move files and update license
This commit is contained in:
Xuchen Han
524
examples/DeformableDemo/GraspDeformable.cpp
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524
examples/DeformableDemo/GraspDeformable.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "GraspDeformable.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
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#include "BulletSoftBody/btSoftBody.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
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#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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///The GraspDeformable shows the use of rolling friction.
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///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
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///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
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static btScalar sGripperVerticalVelocity = 0.f;
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static btScalar sGripperClosingTargetVelocity = 0.f;
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static float friction = 1.;
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struct TetraCube
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{
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#include "../SoftDemo/cube.inl"
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};
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struct TetraBunny
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{
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#include "../SoftDemo/bunny.inl"
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};
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static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
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{
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bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute
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|| mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic);
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return canHaveMotor;
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}
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class GraspDeformable : public CommonRigidBodyBase
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{
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public:
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GraspDeformable(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~GraspDeformable()
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{
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 20;
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float pitch = -45;
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float yaw = 100;
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float targetPos[3] = {0, -0, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating);
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void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating);
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void stepSimulation(float deltaTime)
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{
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double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
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int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies();
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for (int i = 0; i < num_multiBody; ++i)
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{
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btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i);
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mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0));
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int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base
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for (int link = 0; link < mb->getNumLinks(); link++)
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{
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if (supportsJointMotor(mb, link))
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{
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btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
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if (motor)
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{
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// if (dofIndex == 10 || dofIndex == 11)
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// {
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// motor->setVelocityTarget(fingerTargetVelocities[1], 1);
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// motor->setMaxAppliedImpulse(1);
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// }
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if (dofIndex == 6)
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{
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motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
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motor->setMaxAppliedImpulse(2);
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}
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if (dofIndex == 7)
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{
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motor->setVelocityTarget(fingerTargetVelocities[1], 1);
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motor->setMaxAppliedImpulse(2);
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}
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// motor->setRhsClamp(SIMD_INFINITY);
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motor->setMaxAppliedImpulse(1);
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}
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}
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dofIndex += mb->getLink(link).m_dofCount;
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}
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}
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 250.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep);
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}
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void createGrip()
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{
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int count = 2;
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float mass = 2;
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btCollisionShape* shape[] = {
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new btBoxShape(btVector3(3, 3, 0.5)),
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};
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static const int nshapes = sizeof(shape) / sizeof(shape[0]);
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for (int i = 0; i < count; ++i)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(10, 0, 0));
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startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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createRigidBody(mass, startTransform, shape[i % nshapes]);
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}
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}
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virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
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{
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return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
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}
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virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
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{
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return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
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}
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virtual void renderScene()
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{
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CommonRigidBodyBase::renderScene();
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btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void GraspDeformable::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
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m_solver = sol;
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m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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deformableBodySolver->setWorld(getDeformableDynamicsWorld());
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btVector3 gravity = btVector3(0, -10, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// // load a gripper
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// {
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// btTransform rootTrans;
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// rootTrans.setIdentity();
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// BulletURDFImporter u2b(m_guiHelper,0,0,50,0);
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// bool forceFixedBase = false;
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// bool loadOk = u2b.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", forceFixedBase);
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// if (loadOk)
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// {
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// for (int m = 0; m < u2b.getNumModels(); m++)
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// {
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// u2b.activateModel(m);
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//
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// btMultiBody* mb = 0;
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//
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// MyMultiBodyCreator creation(m_guiHelper);
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//
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// u2b.getRootTransformInWorld(rootTrans);
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// ConvertURDF2Bullet(u2b, creation, rootTrans, getDeformableDynamicsWorld(), true, u2b.getPathPrefix(), CUF_USE_SDF+CUF_RESERVED);
