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Only create graphics if not headless.

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This commit is contained in:
Benelot
2016-11-01 22:11:12 +01:00
parent e10ca70944
commit 1fc36d0a9f
1 changed files with 42 additions and 89 deletions
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131
examples/Evolution/NN3DWalkers.cpp
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@@ -42,7 +42,7 @@ class NNWalker;
#endif #endif
#ifndef POPULATION_SIZE #ifndef POPULATION_SIZE
#define POPULATION_SIZE 100 // number of walkers in the population #define POPULATION_SIZE 50 // number of walkers in the population
#endif #endif
#ifndef EVALUATION_DURATION #ifndef EVALUATION_DURATION
@@ -57,6 +57,16 @@ class NNWalker;
#define TIME_SERIES_MIN_Y 0.0f #define TIME_SERIES_MIN_Y 0.0f
#endif #endif
static btScalar gWalkerMotorStrength = 0.5f;
static btScalar gWalkerLegTargetFrequency =3;
static btScalar gRootBodyRadius = 0.25f;
static btScalar gRootBodyHeight = 0.1f;
static btScalar gLegRadius = 0.1f;
static btScalar gLegLength = 0.45f;
static btScalar gForeLegLength = 0.75f;
static btScalar gForeLegRadius = 0.08f;
static btScalar gParallelEvaluations = 10.0f;
// Evaluation configurable parameters // Evaluation configurable parameters
#ifndef REAP_QTY #ifndef REAP_QTY
#define REAP_QTY 0.3f // number of walkers reaped based on their bad performance #define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
@@ -120,17 +130,6 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
btVector3 m_resetPosition; // initial position of an evaluation btVector3 m_resetPosition; // initial position of an evaluation
// configurable via slider
btScalar m_walkerLegTargetFrequency;
btScalar m_walkerMotorStrength;
btScalar m_rootBodyRadius;
btScalar m_rootBodyHeight;
btScalar m_legRadius;
btScalar m_legLength;
btScalar m_foreLegLength;
btScalar m_foreLegRadius;
btScalar m_parallelEvaluations;
int m_walkersInEvaluation; // number of walkers in evaluation int m_walkersInEvaluation; // number of walkers in evaluation
int m_nextReapedIndex; // index of the next reaped walker int m_nextReapedIndex; // index of the next reaped walker
@@ -141,16 +140,6 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
public: public:
NN3DWalkersExample(struct GUIHelperInterface* helper) NN3DWalkersExample(struct GUIHelperInterface* helper)
:NN3DWalkersTimeWarpBase(helper), :NN3DWalkersTimeWarpBase(helper),
// configurable via sliders, defaults
m_walkerMotorStrength(0.5f),
m_walkerLegTargetFrequency(3),
m_rootBodyRadius(0.25f),
m_rootBodyHeight(0.1f),
m_legRadius(0.1f),
m_legLength(0.45f),
m_foreLegLength(0.75f),
m_foreLegRadius(0.08f),
m_parallelEvaluations(10.0f),
// others // others
m_resetPosition(0,0,0), m_resetPosition(0,0,0),
m_SimulationTime(0), m_SimulationTime(0),
@@ -285,42 +274,6 @@ public:
* Print walker configurations to console. * Print walker configurations to console.
*/ */
void printWalkerConfigs(); void printWalkerConfigs();
btScalar getForeLegLength() const {
return m_foreLegLength;
}
btScalar getForeLegRadius() const {
return m_foreLegRadius;
}
btScalar getLegLength() const {
return m_legLength;
}
btScalar getLegRadius() const {
return m_legRadius;
}
btScalar getParallelEvaluations() const {
return m_parallelEvaluations;
}
btScalar getRootBodyHeight() const {
return m_rootBodyHeight;
}
btScalar getRootBodyRadius() const {
return m_rootBodyRadius;
}
btScalar getWalkerMotorStrength() const {
return m_walkerMotorStrength;
}
void setParallelEvaluations(btScalar parallelEvaluations) {
m_parallelEvaluations = parallelEvaluations;
}
}; };
static NN3DWalkersExample* nn3DWalkers = NULL; static NN3DWalkersExample* nn3DWalkers = NULL;
@@ -697,10 +650,8 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
if (ID1 != GROUND_ID || ID2 != GROUND_ID) { if (ID1 != GROUND_ID || ID2 != GROUND_ID) {
// Make a circle with a 0.9 radius at (0,0,0) // Make a circle with a 0.9 radius at (0,0,0)
// with RGB color (1,0,0). // with RGB color (1,0,0).
