Create project file for BussIK inverse kinematics library (premake, cmake)
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
This commit is contained in:
erwin coumans
156
examples/SharedMemory/IKTrajectoryHelper.cpp
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156
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -0,0 +1,156 @@
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#include "IKTrajectoryHelper.h"
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#include "BussIK/Node.h"
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#include "BussIK/Tree.h"
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#include "BussIK/Jacobian.h"
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#include "BussIK/VectorRn.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#define RADIAN(X) ((X)*RadiansToDegrees)
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//use BussIK and Reflexxes to convert from Cartesian endeffector future target to
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//joint space positions at each real-time (simulation) step
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struct IKTrajectoryHelperInternalData
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{
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VectorR3 m_endEffectorTargetPosition;
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Tree m_ikTree;
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b3AlignedObjectArray<Node*> m_ikNodes;
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Jacobian* m_ikJacobian;
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IKTrajectoryHelperInternalData()
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{
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m_endEffectorTargetPosition.SetZero();
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}
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};
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IKTrajectoryHelper::IKTrajectoryHelper()
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{
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m_data = new IKTrajectoryHelperInternalData;
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}
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IKTrajectoryHelper::~IKTrajectoryHelper()
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{
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delete m_data;
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}
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bool IKTrajectoryHelper::createFromMultiBody(class btMultiBody* mb)
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{
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//todo: implement proper conversion. For now, we only 'detect' a likely KUKA iiwa and hardcode its creation
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if (mb->getNumLinks()==7)
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{
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createKukaIIWA();
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return true;
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}
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return false;
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}
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void IKTrajectoryHelper::createKukaIIWA()
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{
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const VectorR3& unitx = VectorR3::UnitX;
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const VectorR3& unity = VectorR3::UnitY;
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const VectorR3& unitz = VectorR3::UnitZ;
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const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);
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const VectorR3& zero = VectorR3::Zero;
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float minTheta = -4 * PI;
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float maxTheta = 4 * PI;
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m_data->m_ikNodes.resize(8);//7DOF+additional endeffector
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m_data->m_ikNodes[0] = new Node(VectorR3(0.100000, 0.000000, 0.087500), unitz, 0.08, JOINT, -1e30, 1e30, RADIAN(0.));
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m_data->m_ikTree.InsertRoot(m_data->m_ikNodes[0]);
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m_data->m_ikNodes[1] = new Node(VectorR3(0.100000, -0.000000, 0.290000), unity, 0.08, JOINT, -0.5, 0.4, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[0], m_data->m_ikNodes[1]);
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m_data->m_ikNodes[2] = new Node(VectorR3(0.100000, -0.000000, 0.494500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[1], m_data->m_ikNodes[2]);
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m_data->m_ikNodes[3] = new Node(VectorR3(0.100000, 0.000000, 0.710000), -unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[2], m_data->m_ikNodes[3]);
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m_data->m_ikNodes[4] = new Node(VectorR3(0.100000, 0.000000, 0.894500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[3], m_data->m_ikNodes[4]);
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m_data->m_ikNodes[5] = new Node(VectorR3(0.100000, 0.000000, 1.110000), unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[4], m_data->m_ikNodes[5]);
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m_data->m_ikNodes[6] = new Node(VectorR3(0.100000, 0.000000, 1.191000), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.));
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[5], m_data->m_ikNodes[6]);
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m_data->m_ikNodes[7] = new Node(VectorR3(0.100000, 0.000000, 1.20000), zero, 0.08, EFFECTOR);
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m_data->m_ikTree.InsertLeftChild(m_data->m_ikNodes[6], m_data->m_ikNodes[7]);
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m_data->m_ikJacobian = new Jacobian(&m_data->m_ikTree);
