Egalware/EgtMachKernel
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EgtMachKernel 2.3e3 :

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- modificata funzione gestione solidi semplici di collisione in simulazione (aggiunto parametro spiazzamento da riferimento)
- aggiunta funzione Lua EmtAddCollisionObjEx che estende la quasi omonima con lo spiazzamento indicato sopra
- a queste funzioni aggiunta la gestione dei tronchi di cono.
This commit is contained in:
DarioS
2021-05-24 20:05:40 +02:00
parent bd4903f7e3
commit bc7d1936dc
7 changed files with 62 additions and 13 deletions
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Simulator.cpp
+19 -4
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@@ -24,6 +24,7 @@
#include "/EgtDev/Include/EGkCDeBoxClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeCylClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeSpheClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeConeFrustumClosedSurfTm.h"
#include "/EgtDev/Include/EGkVolZmap.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EXeConst.h"
@@ -1231,6 +1232,10 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
// esecuzione controlli di collisione
bool bOk = true ;
Frame3d frObj = pGeoFrame->GetFrame() ;
if ( ! m_CollObj[j].vtMove.IsSmall())
frObj.Translate( m_CollObj[j].vtMove.x * frObj.VersX() +
m_CollObj[j].vtMove.y * frObj.VersY() +
m_CollObj[j].vtMove.z * frObj.VersZ()) ;
Frame3d frParent ; m_pGeomDB->GetGlobFrame( m_CollObj[j].nFrameId, frParent) ;
frObj.LocToLoc( frParent, frCd) ;
if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
@@ -1252,6 +1257,12 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
else
bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_CONE) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
else
bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist, *pSTM) ;
}
if ( ! bOk) {
nCdInd = i ;
nObjInd = j ;
@@ -1752,7 +1763,7 @@ Simulator::OnResetMachine( void)
//----------------------------------------------------------------------------
bool
Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3)
Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
{
// verifiche sui parametri
if ( nInd <= 0 || nFrameId <= GDB_ID_NULL)
@@ -1763,17 +1774,21 @@ Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, dou
return false ;
break ;
case MCH_SIM_COB_CYL :
if ( abs( dPar1) < EPS_SMALL || abs( dPar2) < EPS_SMALL)
if ( dPar1 < EPS_SMALL || abs( dPar2) < EPS_SMALL)
return false ;
break ;
case MCH_SIM_COB_SPHE :
if ( abs( dPar1) < EPS_SMALL)
if ( dPar1 < EPS_SMALL)
return false ;
break ;
case MCH_SIM_COB_CONE :
if ( ( dPar1 < EPS_SMALL && dPar2 < EPS_SMALL) || dPar3 < EPS_SMALL)
return false ;
break ;
default :
return false ;
}
// aggiungo al vettore
m_CollObj.emplace_back( nInd, nFrameId, nType, dPar1, dPar2, dPar3) ;
m_CollObj.emplace_back( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
return true ;
}