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;;; geo.l
;;; ugeomap rpc interface
;;; 1987-Feb,Mar by T.Matsui
;;;
(defvar *geomap-pipe* nil)
(defvar *geomap-id* 0)
(defun kgeomap (&optional (gt "/dev/tty"))
(let (version)
(warn "creating ugeomap process ")
(setq *geomap-pipe* (sys:piped-fork "ugeomap" gt))
(setq version (read *geomap-pipe*))
(command "cinit 9600")
version))
(defun sendwords (words)
(dolist (w words)
(princ w *geomap-pipe*) (princ " " *geomap-pipe*)))
(defun command (&rest c)
(while c
(princ (pop c) *geomap-pipe*)
(princ " " *geomap-pipe*))
(terpri *geomap-pipe*)
(read *geomap-pipe*))
;;
;; control functions
;;
(defun cinit (&optional (baud 9600)) (command "cinit" baud))
(defun cterm () (command "cterm"))
(defun clist () (command "clist"))
;;
;; file operation
;;
(defun fsave (file-no) (command "fsave" file-no))
(defun fload (file-no) (command "fload" file-no))
;;
;; primitive/body creation and copy/delete
;;
(defun pcube (name a b c &key (center (float-vector 0 0 0)))
(command
"pcube" (elt center 0) (elt center 1) (elt center 2)
a b c name (inc *geomap-id*)))
(defun pcyl (name
&key (radius 1.0)
(bottom-radius radius)
(top-radius radius)
(height 1.0)
(center (float-vector 0 0 0))
(normal #f(0 0 0))
(facets 16))
(command
"pcyl" 0 facets bottom-radius top-radius 0 0 0 height
(elt normal 0) (elt normal 1) (elt normal 2)
(elt center 0) (elt center 1) (elt center 2)
name (inc *geomap-id*)))
(defun pgcyl (name
&key (points '((0 0 0) (1 0 0) (1 1 0) (0 1 0)))
(height 1.0)
(radius 1.0)
(bottom-radius radius)
(top-radius radius)
(center #f(0 0 0))
(top-center center))
(sendwords (list "pgcyl" (length points) bottom-radius top-radius 0))
(dolist (v points) (sendwords v))
(sendwords (list 0 0 height 0 0 0
(elt top-center 0) (elt top-center 1) (elt top-center 2)))
(command name (inc *geomap-id*)))
(defun prvl (name
&key (points '((0 0 0) (1 0 0) (1 1 0) (0 1 0)))
(center (float-vector 0 0 0))
(facets 16))
(sendwords (list "prvl" (length points)))
(dolist (v points) (sendwords v))
(sendwords (list facets 0 0 0
(elt center 0) (elt center 1) (elt center 2)))
(command name (inc *geomap-id*)))
(defun fcopy (name1 name2)
(command "fcopy" name1 name2))
(defun fdel (name) (command "fdel" name))
;;
;; camera
;;
(defun dcam (name &key (viewpoint #f(100 100 100))
(target #f(0 0 0))
(width 0))
(let ((viewline (v- viewpoint target))
(k (if (= width 0) 11 15)))
(command "dcam" k
(elt viewpoint 0) (elt viewpoint 1) (elt viewpoint 2)
1 (elt viewline 0) (elt viewline 1) (elt viewline 2)
width 4000 name)
(command "dscam" name) )
)
;;
;; display
;;
(defun hhid (name &optional (camera 0) (image 0) (k 0) (i 1))
(command "hid" name camera 4 k 0 i 0 image ))
;;
;; set operation
;;
(defun mtst (name1 name2)
(command "mtst" name1 name2))
(defun mint (name1 name2 name)
(command "mint" name1 name2 name (inc *geomap-id*)))
(defun msub (name1 name2 name)
(command "msub" name1 name2 name (inc *geomap-id*)))
(defun muni (name1 name2 name)
(command "muni" name1 name2 name (inc *geomap-id*)))
;;
;; relation between bodies
;;
(defun eatr (name1 name2) (command "eatr" name1 name2))
(defun edtr (name) (command "edtr" name))
(defun eagr (name1 name2) (command "eagr" name1 name2))
(defun edgr (name1 name2) (command "edgr" name1 name2))
;;
;; modelling transformation
;;
(defun grot (name axis theta
&optional (rname 0) (k 0) (itr 0)
(v (float-vector 0 0 0)))
(command "grot" name rname 1
(elt axis 0) (elt axis 1) (elt axis 2) ; rotation axis
(rad2deg theta) ;rotation angle
(elt v 0) (elt v 1) (elt v 2) ; center of rotation
k itr))
(defun euler (name alfa beta gamma
&optional (rname 0) (k 1) (itr 0)