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// Reset(m_ikTree,m_ikJacobian);
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m_data->m_ikTree.Init();
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m_data->m_ikTree.Compute();
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m_data->m_ikJacobian->Reset();
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}
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bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
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const double* q_current, int numQ,
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double* q_new, int ikMethod)
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{
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if (numQ != 7)
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{
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return false;
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}
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for (int i=0;i<numQ;i++)
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{
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m_data->m_ikNodes[i]->SetTheta(q_current[i]);
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}
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bool UseJacobianTargets1 = false;
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if ( UseJacobianTargets1 ) {
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m_data->m_ikJacobian->SetJtargetActive();
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}
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else {
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m_data->m_ikJacobian->SetJendActive();
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}
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VectorR3 targets;
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targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]);
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m_data->m_ikJacobian->ComputeJacobian(&targets); // Set up Jacobian and deltaS vectors
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// Calculate the change in theta values
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switch (ikMethod) {
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case IK2_JACOB_TRANS:
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m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method
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break;
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case IK2_DLS:
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m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method
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break;
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case IK2_DLS_SVD:
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m_data->m_ikJacobian->CalcDeltaThetasDLSwithSVD();
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break;
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case IK2_PURE_PSEUDO:
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m_data->m_ikJacobian->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method
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break;
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case IK2_SDLS:
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m_data->m_ikJacobian->CalcDeltaThetasSDLS(); // Selectively damped least squares method
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break;
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default:
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m_data->m_ikJacobian->ZeroDeltaThetas();
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break;
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}
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m_data->m_ikJacobian->UpdateThetas();
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// Apply the change in the theta values
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m_data->m_ikJacobian->UpdatedSClampValue(&targets);
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for (int i=0;i<numQ;i++)
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{
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q_new[i] = m_data->m_ikNodes[i]->GetTheta();
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}
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return true;
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}
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32
examples/SharedMemory/IKTrajectoryHelper.h
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32
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -0,0 +1,32 @@
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#ifndef IK_TRAJECTORY_HELPER_H
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#define IK_TRAJECTORY_HELPER_H
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enum IK2_Method
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{
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IK2_JACOB_TRANS=0,
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IK2_PURE_PSEUDO,
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IK2_DLS,
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IK2_SDLS ,
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IK2_DLS_SVD
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};
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class IKTrajectoryHelper
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{
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struct IKTrajectoryHelperInternalData* m_data;
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public:
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IKTrajectoryHelper();
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virtual ~IKTrajectoryHelper();
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///todo: replace createKukaIIWA with a generic way of create an IK tree
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void createKukaIIWA();
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bool createFromMultiBody(class btMultiBody* mb);
