void ColDetect::addPolygon(std::vector<Triangle3D> triangles, VCollide& vc)
{
int id;
double v1[3], v2[3], v3[3];
vc.NewObject(&id);
for (int j = 0; j < triangles.size(); j++) {
auto tri = triangles[j];
auto p1 = tri.getPoint1();
v1[0] = p1.getX();
v1[1] = p1.getY();
v1[2] = p1.getZ();
auto p2 = tri.getPoint2();
v2[0] = p2.getX();
v2[1] = p2.getY();
v2[2] = p2.getZ();
auto p3 = tri.getPoint3();
v3[0] = p3.getX();
v3[1] = p3.getY();
v3[2] = p3.getZ();
vc.AddTri(v1, v2, v3, j);
}
vc.EndObject();
}
int main(int argc, char *argv[])
{
if (argc != 2)
{
fprintf(stderr, "USAGE: %s <simulation-file>\n", argv[0]);
exit(1);
}
if ( (fp = fopen(argv[1], "r")) == NULL )
{
fprintf(stderr, "%s: Error opening file %s\n", argv[0], argv[1]);
exit(1);
}
//read in the geometry from input file.
fscanf(fp, "%d", &num_of_polytopes);
polytope = new Polytope*[num_of_polytopes];
char name[10], filename[20];
int color_index;
int i;
for (i=0; i<num_of_polytopes; i++)
{
fscanf(fp, "%s", name);
fscanf(fp, "%s", filename);
fscanf(fp, "%d", &color_index);
cout<<"Reading in polytope from file "<<filename<<"\n";
polytope[i] = new Polytope(filename);
}
//add the object to the library.
for (i=0; i<num_of_polytopes; i++)
{
Polytope *p = polytope[i];
vc.NewObject(&(p->id));
int j;
for (j=0; j<p->num_tris; j++)
vc.AddTri(p->vertex[(p->tris[j])[0]].v, p->vertex[(p->tris[j])[1]].v, p->vertex[(p->tris[j])[2]].v );
vc.EndObject();
}
//perform the simulation.
simulation_loop(&argc, argv);
return 0;
}
bool ColDetect::coldetectWithoutTransformation(Rectangle2D rect1, Rectangle2D rect2)
{
VCReport report;
VCollide vc;
addPolygon(rect1.toTriangles(), vc);
addPolygon(rect2.toTriangles(), vc);
vc.Collide(&report);
//return true in case of collision
return report.numObjPairs() > 0;
}
//test for collisions and report the results. Also provide a
//simple collision response to colliding objects.
void CollisionTestReportAndRespond(void)
{
VCReport report;
vc.Collide( &report ); //perform collision test.
//default is VC_FIRST_CONTACT
int j;
for (j = 0; j < report.numObjPairs(); j++)
{
std::cout << "Detected collision between objects "
<< report.obj1ID(j) <<" and "<< report.obj2ID(j) <<"\n";
polyObject *p1 = GetObjectWithId(report.obj1ID(j));
polyObject *p2 = GetObjectWithId(report.obj2ID(j));
Vector normal;
normal = p1->position - p2->position;
normal.normalize();
ComputeResponse(normal, (p1->v), &(p1->v) );
normal = p2->position - p1->position;
normal.normalize();
ComputeResponse(normal, (p2->v), &(p2->v) );
}
SinkAndSource();
}
int coldetect(int ntri1, int ntri2, int ntrans1, int ntrans2, double *tri1, double *tri2, double *trans1, double *trans2) {
double vc_trans[4][4];
VCReport report;
VCollide vc;
addTris(tri1, ntri1, vc);
addTris(tri2, ntri2, vc);
// Iterate through transformations
for (int t(0); t < ntrans1; t++) {
update(trans1, t, ntrans1, vc_trans);
vc.UpdateTrans(0, vc_trans);
update(trans2, t, ntrans2, vc_trans);
vc.UpdateTrans(1, vc_trans);
vc.Collide(&report);
if (report.numObjPairs() > 0) {
return t + 1;
}
}
return 0;
}
void addTris(double *tris, int n, VCollide &vc) {
int id;
double v1[3], v2[3], v3[3];
vc.NewObject(&id);
for (int j(0); j < n; j++) {
v1[0] = tris[j + 0 * n];
v1[1] = tris[j + 1 * n];
v1[2] = tris[j + 2 * n];
v2[0] = tris[j + 3 * n];
v2[1] = tris[j + 4 * n];
v2[2] = tris[j + 5 * n];
v3[0] = tris[j + 6 * n];
v3[1] = tris[j + 7 * n];
v3[2] = tris[j + 8 * n];
vc.AddTri(v1, v2, v3);
}
vc.EndObject();
}
int main(int argc, char *argv[])
{
if (argc != 3)
{
fprintf(stderr, "USAGE: %s <bunny-file> <number-of-instances>\n", argv[0]);
exit(1);
}
srand(32487723);
polytope = new Polytope(argv[1]);
int no_of_instances = atoi(argv[2]);
WallDist = (int) pow(no_of_instances*100.0, 0.33) * 100; //maintains constant density.
