Initial commit.
------------ Simplifying the walker generation code and making it more understandable SQUASH THIS LATER.
This commit is contained in:
Benjamin Ellenberger
@@ -175,6 +175,8 @@ SET(BulletExampleBrowser_SRCS
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../ExtendedTutorials/InclinedPlane.h
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../ExtendedTutorials/MultiPendulum.cpp
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../ExtendedTutorials/MultiPendulum.h
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../ExtendedTutorials/NN3DWalkers.cpp
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../ExtendedTutorials/NN3DWalkers.h
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../Collision/CollisionSdkC_Api.cpp
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../Collision/CollisionSdkC_Api.h
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../Collision/CollisionTutorialBullet2.cpp
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@@ -67,6 +67,7 @@
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#include "../ExtendedTutorials/InclinedPlane.h"
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#include "../ExtendedTutorials/NewtonsCradle.h"
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#include "../ExtendedTutorials/MultiPendulum.h"
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#include "../ExtendedTutorials/NN3DWalkers.h"
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struct ExampleEntry
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{
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@@ -280,7 +281,7 @@ static ExampleEntry gDefaultExamples[]=
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ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
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ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.", ET_NewtonsCradleCreateFunc),
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ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.",ET_MultiPendulumCreateFunc),
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ExampleEntry(1,"Neural Network 3D Walkers","A simple example of using evolution to make a creature walk.",NN3DWalkersCreateFunc)
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//todo: create a category/tutorial about advanced topics, such as optimizations, using different collision detection algorithm, different constraint solvers etc.
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//ExampleEntry(0,"Advanced"),
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@@ -93,6 +93,8 @@ project "App_BulletExampleBrowser"
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"../ExtendedTutorials/Chain.cpp",
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"../ExtendedTutorials/Bridge.cpp",
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"../ExtendedTutorials/RigidBodyFromObj.cpp",
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"../ExtendedTutorials/NN3DWalkers.cpp",
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"../ExtendedTutorials/NN3DWalkers.h",
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"../Collision/*",
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"../Collision/Internal/*",
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"../Benchmarks/*",
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434
examples/ExtendedTutorials/NN3DWalkers.cpp
Executable file
434
examples/ExtendedTutorials/NN3DWalkers.cpp
Executable file
@@ -0,0 +1,434 @@
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/*
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Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
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Motor Demo
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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 "NN3DWalkers.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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//TODO: Maybe add pointworldToLocal and AxisWorldToLocal etc. to a helper class
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class NN3DWalkers : public CommonRigidBodyBase
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{
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float m_Time;
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float m_fCyclePeriod; // in milliseconds
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float m_fMuscleStrength;
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btAlignedObjectArray<class NNWalker*> m_walkers;
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public:
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NN3DWalkers(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper),m_fCyclePeriod(0),m_Time(0),m_fMuscleStrength(0)
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{
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}
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void initPhysics();
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void exitPhysics();
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virtual ~NN3DWalkers()
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{
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}
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void spawnWalker(const btVector3& startOffset, bool bFixed);
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virtual bool keyboardCallback(int key, int state);
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void setMotorTargets(btScalar deltaTime);
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void resetCamera()
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{
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float dist = 11;
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float pitch = 52;
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float yaw = 35;
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float targetPos[3]={0,0.46,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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btVector3 getPointWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 &point);
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btVector3 getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 &axis);
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btVector3 getPointLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 &point);
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btVector3 getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 &axis);
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};
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923
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#endif
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#ifndef M_PI_4
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#define M_PI_4 0.785398163397448309616
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#endif
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#ifndef M_PI_8
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#define M_PI_8 0.5 * M_PI_4
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#endif
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// /LOCAL FUNCTIONS
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#define NUM_LEGS 6
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#define BODYPART_COUNT 2 * NUM_LEGS + 1
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#define JOINT_COUNT BODYPART_COUNT - 1
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class NNWalker
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{
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btDynamicsWorld* m_ownerWorld;
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btCollisionShape* m_shapes[BODYPART_COUNT];
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btRigidBody* m_bodies[BODYPART_COUNT];
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btTypedConstraint* m_joints[JOINT_COUNT];
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btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
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{
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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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shape->calculateLocalInertia(mass,localInertia);
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_ownerWorld->addRigidBody(body);
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return body;
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}
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public:
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NNWalker(btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
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: m_ownerWorld (ownerWorld)
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{
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btVector3 vUp(0, 1, 0);
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//
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// Setup geometry
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//
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float rootBodyRadius = 0.25f;
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float rootBodyHeight = 0.1f;
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float legRadius = 0.1f;
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float legLength = 0.45f;
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float foreLegLength = 0.75f;
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float foreLegRadius = 0.08f;
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m_shapes[0] = new btCapsuleShape(btScalar(rootBodyRadius), btScalar(rootBodyHeight));
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int i;
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for ( i=0; i<NUM_LEGS; i++)
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{
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m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(legRadius), btScalar(legLength)); // leg capsule
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m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(foreLegRadius), btScalar(foreLegLength)); // fore leg capsule
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}
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//
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// Setup rigid bodies
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//
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float footHeight = 0.5;
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btTransform bodyOffset; bodyOffset.setIdentity();
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bodyOffset.setOrigin(positionOffset);
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// root body
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btVector3 localRootBodyPosition = btVector3(btScalar(0.), btScalar(footHeight), btScalar(0.)); // root body position in local reference frame
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btTransform transform;
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transform.setIdentity();
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transform.setOrigin(localRootBodyPosition);
