK;
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-11-03 05:27:51 UTC (rev
47408)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-11-03 17:15:51 UTC (rev
47409)
@@ -151,7 +151,9 @@
* contact pairs.
*/
int
-create_contact_pairs(struct sim_manifold *mf, vect_t overlap_min, vect_t
overlap_max);
+create_contact_pairs(struct sim_manifold *mf,
+ struct simulation_params *sim_params,
+ vect_t overlap_min, vect_t
overlap_max);
/**
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
RSA(R) Conference 2012
Save $700 by Nov 18
Register now
http://p.sf.net/sfu/rsa-sfdev2dev1
_______________________________________________
BRL-CAD Source Commits mailing list
brlcad-commits@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/brlcad-commits