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bool computeIK(const double endEffectorTargetPosition[3],
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const double* q_old, int numQ,
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double* q_new, int ikMethod);
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};
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#endif //IK_TRAJECTORY_HELPER_H
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@@ -163,6 +163,19 @@ int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int
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return 0;
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}
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int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP)
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{
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
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command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP;
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command->m_physSimParamArgs.m_defaultContactERP = defaultContactERP;
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return 0;
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}
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int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
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b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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@@ -1251,4 +1264,62 @@ int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandl
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return true;
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}
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}
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///compute the joint positions to move the end effector to a desired target using inverse kinematics
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b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
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const double* jointPositionsQ, const double targetPosition[3])
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{
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PhysicsClient* cl = (PhysicsClient*)physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_CALCULATE_INVERSE_KINEMATICS;
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command->m_updateFlags = 0;
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command->m_calculateInverseKinematicsArguments.m_bodyUniqueId = bodyIndex;
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int numJoints = cl->getNumJoints(bodyIndex);
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for (int i = 0; i < numJoints;i++)
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{
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command->m_calculateInverseKinematicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
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}
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command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
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command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
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command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
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return (b3SharedMemoryCommandHandle)command;
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}
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int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
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int* bodyUniqueId,
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int* dofCount,
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double* jointPositions)
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{
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const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
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btAssert(status->m_type == CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED);
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if (status->m_type != CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED)
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return false;
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if (dofCount)
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{
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*dofCount = status->m_inverseKinematicsResultArgs.m_dofCount;
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}
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if (bodyUniqueId)
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{
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*bodyUniqueId = status->m_inverseKinematicsResultArgs.m_bodyUniqueId;
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}
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if (jointPositions)
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{
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for (int i = 0; i < status->m_inverseKinematicsResultArgs.m_dofCount; i++)
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{
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jointPositions[i] = status->m_inverseKinematicsResultArgs.m_jointPositions[i];
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}
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}
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return false;
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}
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@@ -89,6 +89,7 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con
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b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
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int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
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int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