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if (bFixed) // if fixed body
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{
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m_bodies[0] = localCreateRigidBody(btScalar(0.), bodyOffset*transform, m_shapes[0]);
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} else
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{
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m_bodies[0] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[0]);
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}
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btHingeConstraint* hingeC;
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//btConeTwistConstraint* coneC;
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btTransform localA, localB, localC;
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// legs
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for ( i=0; i<NUM_LEGS; i++)
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{
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float footAngle = 2 * M_PI * i / NUM_LEGS; // legs are uniformly distributed around the root body
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float footYUnitPosition = sin(footAngle); // y position of the leg on the unit circle
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float footXUnitPosition = cos(footAngle); // x position of the leg on the unit circle
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transform.setIdentity();
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btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(rootBodyRadius+0.5*legLength)), btScalar(footHeight), btScalar(footYUnitPosition*(rootBodyRadius+0.5*legLength)));
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transform.setOrigin(legCOM);
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// thigh
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btVector3 legDirection = (legCOM - localRootBodyPosition).normalize();
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btVector3 kneeAxis = legDirection.cross(vUp);
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transform.setRotation(btQuaternion(kneeAxis, M_PI_2));
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m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[1+2*i]);
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// shin
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(footHeight-0.5*foreLegLength), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
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m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[2+2*i]);
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//
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// Setup the constraints
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//
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// hip joints
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,-footAngle,0); localA.setOrigin(btVector3(btScalar(footXUnitPosition*rootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*rootBodyRadius)));
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localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
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hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
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hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
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//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
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m_joints[2*i] = hingeC;
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m_ownerWorld->addConstraint(m_joints[2*i], true);
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// knee joints
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localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
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localA.getBasis().setEulerZYX(0,-footAngle,0); localA.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(0.), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
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localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
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localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
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hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
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//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
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hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2));
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m_joints[1+2*i] = hingeC;
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m_ownerWorld->addConstraint(m_joints[1+2*i], true);
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}
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// Setup some damping on the m_bodies
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for (i = 0; i < BODYPART_COUNT; ++i)
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{
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m_bodies[i]->setDamping(0.05, 0.85);
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m_bodies[i]->setDeactivationTime(0.8);
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//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
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m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
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}
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}
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virtual ~NNWalker ()
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{
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int i;
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// Remove all constraints
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for ( i = 0; i < JOINT_COUNT; ++i)
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{
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m_ownerWorld->removeConstraint(m_joints[i]);
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delete m_joints[i]; m_joints[i] = 0;
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}
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// Remove all bodies and shapes
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for ( i = 0; i < BODYPART_COUNT; ++i)
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{
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m_ownerWorld->removeRigidBody(m_bodies[i]);
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delete m_bodies[i]->getMotionState();
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delete m_bodies[i]; m_bodies[i] = 0;
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delete m_shapes[i]; m_shapes[i] = 0;
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}
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}
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btTypedConstraint** GetJoints() {return &m_joints[0];}
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};
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void motorNNPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
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{
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NN3DWalkers* motorDemo = (NN3DWalkers*)world->getWorldUserInfo();
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motorDemo->setMotorTargets(timeStep);
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}
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void NN3DWalkers::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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// Setup the basic world
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m_Time = 0;
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m_fCyclePeriod = 2000.f; // in milliseconds
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// m_fMuscleStrength = 0.05f;
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// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
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// should be (numberOfsolverIterations * oldLimits)
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// currently solver uses 10 iterations, so:
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m_fMuscleStrength = 0.5f;
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createEmptyDynamicsWorld();
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m_dynamicsWorld->setInternalTickCallback(motorNNPreTickCallback,this,true);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// Setup a big ground box
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
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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,-10,0));
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createRigidBody(btScalar(0.),groundTransform,groundShape);
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}
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// Spawn one ragdoll
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btVector3 startOffset(1,0.5,0);
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spawnWalker(startOffset, false);
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startOffset.setValue(-2,0.5,0);
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spawnWalker(startOffset, true);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void NN3DWalkers::spawnWalker(const btVector3& startOffset, bool bFixed)
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{
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NNWalker* walker = new NNWalker(m_dynamicsWorld, startOffset, bFixed);
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m_walkers.push_back(walker);
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}
|
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//void PreStep()
|
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//{
|
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//
|
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//}
|
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|
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|
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|
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void NN3DWalkers::setMotorTargets(btScalar deltaTime)
|
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{
|
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|
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float ms = deltaTime*1000000.;
|
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float minFPS = 1000000.f/60.f;
|
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if (ms > minFPS)
|
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ms = minFPS;
|
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|
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m_Time += ms;
|
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|
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//
|
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// set per-frame sinusoidal position targets using angular motor (hacky?)
