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Merge pull request #886 from erwincoumans/master

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some VR tweaks and bugfix for issue #878
This commit is contained in:
erwincoumans
2016-12-11 12:53:47 -08:00
committed by GitHub
parent e8f38df121 436fdd5dc2
commit 0c26fee04d
14 changed files with 178 additions and 91 deletions
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53
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -48,7 +48,7 @@ int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 1;
int gEnableKukaControl = 0;
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -667,8 +667,6 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
}
@@ -717,6 +715,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
}
void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies()
@@ -4030,7 +4031,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
}
btVector3 gVRGripperPos(0,0,0.2);
btVector3 gVRGripperPos(0.6, 0.4, 0.7);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
@@ -4044,6 +4045,12 @@ int gDroppedSimulationSteps = 0;
int gNumSteps = 0;
double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTimeSim)
{
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (gResetSimulation)
@@ -4052,7 +4059,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gResetSimulation = false;
}
if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{
///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later...
@@ -4170,7 +4177,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
{
int bodyId = 0;
if (loadUrdf("pr2_gripper.urdf", btVector3(0, 0, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
if (loadUrdf("pr2_gripper.urdf", btVector3(-0.2, 0.15, 0.9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
{
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
@@ -4200,6 +4207,30 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
loadUrdf("kuka_iiwa/model_vr_limits.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_KukaId = bodyId;
InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7)
{
btScalar q[7];
q[0] = 0;// -SIMD_HALF_PI;
q[1] = 0;
q[2] = 0;
q[3] = SIMD_HALF_PI;
q[4] = 0;
q[5] = -SIMD_HALF_PI*0.66;
q[6] = 0;
for (int i = 0; i < 7; i++)
{
kukaBody->m_multiBody->setJointPos(i, q[i]);
}
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
kukaBody->m_multiBody->forwardKinematics(scratch_q, scratch_m);
int nLinks = kukaBody->m_multiBody->getNumLinks();
scratch_q.resize(nLinks + 1);
scratch_m.resize(nLinks + 1);
kukaBody->m_multiBody->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
}
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -4208,7 +4239,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
// Load one motor gripper for kuka
loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
m_data->m_gripperId = bodyId + 1;
InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
// Reset the default gripper motor maximum torque for damping to 0
@@ -4250,6 +4281,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
kukaBody = m_data->getHandle(m_data->m_KukaId);
if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
{
gripperBody->m_multiBody->setHasSelfCollision(0);
@@ -4303,7 +4335,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
// Table area
loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -4344,9 +4376,10 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
if (motor)
{
btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75;
motor->setPositionTarget(posTarget, .2);
motor->setPositionTarget(posTarget, .8);
motor->setVelocityTarget(0.0, .5);
motor->setMaxAppliedImpulse(5.0);
motor->setMaxAppliedImpulse(1.0);
}
}