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int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
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int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
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int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
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@@ -115,6 +116,17 @@ int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandl
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int* dofCount,
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double* jointForces);
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///compute the joint positions to move the end effector to a desired target using inverse kinematics
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b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
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const double* jointPositionsQ, const double targetPosition[3]);
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int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
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int* bodyUniqueId,
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int* dofCount,
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double* jointPositions);
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b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
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@@ -15,7 +15,7 @@
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#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
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#include "LinearMath/btHashMap.h"
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#include "BulletInverseDynamics/MultiBodyTree.hpp"
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#include "IKTrajectoryHelper.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btTransform.h"
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@@ -381,6 +381,8 @@ struct PhysicsServerCommandProcessorInternalData
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bool m_allowRealTimeSimulation;
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bool m_hasGround;
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btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
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CommandLogger* m_commandLogger;
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CommandLogPlayback* m_logPlayback;
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@@ -389,6 +391,7 @@ struct PhysicsServerCommandProcessorInternalData
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btScalar m_numSimulationSubSteps;
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btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
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btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
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btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
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@@ -428,7 +431,8 @@ struct PhysicsServerCommandProcessorInternalData
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PhysicsServerCommandProcessorInternalData()
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:m_hasGround(false),
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m_allowRealTimeSimulation(false),
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m_gripperRigidbodyFixed(0),
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m_allowRealTimeSimulation(true),
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m_commandLogger(0),
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m_logPlayback(0),
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m_physicsDeltaTime(1./240.),
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@@ -556,6 +560,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
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m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
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m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.005;
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}
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void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
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@@ -1061,6 +1066,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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//no timestamp yet
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int timeStamp = 0;
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//catch uninitialized cases
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serverStatusOut.m_type = CMD_INVALID_STATUS;
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//consume the command
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switch (clientCmd.m_type)
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@@ -1868,6 +1876,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
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}
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if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP)
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{
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m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
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}
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SharedMemoryStatus& serverCmd =serverStatusOut;
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serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
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hasStatus = true;
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@@ -1961,6 +1974,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
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serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
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hasStatus = true;
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m_data->m_hasGround = false;
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m_data->m_gripperRigidbodyFixed = 0;
