yade-dev team mailing list archive
-
yade-dev team
-
Mailing list archive
-
Message #00705
[svn] r1536 - in trunk: core gui/qt3 lib/multimethods pkg/dem/Engine/EngineUnit pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry
Author: eudoxos
Date: 2008-10-05 15:21:51 +0200 (Sun, 05 Oct 2008)
New Revision: 1536
Modified:
trunk/core/Interaction.cpp
trunk/core/Interaction.hpp
trunk/gui/qt3/GLViewer.cpp
trunk/gui/qt3/SnapshotEngine.cpp
trunk/gui/qt3/SnapshotEngine.hpp
trunk/gui/qt3/qt.py
trunk/lib/multimethods/DynLibDispatcher.hpp
trunk/pkg/dem/Engine/EngineUnit/InteractingFacet2InteractingSphere4SpheresContactGeometry.cpp
trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp
trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.cpp
trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.hpp
Log:
1. Add Interaction::swapOrder(), for use in EngineUnits that want to avoid calling goReverse()
2. SnapshotEngine can sleep specified number of msecs after shot, which probably can avoid some hw problems (make_current failed in mesa, freezes etc)
3. InteractingFacet2IS4SCG now works "correctly" (not exactly physically, though) with shear
4. DynLibDispatcher should report names of classes if dispatch fails.
Modified: trunk/core/Interaction.cpp
===================================================================
--- trunk/core/Interaction.cpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/core/Interaction.cpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -43,3 +43,9 @@
REGISTER_ATTRIBUTE(interactionPhysics);
}
+void Interaction::swapOrder(){
+ if(interactionGeometry || interactionPhysics || !isNew){
+ throw std::logic_error("Bodies in interaction cannot be swapped if !isNew, have interactionGeometry or have interactionPhysics.");
+ }
+ std::swap(id1,id2);
+}
Modified: trunk/core/Interaction.hpp
===================================================================
--- trunk/core/Interaction.hpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/core/Interaction.hpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -13,6 +13,8 @@
//BOOST_STRONG_TYPEDEF(int, body_id_t)
typedef int body_id_t;
+class InteractionGeometryEngineUnit;
+
class Interaction : public Serializable
{
private :
@@ -33,6 +35,9 @@
body_id_t getId1() {return id1;};
body_id_t getId2() {return id2;};
+ //! swaps order of bodies within the interaction
+ void swapOrder();
+
#if 0
//! Whether both bodies involved in interaction satisfies given mask; provide rootBody for faster lookup
bool maskBothOK(int mask, MetaBody* rootBody=NULL){return (mask==0) || (Body::byId(id1,rootBody)->maskOK(mask) && Body::byId(id2,rootBody)->maskOK(mask));}
Modified: trunk/gui/qt3/GLViewer.cpp
===================================================================
--- trunk/gui/qt3/GLViewer.cpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/gui/qt3/GLViewer.cpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -228,7 +228,7 @@
}
}
else if(e->key()==Qt::Key_S){
- LOG_DEBUG("Saving QGLViewer state to /tmp/qglviewerState.xml");
+ LOG_INFO("Saving QGLViewer state to /tmp/qglviewerState.xml");
setStateFileName("/tmp/qglviewerState.xml"); saveStateToFile(); setStateFileName(QString::null);
}
else if(e->key()==Qt::Key_X || e->key()==Qt::Key_Y || e->key()==Qt::Key_Z){
Modified: trunk/gui/qt3/SnapshotEngine.cpp
===================================================================
--- trunk/gui/qt3/SnapshotEngine.cpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/gui/qt3/SnapshotEngine.cpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -13,5 +13,6 @@