for (int i=0; i<no_of_instances; i++)
{
polyObject *t = new polyObject(polytope);
vc.NewObject(&(t->id));
Polytope *p = t->p;
for (int j=0; j<p->num_tris; j++)
vc.AddTri(p->vertex[(p->tris[j])[0]].v, p->vertex[(p->tris[j])[1]].v, p->vertex[(p->tris[j])[2]].v );
vc.EndObject();
std::cout<<"created polytope with id = "<<t->id<<"\n";
t->next = list;
list = t;
num_of_polytopes++;
}
simulation_loop(&argc, argv);
return 0;
}
//test for collisions and report the results.
void CollisionTestAndReport(void)
{
VCReport report;
vc.Collide( &report ); //perform collision test.
//default is VC_FIRST_CONTACT
int j;
for (j = 0; j < report.numObjPairs(); j++)
{
cout << "Detected collision between objects "
<< report.obj1ID(j) <<" and "<< report.obj2ID(j) <<"\n";
}
}
//reads in the transformation and applies it the the corresponding
//object from the library.
void UpdatePolytope(int i, double ogl_trans[])
{
q_xyz_quat_struct q;
fscanf(fp, "%lf %lf %lf", &(q.xyz[0]), &(q.xyz[1]), &(q.xyz[2]) );
fscanf(fp, "%lf %lf %lf %lf", &(q.quat[3]), &(q.quat[0]), &(q.quat[1]), &(q.quat[2]) );
q_xyz_quat_to_ogl_matrix(ogl_trans, &q); //convert from quaternion to
//OpenGL transformation matrix.
double trans[4][4];
int j,k;
for (j=0; j<4; j++)
for (k=0; k<4; k++)
{
trans[j][k] = ogl_trans[4*k+j]; //convert the standard notation.
}
vc.UpdateTrans(polytope[i]->id, trans); //update the transformation of
//corresponding object from the
//library.
}
int main(int argc, char *argv[])
{
if (argc != 3)
{
std::cerr<<argv[0]<<": USAGE: "<<argv[0]<<" <input-file> <transformation-file>\n";
exit(1);
}
int num_tri;
VCollide vc;
int id[NO_OF_OBJECTS];
int i;
for (i=0; i<NO_OF_OBJECTS; i++) //add the objects to the library.
{
std::cout<<"Reading object "<<i<<"\n";
vc.NewObject(&(id[i]));
std::cout<<"Adding triangles\n";
FILE *fp = fopen(argv[1], "r");
fscanf(fp, "%d", &num_tri);
for (int j=1; j<=num_tri; j++)
{
double v1[3], v2[3], v3[3];
fscanf(fp, "%lf %lf %lf", &(v1[0]), &(v1[1]), &(v1[2]));
fscanf(fp, "%lf %lf %lf", &(v2[0]), &(v2[1]), &(v2[2]));
fscanf(fp, "%lf %lf %lf", &(v3[0]), &(v3[1]), &(v3[2]));
vc.AddTri(v1, v2, v3, j); // Each triangle has an id
}
fclose(fp);
std::cout<<"Calling finish_object\n";
vc.EndObject();
std::cout<<"Inserted object "<<i<<"\n";
}
FILE *fp = fopen(argv[2], "r");
for (i=1; i<=SIMULATION_STEPS; i++) //perform the simulation.