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break;
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}
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case CMD_CREATE_RIGID_BODY:
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@@ -2441,9 +2455,50 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
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}
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}
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}
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SharedMemoryStatus& serverCmd =serverStatusOut;
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serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
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hasStatus = true;
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break;
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}
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case CMD_CALCULATE_INVERSE_KINEMATICS:
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{
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SharedMemoryStatus& serverCmd = serverStatusOut;
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serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
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InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
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if (bodyHandle && bodyHandle->m_multiBody)
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{
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IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
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IKTrajectoryHelper* ikHelperPtr = 0;
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if (ikHelperPtrPtr)
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{
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ikHelperPtr = *ikHelperPtrPtr;
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}
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else
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{
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IKTrajectoryHelper* tmpHelper = new IKTrajectoryHelper;
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if (tmpHelper->createFromMultiBody(bodyHandle->m_multiBody))
|
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{
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m_data->m_inverseKinematicsHelpers.insert(bodyHandle->m_multiBody, ikHelperPtr);
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ikHelperPtr = tmpHelper;
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} else
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{
|
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delete tmpHelper;
|
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}
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}
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||||
|
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if (ikHelperPtr)
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{
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||||
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||||
serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED;
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||||
}
|
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}
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||||
hasStatus = true;
|
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break;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
b3Error("Unknown command encountered");
|
||||
@@ -2461,13 +2516,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
static int skip=1;
|
||||
|
||||
void PhysicsServerCommandProcessor::renderScene()
|
||||
{
|
||||
if (m_data->m_guiHelper)
|
||||
{
|
||||
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
|
||||
|
||||
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
|
||||
}
|
||||
|
||||
@@ -2485,6 +2540,7 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 gLastPickPos(0,0,0);
|
||||
|
||||
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
@@ -2498,6 +2554,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
|
||||
{
|
||||
|
||||
btVector3 pickPos = rayCallback.m_hitPointWorld;
|
||||
gLastPickPos = pickPos;
|
||||
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
|
||||
if (body)
|
||||
{
|
||||
@@ -2516,6 +2573,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
|
||||
//very weak constraint for picking
|
||||
p2p->m_setting.m_tau = 0.001f;
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
|
||||
@@ -2634,23 +2692,69 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
|
||||
m_data->m_logPlayback = pb;
|
||||
}
|
||||
|
||||
btVector3 gVRGripperPos(0,0,0);
|
||||
btQuaternion gVRGripperOrn(0,0,0,1);
|
||||
|
||||
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
|
||||
{
|
||||
if (m_data->m_allowRealTimeSimulation)
|
||||
if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper)
|
||||
{
|
||||
btAlignedObjectArray<char> bufferServerToClient;
|
||||
bufferServerToClient.resize(32768);
|
||||
|
||||
|
||||
if (!m_data->m_hasGround)
|
||||
{
|
||||
m_data->m_hasGround = true;
|
||||
|
||||
int bodyId = 0;
|
||||
btAlignedObjectArray<char> bufferServerToClient;
|
||||
bufferServerToClient.resize(32768);
|
||||
|
||||
|
||||
|
||||
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
|
||||
}
|
||||
|
||||
m_data->m_dynamicsWorld->stepSimulation(dtInSec,10,m_data->m_physicsDeltaTime);
|
||||
if (0)//m_data->m_gripperRigidbodyFixed==0)
|
||||
{
|
||||
int bodyId = 0;
|
||||
|
||||
loadUrdf("pr2_gripper.urdf",btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
|
||||
|
||||
InteralBodyData* parentBody = m_data->getHandle(bodyId);
|
||||
if (parentBody->m_multiBody)
|
||||
{
|
||||
parentBody->m_multiBody->setHasSelfCollision(1);
|
||||
btVector3 pivotInParent(0,0,0);
|
||||
btMatrix3x3 frameInParent;
|
||||
frameInParent.setRotation(btQuaternion(0,0,0,1));
|
||||
|
||||
btVector3 pivotInChild(0,0,0);
|
||||
btMatrix3x3 frameInChild;
|
||||
frameInChild.setIdentity();
|
||||
|
||||
