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| | * the code for the grid is here https://github.com/elf11/brlcad/blob/master/simulate.patch | | * the code for the grid is here https://github.com/elf11/brlcad/blob/master/simulate.patch |
| | * made a comparison with what bullet returns https://docs.google.com/spreadsheet/ccc?key=0AsmiuNTm7UBZdG92bV9veW1GYk8xRS1zOWpMX0ltNmc#gid=0 | | * made a comparison with what bullet returns https://docs.google.com/spreadsheet/ccc?key=0AsmiuNTm7UBZdG92bV9veW1GYk8xRS1zOWpMX0ltNmc#gid=0 |
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| − | 21st October
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| − | * tried to replicate the bullet standalone behaviour in brlcad, for that starting with getting the correct normals, started hardcoding them in the processCollision function from the simulationalgo.cpp file; last time the normals we got were (0,0,-1) we need (0, 0, 1) since the normals are from the ground plane to the cube and we want to replicate the standalone; it didn't work cause after hardcoding them we get only the first contact point, after that first contact point we don't get any more contacts between the 2 bodies which is obv wrong since the cube still falls through the gp
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| − | * when the first contact is being processed then no more contacts are being added, but the cube is obv falling downwards since the depth grows
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| − | * then tried to change the normals from the raytracing part, simrt.c file, the traverse_zray_lists() where we set up the sim_manifold strucure; it didn't work for the same reasons as before
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| − | * the problem is that bullet keeps an array of manifolds and points for those manifolds, the m_manifoldPtr a pointer to this array (processCollision() function in the mged files and in the standalone bullet simulation) it gets cleared and updated every step;
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| − | * last year student implemented its own structures for manifolds, never using the ones provided by bullet the sim_manifold struct in simulate.h; the difference is that in our processCollision function we work on 2 different structures, the bullet structure and our structure but bullet never gets the info from our structure past the first contact
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| − | TO DO : change all the sim_manifold struct uses with the native bullet manifold structure or find a way for our particular structure to be compatible with bullet's structure
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| | TO DO : find a way to pick 4 points out of the 36 generated that cover the maximum area of the object | | TO DO : find a way to pick 4 points out of the 36 generated that cover the maximum area of the object |