{
std::cout<<"Simulation step : "<<i<<"\n";
int j;
for (j=0; j<NO_OF_OBJECTS; j++)
{
double trans[4][4];
//read in the transformation matrix.
fscanf(fp, "%lf", &(trans[0][0]));
fscanf(fp, "%lf", &(trans[0][1]));
fscanf(fp, "%lf", &(trans[0][2]));
fscanf(fp, "%lf", &(trans[0][3]));
fscanf(fp, "%lf", &(trans[1][0]));
fscanf(fp, "%lf", &(trans[1][1]));
fscanf(fp, "%lf", &(trans[1][2]));
fscanf(fp, "%lf", &(trans[1][3]));
fscanf(fp, "%lf", &(trans[2][0]));
fscanf(fp, "%lf", &(trans[2][1]));
fscanf(fp, "%lf", &(trans[2][2]));
fscanf(fp, "%lf", &(trans[2][3]));
fscanf(fp, "%lf", &(trans[3][0]));
fscanf(fp, "%lf", &(trans[3][1]));
fscanf(fp, "%lf", &(trans[3][2]));
fscanf(fp, "%lf", &(trans[3][3]));
//update the object's transformation.
vc.UpdateTrans(id[j], trans);
}
VCReport report;
vc.Collide( &report, VC_ALL_CONTACTS); //perform collision test.
//default is VC_FIRST_CONTACT
for (j = 0; j < report.numObjPairs(); j++)
{
std::cout << "Detected collision between objects "
<< report.obj1ID(j) << " and " << report.obj2ID(j) << "\n";
std::cout << "\tNumber of contacts = " << report.numTriPairs(j) << "\n";
std::cout << "\tColliding triangle-pairs: ";
int k;
for ( k = 0; k < report.numTriPairs(j); k++ )
std::cout << "[" << report.tri1ID(j, k) << "," << report.tri2ID(j, k) << "] ";
std::cout << "\n";
}
}
return 0;
}
//update the transformation of library object with given id.
void UpdatePolytope(int id, double trans[4][4])
{
vc.UpdateTrans(id, trans);
}
//removes bunnies which have crossed/collided with the y=YMAX wall.
//for each bunny removed, one is added at the y=YMIN wall.
void SinkAndSource(void)
{
polyObject *current;
while (list != NULL)
{
if (list->position[1] >= WallDist)
{
current = list;
list = list->next;
vc.DeleteObject(current->id);
std::cout<<"deleting id = "<<current->id<<"\n";
delete current;
polyObject *t = new polyObject(polytope);
t->position[1] = -WallDist + 0.5;
vc.NewObject(&(t->id));
Polytope *p = t->p;
int j;
for (j=0; j<p->num_tris; j++)
vc.AddTri(p->vertex[(p->tris[j])[0]].v, p->vertex[(p->tris[j])[1]].v, p->vertex[(p->tris[j])[2]].v );
vc.EndObject();
std::cout<<"created polytope with id = "<<t->id<<"\n";
t->next = list;
list = t;
num_of_polytopes++;
}
else
{
break;
}
}
current = list;
if (current != NULL)
{
while (current->next != NULL)
{
if (current->next->position[1] >= WallDist)
{
polyObject *t = current->next;
current->next = current->next->next;
vc.DeleteObject(t->id);
std::cout<<"deleting id = "<<t->id<<"\n";
delete t;
t = new polyObject(polytope);
t->position[1] = -WallDist + 0.5;
vc.NewObject(&(t->id));
Polytope *p = t->p;
int j;
for (j=0; j<p->num_tris; j++)
vc.AddTri(p->vertex[(p->tris[j])[0]].v, p->vertex[(p->tris[j])[1]].v, p->vertex[(p->tris[j])[2]].v );
vc.EndObject();
std::cout<<"created polytope with id = "<<t->id<<"\n";
t->next = list;
list = t;
num_of_polytopes++;
}
else
{
current = current->next;
}
}
}
}