m_data->m_gripperRigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,-1,0,pivotInParent,pivotInChild,frameInParent,frameInChild);
|
||||
m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(2.);
|
||||
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
|
||||
world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
|
||||
}
|
||||
}
|
||||
|
||||
if (m_data->m_gripperRigidbodyFixed)
|
||||
{
|
||||
m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn));
|
||||
m_data->m_gripperRigidbodyFixed->setPivotInB(gVRGripperPos);
|
||||
}
|
||||
|
||||
int maxSteps = 3;
|
||||
|
||||
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime);
|
||||
int droppedSteps = numSteps > maxSteps ? numSteps - maxSteps : 0;
|
||||
static int skipReport = 0;
|
||||
skipReport++;
|
||||
if (skipReport>100)
|
||||
{
|
||||
skipReport = 0;
|
||||
//printf("numSteps: %d (dropped %d), %f (internal step = %f)\n", numSteps, droppedSteps , dtInSec, m_data->m_physicsDeltaTime);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -13,8 +13,11 @@
|
||||
#include "../Utils/b3Clock.h"
|
||||
#include "../MultiThreading/b3ThreadSupportInterface.h"
|
||||
|
||||
#define MAX_VR_CONTROLLERS 4
|
||||
|
||||
|
||||
extern btVector3 gLastPickPos;
|
||||
btVector3 gVRTeleportPos(0,0,0);
|
||||
bool gDebugRenderToggle = false;
|
||||
void MotionThreadFunc(void* userPtr,void* lsMemory);
|
||||
void* MotionlsMemoryFunc();
|
||||
#define MAX_MOTION_NUM_THREADS 1
|
||||
@@ -82,22 +85,27 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
|
||||
struct MotionArgs
|
||||
{
|
||||
MotionArgs()
|
||||
:m_physicsServerPtr(0),
|
||||
m_isPicking(false),
|
||||
m_isDragging(false),
|
||||
m_isReleasing(false)
|
||||
:m_physicsServerPtr(0)
|
||||
{
|
||||
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
|
||||
{
|
||||
m_isVrControllerPicking[i] = false;
|
||||
m_isVrControllerDragging[i] = false;
|
||||
m_isVrControllerReleasing[i] = false;
|
||||
m_isVrControllerTeleporting[i] = false;
|
||||
}
|
||||
}
|
||||
b3CriticalSection* m_cs;
|
||||
|
||||
PhysicsServerSharedMemory* m_physicsServerPtr;
|
||||
b3AlignedObjectArray<b3Vector3> m_positions;
|
||||
|
||||
btVector3 m_pos;
|
||||
btQuaternion m_orn;
|
||||
bool m_isPicking;
|
||||
bool m_isDragging;
|
||||
bool m_isReleasing;
|
||||
btVector3 m_vrControllerPos[MAX_VR_CONTROLLERS];
|
||||
btQuaternion m_vrControllerOrn[MAX_VR_CONTROLLERS];
|
||||
bool m_isVrControllerPicking[MAX_VR_CONTROLLERS];
|
||||
bool m_isVrControllerDragging[MAX_VR_CONTROLLERS];
|
||||
bool m_isVrControllerReleasing[MAX_VR_CONTROLLERS];
|
||||
bool m_isVrControllerTeleporting[MAX_VR_CONTROLLERS];
|
||||
|
||||
};
|
||||
|
||||
@@ -108,6 +116,7 @@ struct MotionThreadLocalStorage
|
||||
|
||||
int skip = 0;
|
||||
int skip1 = 0;
|
||||
float clampedDeltaTime = 0.2;
|
||||
|
||||
void MotionThreadFunc(void* userPtr,void* lsMemory)
|
||||
{
|
||||
@@ -127,12 +136,11 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
|
||||
args->m_cs->unlock();
|
||||
|
||||
|
||||
double deltaTimeInSeconds = 0;
|
||||
|
||||
do
|
||||
{
|
||||
//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
|
||||
|
||||
|
||||
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
|
||||
deltaTimeInSeconds+= double(clock.getTimeMicroseconds())/1000000.;
|
||||
|
||||
if (deltaTimeInSeconds<(1./5000.))
|
||||
{
|
||||
@@ -150,40 +158,58 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
|
||||
//process special controller commands, such as
|
||||
//VR controller button press/release and controller motion
|
||||
|
||||
btVector3 from = args->m_pos;
|
||||
btMatrix3x3 mat(args->m_orn);
|
||||
btScalar pickDistance = 100.;
|
||||
btVector3 toX = args->m_pos+mat.getColumn(0);
|
||||
btVector3 toY = args->m_pos+mat.getColumn(1);
|
||||
btVector3 toZ = args->m_pos+mat.getColumn(2)*pickDistance;
|
||||
|
||||
|
||||
if (args->m_isPicking)
|
||||
for (int c=0;c<MAX_VR_CONTROLLERS;c++)
|
||||
{
|
||||
args->m_isPicking = false;
|
||||
args->m_isDragging = true;
|
||||
args->m_physicsServerPtr->pickBody(from,-toZ);
|
||||
//printf("PICK!\n");
|
||||
}
|
||||
|
||||
if (args->m_isDragging)
|
||||
{
|
||||
args->m_physicsServerPtr->movePickedBody(from,-toZ);
|
||||
// printf(".");
|
||||
}
|
||||
|
||||
if (args->m_isReleasing)
|
||||
{
|
||||
args->m_isDragging = false;
|
||||
args->m_isReleasing = false;
|
||||
args->m_physicsServerPtr->removePickingConstraint();
|
||||
//printf("Release pick\n");
|
||||
btVector3 from = args->m_vrControllerPos[c];
|
||||
btMatrix3x3 mat(args->m_vrControllerOrn[c]);
|
||||
|
||||
btScalar pickDistance = 1000.;
|
||||
btVector3 toX = from+mat.getColumn(0);
|
||||
btVector3 toY = from+mat.getColumn(1);
|
||||
btVector3 toZ = from+mat.getColumn(2)*pickDistance;
|
||||
|
||||
if (args->m_isVrControllerTeleporting[c])
|
||||
{
|
||||
args->m_isVrControllerTeleporting[c] = false;
|
||||
args->m_physicsServerPtr->pickBody(from,-toZ);
|
||||
args->m_physicsServerPtr->removePickingConstraint();
|
||||
}
|
||||
|
||||
if (args->m_isVrControllerPicking[c])
|
||||
{
|
||||
args->m_isVrControllerPicking[c] = false;
|
||||
args->m_isVrControllerDragging[c] = true;
|
||||
args->m_physicsServerPtr->pickBody(from,-toZ);
|
||||
//printf("PICK!\n");
|
||||
}
|
||||
|
||||
if (args->m_isVrControllerDragging[c])
|
||||
{
|
||||
args->m_physicsServerPtr->movePickedBody(from,-toZ);
|
||||
// printf(".");
|
||||
}
|
||||
|
||||
if (args->m_isVrControllerReleasing[c])
|
||||
{
|
||||
args->m_isVrControllerDragging[c] = false;
|
||||
args->m_isVrControllerReleasing[c] = false;
|
||||
args->m_physicsServerPtr->removePickingConstraint();
|
||||
//printf("Release pick\n");
|
||||
}
|
||||
}
|
||||
|
||||
//don't simulate over a huge timestep if we had some interruption (debugger breakpoint etc)
|
||||
btClamp(deltaTimeInSeconds,0.,0.1);
|
||||
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds);
|
||||
if (deltaTimeInSeconds>clampedDeltaTime)
|
||||
{
|
||||
deltaTimeInSeconds = clampedDeltaTime;
|
||||
b3Warning("Clamp deltaTime from %f to %f",deltaTimeInSeconds, clampedDeltaTime);
|
||||
}
|
||||
|
||||
clock.reset();
|
||||
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds);