glv->setSnapshotFormat("PNG");
glv->saveSnapshot(QString(fss.str()),/*overwrite*/ true);
savedSnapshots.push_back(fss.str());
+ usleep((long)(msecSleep*1000));
}
Modified: trunk/gui/qt3/SnapshotEngine.hpp
===================================================================
--- trunk/gui/qt3/SnapshotEngine.hpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/gui/qt3/SnapshotEngine.hpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -21,7 +21,9 @@
bool ignoreErrors;
//! files that have been created so far
vector<string> savedSnapshots;
- SnapshotEngine():counter(0),viewNo(0),ignoreErrors(true){}
+ //! number of msec to sleep after snapshot (to prevent 3d hw problems)
+ int msecSleep;
+ SnapshotEngine():counter(0),viewNo(0),ignoreErrors(true),msecSleep(0){}
virtual void action(MetaBody*);
void registerAttributes(){
PeriodicEngine::registerAttributes();
@@ -30,6 +32,7 @@
REGISTER_ATTRIBUTE(viewNo);
REGISTER_ATTRIBUTE(ignoreErrors);
REGISTER_ATTRIBUTE(savedSnapshots);
+ REGISTER_ATTRIBUTE(msecSleep);
}
DECLARE_LOGGER;
REGISTER_CLASS_NAME(SnapshotEngine);
Modified: trunk/gui/qt3/qt.py
===================================================================
--- trunk/gui/qt3/qt.py 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/gui/qt3/qt.py 2008-10-05 13:21:51 UTC (rev 1536)
@@ -6,7 +6,7 @@
-def makeSimulationVideo(output,realPeriod=1,virtPeriod=0,iterPeriod=0,viewNo=0,fps=24):
+def makeSimulationVideo(output,realPeriod=1,virtPeriod=0,iterPeriod=0,viewNo=0,fps=24,msecSleep=0):
"""Create video by running simulation. SnapshotEngine is added (and removed once done), temporary
files are deleted. The video is theora-encoded in the ogg container. Periodicity is controlled
in the same way as for PeriodicEngine (SnapshotEngine is a PeriodicEngine and realPeriod, virtPeriod
@@ -26,7 +26,7 @@
# create primary view if none
if len(views())==0: View()
# remove existing SnaphotEngines
- se=wrapper.StandAloneEngine('SnapshotEngine',{'iterPeriod':iterPeriod,'realPeriod':realPeriod,'virtPeriod':virtPeriod,'fileBase':os.tmpnam(),'ignoreErrors':False,'viewNo':viewNo})
+ se=wrapper.StandAloneEngine('SnapshotEngine',{'iterPeriod':iterPeriod,'realPeriod':realPeriod,'virtPeriod':virtPeriod,'fileBase':os.tmpnam(),'ignoreErrors':False,'viewNo':viewNo,'msecSleep':msecSleep})
origEngines=o.engines; o.engines=[e for e in o.engines if e.name!='SnapshotEngine']+[se]
o.run(); o.wait();
wildcard=se['fileBase']+'%04d.png'
Modified: trunk/lib/multimethods/DynLibDispatcher.hpp
===================================================================
--- trunk/lib/multimethods/DynLibDispatcher.hpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/lib/multimethods/DynLibDispatcher.hpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -494,7 +494,7 @@
}
}
else if( index1_tmp != -1 && index2_tmp != -1 )
- cerr << "DynLibDispatcher: ambigious dispatch, could not determine which multivirtual function should be called\n";
+ throw std::runtime_error("DynLibDispatcher: ambiguous or undefined dispatch for 2d multivirtual function, classes: "+base1->getClassName()+" "+base2->getClassName());
return false;
};
Modified: trunk/pkg/dem/Engine/EngineUnit/InteractingFacet2InteractingSphere4SpheresContactGeometry.cpp
===================================================================