if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL){ if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL && !nn3DWalkers->mIsHeadless){
if(!nn3DWalkers->mIsHeadless){ nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
}
} }
if(ID1 != GROUND_ID && ID1){ if(ID1 != GROUND_ID && ID1){
@@ -733,7 +684,7 @@ struct WalkerFilterCallback : public btOverlapFilterCallback
}; };
void floorNNSliderValue(float notUsed) { void floorNNSliderValue(float notUsed) {
nn3DWalkers->setParallelEvaluations(floor(nn3DWalkers->getParallelEvaluations())); gParallelEvaluations = floor(gParallelEvaluations);
} }
void NN3DWalkersExample::initPhysics() void NN3DWalkersExample::initPhysics()
@@ -754,15 +705,15 @@ void NN3DWalkersExample::initPhysics()
m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true); m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_walkerLegTargetFrequency = 3; // Hz gWalkerLegTargetFrequency = 3; // Hz
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor // new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits) // should be (numberOfsolverIterations * oldLimits)
m_walkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations; gWalkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
{ // create a slider to change the motor update frequency { // create a slider to change the motor update frequency
SliderParams slider("Motor update frequency", &m_walkerLegTargetFrequency); SliderParams slider("Motor update frequency", &gWalkerLegTargetFrequency);
slider.m_minVal = 0; slider.m_minVal = 0;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -771,7 +722,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the motor torque { // create a slider to change the motor torque
SliderParams slider("Motor force", &m_walkerMotorStrength); SliderParams slider("Motor force", &gWalkerMotorStrength);
slider.m_minVal = 1; slider.m_minVal = 1;
slider.m_maxVal = 50; slider.m_maxVal = 50;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -780,7 +731,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the root body radius { // create a slider to change the root body radius
SliderParams slider("Root body radius", &m_rootBodyRadius); SliderParams slider("Root body radius", &gRootBodyRadius);
slider.m_minVal = 0.01f; slider.m_minVal = 0.01f;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -789,7 +740,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the root body height { // create a slider to change the root body height
SliderParams slider("Root body height", &m_rootBodyHeight); SliderParams slider("Root body height", &gRootBodyHeight);
slider.m_minVal = 0.01f; slider.m_minVal = 0.01f;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -798,7 +749,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the leg radius { // create a slider to change the leg radius
SliderParams slider("Leg radius", &m_legRadius); SliderParams slider("Leg radius", &gLegRadius);
slider.m_minVal = 0.01f; slider.m_minVal = 0.01f;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -807,7 +758,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the leg length { // create a slider to change the leg length
SliderParams slider("Leg length", &m_legLength); SliderParams slider("Leg length", &gLegLength);
slider.m_minVal = 0.01f; slider.m_minVal = 0.01f;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -816,7 +767,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the fore leg radius { // create a slider to change the fore leg radius
SliderParams slider("Fore Leg radius", &m_foreLegRadius); SliderParams slider("Fore Leg radius", &gForeLegRadius);
slider.m_minVal = 0.01f; slider.m_minVal = 0.01f;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -825,7 +776,7 @@ void NN3DWalkersExample::initPhysics()
} }
{ // create a slider to change the fore leg length { // create a slider to change the fore leg length
SliderParams slider("Fore Leg length", &m_foreLegLength); SliderParams slider("Fore Leg length", &gForeLegLength);
slider.m_minVal = 0.01f; slider.m_minVal = 0.01f;