|
||||
deltaTimeInSeconds = 0;
|
||||
|
||||
}
|
||||
|
||||
args->m_physicsServerPtr->processClientCommands();
|
||||
@@ -318,7 +344,10 @@ public:
|
||||
m_childGuiHelper->render(0);
|
||||
}
|
||||
|
||||
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
|
||||
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);
|
||||
}
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)
|
||||
{
|
||||
@@ -845,36 +874,52 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
|
||||
}
|
||||
}
|
||||
|
||||
static float vrOffset[16]={1,0,0,0,
|
||||
0,1,0,0,
|
||||
0,0,1,0,
|
||||
0,0,0,0};
|
||||
|
||||
|
||||
void PhysicsServerExample::renderScene()
|
||||
{
|
||||
///debug rendering
|
||||
//m_args[0].m_cs->lock();
|
||||
|
||||
vrOffset[12]=-gVRTeleportPos[0];
|
||||
vrOffset[13]=-gVRTeleportPos[1];
|
||||
vrOffset[14]=-gVRTeleportPos[2];
|
||||
|
||||
this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->
|
||||
getActiveCamera()->setVRCameraOffsetTransform(vrOffset);
|
||||
|
||||
m_physicsServer.renderScene();
|
||||
|
||||
if (m_args[0].m_isPicking || m_args[0].m_isDragging)
|
||||
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
|
||||
{
|
||||
btVector3 from = m_args[0].m_pos;
|
||||
btMatrix3x3 mat(m_args[0].m_orn);
|
||||
if (m_args[0].m_isVrControllerPicking[i] || m_args[0].m_isVrControllerDragging[i])
|
||||
{
|
||||
btVector3 from = m_args[0].m_vrControllerPos[i];
|
||||
btMatrix3x3 mat(m_args[0].m_vrControllerOrn[i]);
|
||||
|
||||
btVector3 toX = m_args[0].m_pos+mat.getColumn(0);
|
||||
btVector3 toY = m_args[0].m_pos+mat.getColumn(1);
|
||||
btVector3 toZ = m_args[0].m_pos+mat.getColumn(2);
|
||||
btVector3 toX = from+mat.getColumn(0);
|
||||
btVector3 toY = from+mat.getColumn(1);
|
||||
btVector3 toZ = from+mat.getColumn(2);
|
||||
|
||||
int width = 2;
|
||||
int width = 2;
|
||||
|
||||
|
||||
btVector4 color;
|
||||
color=btVector4(1,0,0,1);
|
||||
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
|
||||
color=btVector4(0,1,0,1);
|
||||
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
|
||||
color=btVector4(0,0,1,1);
|
||||
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
|
||||
btVector4 color;
|
||||
color=btVector4(1,0,0,1);
|
||||
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
|
||||
color=btVector4(0,1,0,1);
|
||||
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
|
||||
color=btVector4(0,0,1,1);
|
||||
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
if (gDebugRenderToggle)
|
||||
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
|
||||
{
|
||||
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
|
||||
@@ -900,6 +945,10 @@ void PhysicsServerExample::renderScene()
|
||||
sprintf(bla,"VR sub-title text test,fps = %f, frame %d", 1./deltaTime, frameCount/2);
|
||||
float pos[4];
|
||||
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
|
||||
pos[0]+=gVRTeleportPos[0];
|
||||
pos[1]+=gVRTeleportPos[1];
|
||||
pos[2]+=gVRTeleportPos[2];
|
||||
|
||||
btTransform viewTr;
|
||||
btScalar m[16];
|
||||
float mf[16];
|
||||
@@ -908,6 +957,9 @@ void PhysicsServerExample::renderScene()
|
||||
{
|
||||
m[i] = mf[i];
|
||||
}
|
||||
m[12]=+gVRTeleportPos[0];
|
||||
m[13]=+gVRTeleportPos[1];
|
||||
m[14]=+gVRTeleportPos[2];
|
||||
viewTr.setFromOpenGLMatrix(m);
|
||||
btTransform viewTrInv = viewTr.inverse();
|
||||
float upMag = -.6;
|
||||
@@ -952,7 +1004,7 @@ btVector3 PhysicsServerExample::getRayTo(int x,int y)
|
||||
btVector3 camPos,camTarget;
|
||||
renderer->getActiveCamera()->getCameraPosition(camPos);
|
||||
renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
|
||||
|
||||
|
||||
btVector3 rayFrom = camPos;
|
||||
btVector3 rayForward = (camTarget-camPos);
|
||||
rayForward.normalize();
|
||||
@@ -1025,17 +1077,54 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
|
||||
{
|
||||
m_args[0].m_isPicking = (state!=0);
|
||||
m_args[0].m_isReleasing = (state==0);
|
||||
m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]);
|
||||
m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]);
|
||||
//printf("controllerId %d, button=%d\n",controllerId, button);
|
||||
|
||||
if (controllerId<0 || controllerId>MAX_VR_CONTROLLERS)
|
||||
return;
|
||||
|
||||
if (button==1 && state==0)
|
||||
{
|
||||
gVRTeleportPos = gLastPickPos;
|
||||
}
|
||||
if (button==32 && state==0)
|
||||
{
|
||||
gDebugRenderToggle = !gDebugRenderToggle;
|
||||
}
|
||||
|
||||
if (button==1)
|
||||
{
|
||||
m_args[0].m_isVrControllerTeleporting[controllerId] = true;
|
||||
}
|
||||
|
||||
if ((button==33))
|
||||
{
|
||||
m_args[0].m_isVrControllerPicking[controllerId] = (state!=0);
|
||||
m_args[0].m_isVrControllerReleasing[controllerId] = (state==0);
|
||||
}
|
||||
if ((button==33)||(button==1))
|
||||
{
|
||||
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
|
||||
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0],orn[1],orn[2],orn[3]);
|
||||
}
|
||||
}
|
||||
|
||||
extern btVector3 gVRGripperPos;
|
||||
extern btQuaternion gVRGripperOrn;
|
||||
|
||||
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4])
|
||||
{
|
||||
m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]);
|
||||
m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]);
|
||||
|
||||
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
|
||||
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0],orn[1],orn[2],orn[3]);
|
||||
|
||||
gVRGripperPos.setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
|
||||
btQuaternion orgOrn(orn[0],orn[1],orn[2],orn[3]);
|
||||
gVRGripperOrn = orgOrn*btQuaternion(btVector3(0,0,1),SIMD_HALF_PI)*btQuaternion(btVector3(0,1,0),SIMD_HALF_PI);
|
||||
|
||||
|
||||
}
|
||||
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
|
||||
|
||||
@@ -223,6 +223,7 @@ enum EnumSimParamUpdateFlags
|
||||
SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,
|
||||
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
|
||||
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
|
||||
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32
|
||||
};
|
||||
|
||||
///Controlling a robot involves sending the desired state to its joint motor controllers.