(v (float-vector 0 0 0)))
(command "grot" name rname 0
(rad2deg alfa) ; rotation angle z
(rad2deg beta) ; rot angle y
(rad2deg gamma) ; rot angle x
(elt v 0) (elt v 1) (elt v 2) ; center of rotation
k itr))
(defun gtrns (name v &optional (rname 0) (k 1) (m 1))
(command "gtrns" name rname (elt v 0) (elt v 1) (elt v 2) k m))
(defun gmgnf (name scale &optional (center #f(0 0 0)) (m 1))
(command "gmgnf" name scale
(elt center 0) (elt center 1) (elt center 2)
m))
(defun trans-abs-body (name v &optional (tree 1))
(gtrns name v 0 1 tree))
(defun trans-abs-body-coord (name v &optional (tree 1))
(gtrns name v 0 0 tree))
(defun rot-abs-euler-body (name ang1 ang2 ang3 &optional (tree 1))
(euler name ang1 ang2 ang3 0 1 tree)
)
(defun rot-abs-euler-body-coord (name ang1 ang2 ang3 &optional (tree 1))
(euler name ang1 ang2 ang3 0 0 tree)
)
;;
;; access to geomap cells
;;
(defun cellid (name) (command "cellid" name))
(defun getcell (i) (command "getcell" i))
(defun vertices (vlist)
(apply #'command "vertices" (length vlist) vlist))
;;;
;;; functions to read data structures from solver process
;;; Objects are first linked from a vector *solver-cells*,
;;; which is then accessed to solve mutual references.
;;;
(defconstant *solver-max-cell* 8192)
(defvar *solver-cells* (make-array *solver-max-cell*))
(defun build-edge (e)
(let ((gcell (getcell e)))
(setq e (elt *solver-cells* (/ e 8)))
(send e :init
:pface (elt *solver-cells* (/ (elt gcell 2) 8))
:nface (elt *solver-cells* (/ (elt gcell 3) 8))
:pvertex (elt *solver-cells* (/ (elt gcell 4) 8))
:nvertex (elt *solver-cells* (/ (elt gcell 5) 8))
; :pwing (elt *solver-cells* (/ (elt gcell 6) 8))
; :pcwing (elt *solver-cells* (/ (elt gcell 7) 8))
; :nwing (elt *solver-cells* (/ (elt gcell 8) 8))
; :ncwing (elt *solver-cells* (/ (elt gcell 9) 8))
)))
(defun build-face (f)
(let ((gcell (getcell f)) (edges) (holes) (hole-list) (hole-edges)
(normal) (dist))
(setq f (elt *solver-cells* (/ f 8)))
(setq normal (float-vector (elt gcell 2) (elt gcell 3) (elt gcell 4)))
(setq dist (elt gcell 5))
(setq edges (mapcar #'(lambda (e) (svref *solver-cells* (/ e 8)))
(car (elt gcell 6))))
(setq hole-list (cdr (elt gcell 6)))
(dolist (h hole-list)
(setq hole-edges (mapcar #'(lambda (e) (svref *solver-cells* (/ e 8)))
h))
; (setq *h* hole-edges *f* f)
(push (instance hole :init
; :normal normal
; :distance dist
:edges hole-edges
:face f )
holes))
(send f :init :normal normal
:distance dist
:edges edges
:holes holes
)))
(defun read-body (bod &optional (init nil))
(let ((i 0) (abody) faces edges vertices)
(if init
(dotimes (i *solver-max-cell*) (svset *solver-cells* i nil)))
(if (not (numberp bod)) (setq bod (cellid bod)))
(setq abody (getcell bod))
(setq faces (nth 3 abody)
edges (nth 4 abody)
vertices (nth 5 abody))
(warn "reading vertices~%")
(dolist (v vertices)
(svset *solver-cells* (/ v 8) (caddr (getcell v))))
(warn "reading edges~%")
(dolist (e edges)
(svset *solver-cells* (/ e 8) (instantiate edge)))
(warn "reading faces~%")
(dolist (f faces)
(svset *solver-cells* (/ f 8) (instantiate face)))
;
(warn "building edges~%")
(dolist (e edges) (build-edge e))
(warn "building faces~%")
(dolist (f faces) (build-face f))
(warn "computing face angles~%")
(dolist (e edges) (send (svref *solver-cells* (/ e 8)) :set-angle))
; make body
(setq abody (instantiate body))
(send abody :init
:faces (mapcar
#'(lambda (i) (svref *solver-cells* (/ i 8)))
faces)
:edges (mapcar
#'(lambda (i) (svref *solver-cells* (/ i 8)))
edges)
:vertices (mapcar
#'(lambda (i) (svref *solver-cells* (/ i 8)))
vertices))
abody
))
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