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Move NN3DWalkers to the evolution folder.

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This commit is contained in:
Benjamin Ellenberger
2016-07-04 19:17:10 +02:00
parent e652863baa
commit 277e103b7b
3 changed files with 110 additions and 269 deletions
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161
examples/ExtendedTutorials/NN3DWalkers.cpp → examples/Evolution/NN3DWalkers.cpp
View File

@@ -15,6 +15,8 @@ subject to the following restrictions:
#include "NN3DWalkers.h"
#include <map>
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
@@ -28,6 +30,7 @@ struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
//TODO: Maybe add pointworldToLocal and AxisWorldToLocal etc. to a helper class
@@ -42,18 +45,17 @@ btTransform getTransformWorldToLocal(btTransform localObjectCenterOfMassTransfor
class NN3DWalkers : public CommonRigidBodyBase
{
float m_Time;
float m_targetAccumulator;
float m_targetFrequency;
float m_fCyclePeriod; // in milliseconds
float m_fMuscleStrength;
btScalar m_Time;
btScalar m_targetAccumulator;
btScalar m_targetFrequency;
btScalar m_motorStrength;
btAlignedObjectArray<class NNWalker*> m_walkers;
public:
NN3DWalkers(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper),m_fCyclePeriod(0),m_Time(0),m_fMuscleStrength(0),m_targetFrequency(1),m_targetAccumulator(0)
:CommonRigidBodyBase(helper), m_Time(0),m_motorStrength(0.5f),m_targetFrequency(3),m_targetAccumulator(0)
{
}
@@ -93,12 +95,12 @@ static NN3DWalkers* nn3DWalkers = NULL;
#define SIMD_PI_8 0.25 * SIMD_HALF_PI
#endif
void* WALKER_ID = (void*)1;
void* GROUND_ID = (void*)2;
void* GROUND_ID = (void*)1;
bool RANDOM_MOVEMENT = false;
#define NUM_LEGS 6
#define BODYPART_COUNT 2 * NUM_LEGS + 1
#define JOINT_COUNT BODYPART_COUNT - 1
#define BODYPART_COUNT (2 * NUM_LEGS + 1)
#define JOINT_COUNT (BODYPART_COUNT - 1)
class NNWalker
{
@@ -106,6 +108,9 @@ class NNWalker
btCollisionShape* m_shapes[BODYPART_COUNT];
btRigidBody* m_bodies[BODYPART_COUNT];
btTypedConstraint* m_joints[JOINT_COUNT];
std::map<void*,int> m_body_index_map;
bool m_touch_sensors[BODYPART_COUNT];
float m_sensory_motor_weights[BODYPART_COUNT*JOINT_COUNT];
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
{
@@ -131,6 +136,13 @@ public:
{
btVector3 vUp(0, 1, 0); // up in local reference frame
//initialize random weights
for(int i = 0;i < BODYPART_COUNT;i++){
for(int j = 0;j < JOINT_COUNT;j++){
m_sensory_motor_weights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
}
}
//
// Setup geometry
//
@@ -228,7 +240,9 @@ public:
m_bodies[i]->setDeactivationTime(0.8);
//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
m_bodies[i]->setUserPointer(WALKER_ID);
m_bodies[i]->setUserPointer(this);
m_body_index_map.insert(std::pair<void*,int>(m_bodies[i],i));
}
}
@@ -255,8 +269,23 @@ public:
}
}
btTypedConstraint** GetJoints() {return &m_joints[0];}
btTypedConstraint** getJoints() {return &m_joints[0];}
void setTouchSensor(void* bodyPointer){
m_touch_sensors[m_body_index_map.at(bodyPointer)] = true;
}
void clearTouchSensors(){
for(int i = 0 ; i < BODYPART_COUNT;i++){
m_touch_sensors[i] = false;
}
}
bool getTouchSensor(int i){ return m_touch_sensors[i];}
const float* getSensoryMotorWeights() const {
return m_sensory_motor_weights;
}
};
@@ -272,19 +301,25 @@ void legMotorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
bool legContactProcessedCallback(btManifoldPoint& cp,
void* body0, void* body1)
{
void* ID1;
void* ID2;
btCollisionObject* o1 = static_cast<btCollisionObject*>(body0);
btCollisionObject* o2 = static_cast<btCollisionObject*>(body1);
ID1 = o1->getUserPointer();
ID2 = o2->getUserPointer();
void* ID1 = o1->getUserPointer();
void* ID2 = o2->getUserPointer();
if ((ID1 == GROUND_ID && ID2 == WALKER_ID) || (ID1 == WALKER_ID && ID2 == GROUND_ID)) {
if (ID2 != GROUND_ID || ID1 != GROUND_ID) {
// Make a circle with a 0.9 radius at (0,0,0)
// with RGB color (1,0,0).
if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL)
nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
if(ID1 != GROUND_ID){
((NNWalker*)ID1)->setTouchSensor(o1);
}
if(ID2 != GROUND_ID){
((NNWalker*)ID2)->setTouchSensor(o2);
}
}
return false;
}
@@ -293,8 +328,6 @@ bool legContactProcessedCallback(btManifoldPoint& cp,
void NN3DWalkers::initPhysics()
{
m_targetFrequency = 5;
gContactProcessedCallback = legContactProcessedCallback;
m_guiHelper->setUpAxis(1);
@@ -302,19 +335,37 @@ void NN3DWalkers::initPhysics()