|
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//
|
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for (int r=0; r<m_walkers.size(); r++)
|
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{
|
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for (int i=0; i<2*NUM_LEGS; i++)
|
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{
|
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btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkers[r]->GetJoints()[i]);
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btScalar fCurAngle = hingeC->getHingeAngle();
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btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
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btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent));
|
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btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
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btScalar fAngleError = fTargetLimitAngle - fCurAngle;
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btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
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hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
|
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}
|
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}
|
||||
|
||||
|
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}
|
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|
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bool NN3DWalkers::keyboardCallback(int key, int state)
|
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{
|
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switch (key)
|
||||
{
|
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case '+': case '=':
|
||||
m_fCyclePeriod /= 1.1f;
|
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if (m_fCyclePeriod < 1.f)
|
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m_fCyclePeriod = 1.f;
|
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return true;
|
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break;
|
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case '-': case '_':
|
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m_fCyclePeriod *= 1.1f;
|
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return true;
|
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break;
|
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case '[':
|
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m_fMuscleStrength /= 1.1f;
|
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return true;
|
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break;
|
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case ']':
|
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m_fMuscleStrength *= 1.1f;
|
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return true;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void NN3DWalkers::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
for (i=0;i<m_walkers.size();i++)
|
||||
{
|
||||
NNWalker* walker = m_walkers[i];
|
||||
delete walker;
|
||||
}
|
||||
|
||||
CommonRigidBodyBase::exitPhysics();
|
||||
}
|
||||
|
||||
|
||||
class CommonExampleInterface* NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new NN3DWalkers(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
btVector3 NN3DWalkers::getPointWorldToLocal( btTransform localObjectCenterOfMassTransform, btVector3 &point) {
|
||||
return localObjectCenterOfMassTransform.inverse() * point; // transforms the point from the world frame into the local frame
|
||||
}
|
||||
|
||||
btVector3 NN3DWalkers::getPointLocalToWorld( btTransform localObjectCenterOfMassTransform, btVector3 &point) {
|
||||
return localObjectCenterOfMassTransform * point; // transforms the point from the world frame into the local frame
|
||||
}
|
||||
|
||||
btVector3 NN3DWalkers::getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 &axis) {
|
||||
btTransform local1 = localObjectCenterOfMassTransform.inverse(); // transforms the axis from the local frame into the world frame
|
||||
btVector3 zero(0,0,0);
|
||||
local1.setOrigin(zero);
|
||||
return local1 * axis;
|
||||
}
|
||||
|
||||
btVector3 NN3DWalkers::getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 &axis) {
|
||||
btTransform local1 = localObjectCenterOfMassTransform; // transforms the axis from the local frame into the world frame
|
||||
btVector3 zero(0,0,0);
|
||||
local1.setOrigin(zero);
|
||||
return local1 * axis;
|
||||
}
|
||||
23
examples/ExtendedTutorials/NN3DWalkers.h
Executable file
23
examples/ExtendedTutorials/NN3DWalkers.h
Executable file
@@ -0,0 +1,23 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 NN_3D_WALKERS_H
|
||||
#define NN_3D_WALKERS_H
|
||||
|
||||
class CommonExampleInterface* NN3DWalkersCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user