slider.m_maxVal = 10; slider.m_maxVal = 10;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -835,7 +786,7 @@ void NN3DWalkersExample::initPhysics()
if(POPULATION_SIZE > 1) if(POPULATION_SIZE > 1)
{ // create a slider to change the number of parallel evaluations { // create a slider to change the number of parallel evaluations
SliderParams slider("Parallel evaluations", &m_parallelEvaluations); SliderParams slider("Parallel evaluations", &gParallelEvaluations);
slider.m_minVal = 1; slider.m_minVal = 1;
slider.m_maxVal = POPULATION_SIZE; slider.m_maxVal = POPULATION_SIZE;
slider.m_clampToNotches = false; slider.m_clampToNotches = false;
@@ -907,7 +858,7 @@ bool NN3DWalkersExample::detectCollisions()
return collisionDetected; return collisionDetected;
} }
if(m_dynamicsWorld->getDebugDrawer()){ // draw self collisions if(m_dynamicsWorld->getDebugDrawer() && !mIsHeadless){ // draw self collisions
m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.)); m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.)); m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
} }
@@ -924,10 +875,10 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
switch (key) switch (key)
{ {
case '[': case '[':
m_walkerMotorStrength /= 1.1f; gWalkerMotorStrength /= 1.1f;
return true; return true;
case ']': case ']':
m_walkerMotorStrength *= 1.1f; gWalkerMotorStrength *= 1.1f;
return true; return true;
case 'l': case 'l':
printWalkerConfigs(); printWalkerConfigs();
@@ -1139,7 +1090,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta); m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta);
if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /m_walkerLegTargetFrequency) if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /gWalkerLegTargetFrequency)
{ {
m_walkersInPopulation[r]->setLegUpdateAccumulator(0); m_walkersInPopulation[r]->setLegUpdateAccumulator(0);
@@ -1160,7 +1111,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
btScalar angleError = targetLimitAngle - currentAngle; // target current delta btScalar angleError = targetLimitAngle - currentAngle; // target current delta
btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety
hingeC->enableAngularMotor(true, desiredAngularVel, m_walkerMotorStrength); // set new target velocity hingeC->enableAngularMotor(true, desiredAngularVel, gWalkerMotorStrength); // set new target velocity
} }
} }
@@ -1183,7 +1134,7 @@ void NN3DWalkersExample::scheduleEvaluations() {
m_walkersInEvaluation--; m_walkersInEvaluation--;
} }
if(m_walkersInEvaluation < m_parallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */ if(m_walkersInEvaluation < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
b3Printf("An evaluation started at %f s.",m_SimulationTime); b3Printf("An evaluation started at %f s.",m_SimulationTime);
m_walkersInEvaluation++; m_walkersInEvaluation++;
@@ -1196,7 +1147,9 @@ void NN3DWalkersExample::scheduleEvaluations() {
m_walkersInPopulation[i]->setInEvaluation(true); m_walkersInPopulation[i]->setInEvaluation(true);
m_walkersInPopulation[i]->addToWorld(); m_walkersInPopulation[i]->addToWorld();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); if(!mIsHeadless){
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
} }
} }
@@ -1213,12 +1166,12 @@ void NN3DWalkersExample::scheduleEvaluations() {
void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){ void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition, NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition,
m_rootBodyRadius, gRootBodyRadius,
m_rootBodyHeight, gRootBodyHeight,
m_legRadius, gLegRadius,
m_legLength, gLegLength,
m_foreLegRadius, gForeLegRadius,
m_foreLegLength, gForeLegLength,
false); false);
if(m_walkersInPopulation[i] != NULL){ if(m_walkersInPopulation[i] != NULL){
@@ -1244,8 +1197,8 @@ void NN3DWalkersExample::drawMarkings() {
} }
} }
for(int i = 2; i < 50; i+=2){ // draw distance circles if(m_dynamicsWorld->getDebugDrawer() && !mIsHeadless){
if(m_dynamicsWorld->getDebugDrawer()){ for(int i = 2; i < 50; i+=2){ // draw distance circles
m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false); m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
} }
} }