--- trunk/pkg/dem/Engine/EngineUnit/InteractingFacet2InteractingSphere4SpheresContactGeometry.cpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/pkg/dem/Engine/EngineUnit/InteractingFacet2InteractingSphere4SpheresContactGeometry.cpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -35,12 +35,18 @@
const shared_ptr<Interaction>& c)
{
InteractingFacet* facet = static_cast<InteractingFacet*>(cm1.get());
+ /* could be written as (needs to be tested):
+ * Vector3r cl=se32.orientation.Conjugate()*(se32.position-se32.position);
+ */
Matrix3r facetAxisT; se31.orientation.ToRotationMatrix(facetAxisT);
Matrix3r facetAxis = facetAxisT.Transpose();
-
// local orientation
Vector3r cl = facetAxis*(se32.position - se31.position);
+ //
+ // BEGIN everything in facet-local coordinates
+ //
+
Vector3r normal = facet->nf;
Real L = normal.Dot(cl);
if (L<0) { normal=-normal; L=-L; }
@@ -67,7 +73,7 @@
if (icr<0)
{
- LOG_INFO("WARNING: a radius of a facet's inscribed circle less than zero! So, shrinkFactor is too large and would be reduced to zero.");
+ LOG_WARN("a radius of a facet's inscribed circle less than zero! So, shrinkFactor is too large and would be reduced to zero.");
shrinkFactor=0;
icr = facet->icr;
sh = 0;
@@ -92,6 +98,10 @@
penetrationDepth = sphereRadius - normal.Normalize();
}
+ //
+ // END everything in facet-local coordinates
+ //
+
if (penetrationDepth>0)
{
shared_ptr<SpheresContactGeometry> scm;
@@ -100,7 +110,7 @@
else
scm = shared_ptr<SpheresContactGeometry>(new SpheresContactGeometry());
- normal = facetAxisT*normal; // global orientation
+ normal = facetAxisT*normal; // in global orientation
scm->contactPoint = se32.position - (sphereRadius-0.5*penetrationDepth)*normal;
scm->normal = normal;
scm->penetrationDepth = penetrationDepth;
@@ -112,17 +122,18 @@
if(hasShear){
scm->hasShear=true;
- scm->pos1=scm->contactPoint-(2*sphereRadius-.5*penetrationDepth)*normal; scm->pos2=se32.position;
+ // fictive center of the sphere representing the facet in the sphere-sphere contact
+ scm->pos1=scm->contactPoint-(scm->radius1-.5*penetrationDepth)*normal; scm->pos2=se32.position;
scm->ori1=se31.orientation; scm->ori2=se32.orientation;
if(c->isNew){
- scm->d0=(scm->pos2-scm->pos1).Length();
- scm->d1=2*sphereRadius-penetrationDepth; scm->d2=sphereRadius-penetrationDepth;
+ scm->d0=scm->radius1+scm->radius2-penetrationDepth;
+ scm->d1=scm->radius1-.5*penetrationDepth; scm->d2=scm->radius2-.5*penetrationDepth;
// quasi-constants
scm->cp1rel.Align(Vector3r::UNIT_X,se31.orientation.Conjugate()*normal);
scm->cp2rel.Align(Vector3r::UNIT_X,se32.orientation.Conjugate()*(-normal));
scm->cp1rel.Normalize(); scm->cp2rel.Normalize();
}
- cerr<<"[n"<<scm->displacementN()<<" t"<<scm->displacementT()<<"]";
+ TRVAR2(scm->contPtInTgPlane1(),scm->contPtInTgPlane2());
}
return true;
@@ -137,16 +148,23 @@
const Se3r& se32,
const shared_ptr<Interaction>& c)
{
+ c->swapOrder();
+ //LOG_WARN("Swapped interaction order for "<<c->getId2()<<"&"<<c->getId1());
+ return go(cm2,cm1,se32,se31,c);
+#if 0
bool isInteracting = go(cm2,cm1,se32,se31,c);
if (isInteracting)
{
SpheresContactGeometry* scm = static_cast<SpheresContactGeometry*>(c->interactionGeometry.get());
- scm->normal = -scm->normal;
- Real tmpR = scm->radius1;
- scm->radius1 = scm->radius2;
- scm->radius2 = tmpR;
+ scm->normal*=-1;
+ std::swap(scm->radius1,scm->radius2);
+ if(hasShear){
+ swap(scm->pos1,scm->pos2); swap(scm->ori1,scm->ori2);
+ if(c->isNew){ swap(scm->cp1rel,scm->cp2rel); swap(scm->d1,scm->d2); }
+ }
}
return isInteracting;
+#endif
}
YADE_PLUGIN();