|
||||
@@ -234,6 +235,7 @@ struct SendPhysicsSimulationParameters
|
||||
int m_numSimulationSubSteps;
|
||||
int m_numSolverIterations;
|
||||
bool m_allowRealTimeSimulation;
|
||||
double m_defaultContactERP;
|
||||
};
|
||||
|
||||
struct RequestActualStateArgs
|
||||
@@ -372,6 +374,22 @@ struct CalculateInverseDynamicsResultArgs
|
||||
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
|
||||
};
|
||||
|
||||
struct CalculateInverseKinematicsArgs
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
|
||||
double m_targetPosition[3];
|
||||
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
|
||||
};
|
||||
|
||||
struct CalculateInverseKinematicsResultArgs
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
int m_dofCount;
|
||||
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
|
||||
};
|
||||
|
||||
|
||||
struct CreateJointArgs
|
||||
{
|
||||
int m_parentBodyIndex;
|
||||
@@ -413,6 +431,7 @@ struct SharedMemoryCommand
|
||||
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
|
||||
struct CreateJointArgs m_createJointArguments;
|
||||
struct RequestContactDataArgs m_requestContactPointArguments;
|
||||
struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -445,6 +464,7 @@ struct SharedMemoryStatus
|
||||
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
|
||||
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
|
||||
struct SendContactDataArgs m_sendContactPointArgs;
|
||||
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
@@ -69,6 +69,8 @@ enum EnumSharedMemoryServerStatus
|
||||
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
|
||||
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
|
||||
CMD_CONTACT_POINT_INFORMATION_FAILED,
|
||||
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
|
||||
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
|
||||
CMD_MAX_SERVER_COMMANDS
|
||||
};
|
||||
|
||||
|
||||
@@ -10,13 +10,15 @@ end
|
||||
includedirs {".","../../src", "../ThirdPartyLibs",}
|
||||
|
||||
links {
|
||||
"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath"
|
||||
"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
|
||||
}
|
||||
|
||||
language "C++"
|
||||
|
||||
myfiles =
|
||||
{
|
||||
"IKTrajectoryHelper.cpp",
|
||||
"IKTrajectoryHelper.h",
|
||||
"PhysicsClient.cpp",
|
||||
"PhysicsClientSharedMemory.cpp",
|
||||
"PhysicsClientExample.cpp",
|
||||
@@ -134,10 +136,10 @@ else
|
||||
end
|
||||
defines {"B3_USE_STANDALONE_EXAMPLE"}
|
||||
|
||||
includedirs {"../../src"}
|
||||
includedirs {"../../src", "../ThirdPartyLibs"}
|
||||
|
||||
links {
|
||||
"BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
|
||||
"BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common","BussIK"
|
||||
}
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
@@ -211,7 +213,7 @@ if os.is("Windows") then
|
||||
}
|
||||
|
||||
links {
|
||||
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
|
||||
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api","BussIK"
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user