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// mb = creation.getBulletMultiBody();
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//
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// int numLinks = mb->getNumLinks();
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// for (int i = 0; i < numLinks; i++)
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// {
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// int mbLinkIndex = i;
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// float maxMotorImpulse = 1.f;
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//
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// if (supportsJointMotor(mb, mbLinkIndex))
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// {
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// int dof = 0;
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// btScalar desiredVelocity = 0.f;
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// btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
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// motor->setPositionTarget(0, 0);
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// motor->setVelocityTarget(0, 1);
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// mb->getLink(mbLinkIndex).m_userPtr = motor;
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// getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
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// motor->finalizeMultiDof();
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// }
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// }
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// }
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// }
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// }
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// build a gripper
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{
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bool damping = true;
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bool gyro = false;
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bool canSleep = false;
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bool selfCollide = true;
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int numLinks = 2;
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btVector3 linkHalfExtents(1., 2, .4);
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btVector3 baseHalfExtents(1, 0.2, 2);
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btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 7.f,0.f), linkHalfExtents, baseHalfExtents, false);
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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for (int i = 0; i < numLinks; i++)
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{
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int mbLinkIndex = i;
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float maxMotorImpulse = 1.f;
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if (supportsJointMotor(mbC, mbLinkIndex))
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{
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int dof = 0;
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btScalar desiredVelocity = 0.f;
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btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
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motor->setPositionTarget(0, 0);
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motor->setVelocityTarget(0, 1);
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mbC->getLink(mbLinkIndex).m_userPtr = motor;
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getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
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motor->finalizeMultiDof();
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}
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}
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if (!damping)
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{
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mbC->setLinearDamping(0.0f);
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mbC->setAngularDamping(0.0f);
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}
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else
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{
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mbC->setLinearDamping(0.04f);
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mbC->setAngularDamping(0.04f);
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}
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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if (numLinks > 0)
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mbC->setJointPosMultiDof(0, &q0);
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///
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addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
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}
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//create a ground
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -25-2.1, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(0.5);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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// create a soft block
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{
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btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
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TetraCube::getElements(),
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0,
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TetraCube::getNodes(),
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false, true, true);
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psb->scale(btVector3(2, 2, 2));
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psb->translate(btVector3(0, 0, 0));
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psb->getCollisionShape()->setMargin(0.1);
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psb->setTotalMass(1);
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psb->setSpringStiffness(0);
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psb->setDampingCoefficient(0.04);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
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psb->m_cfg.kDF = 2;
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getDeformableDynamicsWorld()->addSoftBody(psb);
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getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
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getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
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getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2));
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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{
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SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
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slider.m_minVal = -2;
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slider.m_maxVal = 2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
|
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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}
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void GraspDeformable::exitPhysics()
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{
|
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
|
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
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if (body && body->getMotionState())
|
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{
|
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delete body->getMotionState();
|
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}
|
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m_dynamicsWorld->removeCollisionObject(obj);
|
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delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j = 0; j < m_collisionShapes.size(); j++)
|
||||
{
|
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btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
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delete m_broadphase;
|
||||
|
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delete m_dispatcher;
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|
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delete m_collisionConfiguration;
|
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}
|
||||
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btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating)
|
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{
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
float linkMass = 1.f;
|
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int numLinks = 2;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
|
||||
bool canSleep = false;
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete pTempBox;
|
||||
|
||||
//y-axis assumed up
|
||||
btAlignedObjectArray<btVector3> parentComToCurrentCom;
|
||||
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 4.f));
|
||||
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 4.f));//par body's COM to cur body's COM offset
|
||||
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0); //cur body's COM to cur body's PIV offset
|
||||
|
||||
btAlignedObjectArray<btVector3> parentComToCurrentPivot;
|
||||
parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom));
|
||||
parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true);
|
||||
}
|
||||
pMultiBody->finalizeMultiDof();
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new GraspDeformable(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
examples/DeformableDemo/GraspDeformable.h
Normal file
19
examples/DeformableDemo/GraspDeformable.h
Normal file
@@ -0,0 +1,19 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2019 Google Inc. http://bulletphysics.org
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef _GRASP_DEFORMABLE_H
|
||||
#define _GRASP_DEFORMABLE_H
|
||||
|
||||
class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_GRASP_DEFORMABLE_H
|
||||
Reference in New Issue
Block a user