Modified: trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp
===================================================================
--- trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -36,7 +36,6 @@
shared_ptr<SpheresContactGeometry> scm;
if(c->interactionGeometry) scm=YADE_PTR_CAST<SpheresContactGeometry>(c->interactionGeometry);
else { scm=shared_ptr<SpheresContactGeometry>(new SpheresContactGeometry()); c->interactionGeometry=scm; }
- //cerr<<"Assigned scm "<<scm.get()<<"=="<<c->interactionGeometry.get()<<endl;
Real penetrationDepth=s1->radius+s2->radius-normal.Normalize(); /* Normalize() works in-place and returns length before normalization; from here, normal is unit vector */
scm->contactPoint=se31.position+(s1->radius-0.5*penetrationDepth)*normal;//0.5*(pt1+pt2);
Modified: trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.cpp
===================================================================
--- trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.cpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.cpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -15,6 +15,7 @@
#include<yade/lib-opengl/GLUtils.hpp>
YADE_PLUGIN("GLDrawSpheresContactGeometry");
+CREATE_LOGGER(GLDrawSpheresContactGeometry);
void GLDrawSpheresContactGeometry::go(
const shared_ptr<InteractionGeometry>& ig,
@@ -77,15 +78,19 @@
}
if(sc->hasShear){
- Vector3r contPt=se31.position+(sc->d1/sc->d0)*(se32.position-se31.position); // must be recalculated to not be unscaled if scaling displacements ...
+ Vector3r pos1=sc->pos1, pos2=sc->pos2, contPt=sc->contPt();
+ //Vector3r contPt=se31.position+(sc->d1/sc->d0)*(se32.position-se31.position); // must be recalculated to not be unscaled if scaling displacements ...
GLUtils::GLDrawLine(pos1,pos2,Vector3r(.5,.5,.5));
// sphere center to point on the sphere
//GLUtils::GLDrawLine(pos1,pos1+(sc->ori1*sc->cp1rel*Vector3r::UNIT_X*sc->d1),Vector3r(0,.5,1));
//GLUtils::GLDrawLine(pos2,pos2+(sc->ori2*sc->cp2rel*Vector3r::UNIT_X*sc->d2),Vector3r(0,1,.5));
+ //TRVAR4(pos1,sc->ori1,pos2,sc->ori2);
+ //TRVAR2(sc->cp2rel,pos2+(sc->ori2*sc->cp2rel*Vector3r::UNIT_X*sc->d2));
// contact point to projected points
Vector3r ptTg1=sc->contPtInTgPlane1(), ptTg2=sc->contPtInTgPlane2();
- GLUtils::GLDrawLine(contPt,contPt+ptTg1,Vector3r(0,.5,1));
- GLUtils::GLDrawLine(contPt,contPt+ptTg2,Vector3r(0,1,.5));
+ TRVAR3(ptTg1,ptTg2,sc->normal)
+ //GLUtils::GLDrawLine(contPt,contPt+ptTg1,Vector3r(0,.5,1)); GLUtils::GLDrawLine(pos1,contPt+ptTg1,Vector3r(0,.5,1));
+ //GLUtils::GLDrawLine(contPt,contPt+ptTg2,Vector3r(0,1,.5)); GLUtils::GLDrawLine(pos2,contPt+ptTg2,Vector3r(0,1,.5));
// projected shear
GLUtils::GLDrawLine(contPt+ptTg1,contPt+ptTg2,Vector3r(1,1,1));
//
Modified: trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.hpp
===================================================================
--- trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.hpp 2008-10-01 09:41:03 UTC (rev 1535)
+++ trunk/pkg/dem/RenderingEngine/GLDrawSpheresContactGeometry/GLDrawSpheresContactGeometry.hpp 2008-10-05 13:21:51 UTC (rev 1536)
@@ -20,6 +20,7 @@
virtual void go(const shared_ptr<InteractionGeometry>&,const shared_ptr<Interaction>&,const shared_ptr<Body>&,const shared_ptr<Body>&,bool wireFrame);
// virtual void registerAttributes();
+ DECLARE_LOGGER;
RENDERS(SpheresContactGeometry);
REGISTER_CLASS_NAME(GLDrawSpheresContactGeometry);
REGISTER_BASE_CLASS_NAME(GLDrawInteractionGeometryFunctor);