// Setup the basic world
m_Time = 0;
m_fCyclePeriod = 2000.f; // in milliseconds
// m_fMuscleStrength = 0.05f;
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
// currently solver uses 10 iterations, so:
m_fMuscleStrength = 0.5f;
createEmptyDynamicsWorld();
m_dynamicsWorld->setInternalTickCallback(legMotorPreTickCallback,this,true);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_targetFrequency = 3;
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
m_motorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
{ // create a slider to change the motor update frequency
SliderParams slider("Motor update frequency", &m_targetFrequency);
slider.m_minVal = 0;
slider.m_maxVal = 10;
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to change the motor torque
SliderParams slider("Motor force", &m_motorStrength);
slider.m_minVal = 1;
slider.m_maxVal = 50;
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
// Setup a big ground box
{
@@ -328,10 +379,13 @@ void NN3DWalkers::initPhysics()
ground->setUserPointer(GROUND_ID);
}
for(int i = 0; i <20 ; i++){
// Spawn one walker
btVector3 startOffset(10*((double) rand() / (RAND_MAX)),0.5,10*((double) rand() / (RAND_MAX)));
spawnWalker(startOffset, false);
for(int i = 0; i < 5 ; i++){
for(int j = 0; j < 5; j++){
// Spawn one walker
btVector3 spacing(10.0f,0.8f,10.0f);
btVector3 startOffset(spacing * btVector3(i,0,j));
spawnWalker(startOffset, false);
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -366,16 +420,31 @@ void NN3DWalkers::setMotorTargets(btScalar deltaTime)
{
for (int i=0; i<2*NUM_LEGS; i++)
{
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkers[r]->GetJoints()[i]);
btScalar fCurAngle = hingeC->getHingeAngle();
btScalar targetAngle = 0;
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkers[r]->getJoints()[i]);
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
btScalar fTargetAngle = ((double) rand() / (RAND_MAX));//0.5 * (1 + sin(2 * SIMD_PI * fTargetPercent+ i* SIMD_PI/NUM_LEGS));
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
if(RANDOM_MOVEMENT){
targetAngle = ((double) rand() / (RAND_MAX));//0.5 * (1 + sin(2 * SIMD_PI * fTargetPercent+ i* SIMD_PI/NUM_LEGS));
}
else{
// accumulate sensor inputs with weights
for(int j = 0; j < JOINT_COUNT;j++){
targetAngle += m_walkers[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkers[r]->getTouchSensor(i);
}
// apply the activation function
targetAngle = (tanh(targetAngle)+1.0f)*0.5f;
}
btScalar targetLimitAngle = hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
btScalar currentAngle = hingeC->getHingeAngle();
btScalar angleError = targetLimitAngle - currentAngle;
btScalar desiredAngularVel = 1000000.f * angleError/ms;
hingeC->enableAngularMotor(true, desiredAngularVel, m_motorStrength);
}
// clear sensor signals after usage
m_walkers[r]->clearTouchSensors();
}
}
}
@@ -384,22 +453,12 @@ bool NN3DWalkers::keyboardCallback(int key, int state)
{
switch (key)
{
case '+': case '=':
m_fCyclePeriod /= 1.1f;
if (m_fCyclePeriod < 1.f)
m_fCyclePeriod = 1.f;
return true;
break;
case '-': case '_':
m_fCyclePeriod *= 1.1f;
return true;
break;
case '[':
m_fMuscleStrength /= 1.1f;
m_motorStrength /= 1.1f;
return true;
break;
case ']':
m_fMuscleStrength *= 1.1f;
m_motorStrength *= 1.1f;
return true;
break;
default:
@@ -434,7 +493,7 @@ void NN3DWalkers::renderScene()
debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
}
class CommonExampleInterface* NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
class CommonExampleInterface* ET_NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
{
nn3DWalkers = new NN3DWalkers(options.m_guiHelper);
return nn3DWalkers;

0
examples/ExtendedTutorials/NN3DWalkers.h → examples/Evolution/NN3DWalkers.h
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218
examples/Evolution/premake4.lua
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@@ -1,218 +0,0 @@
project "App_RigidBodyFromObjExample"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
files {
"RigidBodyFromObj.cpp",
"**.h",
"../StandaloneMain/main_console_single_example.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
project "App_RigidBodyFromObjExampleGui"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_RigidBodyFromObjExampleGuiWithSoftwareRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_RigidBodyFromObjExampleTinyRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
}
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}