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Load bunny to to the world in the grasp demo.

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This commit is contained in:
yunfeibai
2016-10-12 11:51:04 -07:00
parent 4fe86d2a1d
commit 379f2ac933
7 changed files with 59 additions and 15 deletions
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2
data/gripper/wsg50_one_motor_gripper_new.sdf
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@@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.26 3.14 0 0</pose>
<pose frame=''>0 0 0.6 3.14 0 0</pose>
<link name='world'>
</link>

10
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -232,6 +232,7 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (0)
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
@@ -241,7 +242,7 @@ public:
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
@@ -329,6 +330,7 @@ public:
m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
*/
/*
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
revoluteJoint1.m_parentFrame[1] = 0;
@@ -369,6 +371,7 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
*/
}
}
@@ -398,6 +401,7 @@ public:
}
}
/*
if ((m_options & eONE_MOTOR_GRASP)!=0)
{
int fingerJointIndices[2]={0,1};
@@ -413,9 +417,9 @@ public:
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
}
*/
m_robotSim.stepSimulation();
//m_robotSim.stepSimulation();
}
virtual void renderScene()
{

2
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -256,7 +256,7 @@ public:
}
m_robotSim.stepSimulation();
//m_robotSim.stepSimulation();
}
virtual void renderScene()
{

2
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -179,7 +179,7 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
m_robotSim.stepSimulation();
//m_robotSim.stepSimulation();
}
virtual void renderScene()
{

2
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -967,7 +967,7 @@ void b3RobotSimAPI::renderScene()
m_data->m_clientServerDirect->renderScene();
}
m_data->m_physicsServer.renderScene();
//m_data->m_physicsServer.renderScene();
}
void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)

48
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5,7 +5,7 @@
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btSoftMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
@@ -26,6 +26,10 @@
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "../SoftDemo/BunnyMesh.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
btVector3 gLastPickPos(0, 0, 0);
@@ -421,8 +425,9 @@ struct PhysicsServerCommandProcessorInternalData
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
btSoftBodySolver* m_softbodySolver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
@@ -596,8 +601,9 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
@@ -606,7 +612,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_softbodySolver = 0;
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_softbodySolver);
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
@@ -617,6 +625,29 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
btSoftBodyWorldInfo softBodyWorldInfo;
softBodyWorldInfo.air_density = (btScalar)1.2;
softBodyWorldInfo.water_density = 0;
softBodyWorldInfo.water_offset = 0;
softBodyWorldInfo.water_normal = btVector3(0,0,0);
softBodyWorldInfo.m_gravity.setValue(0,0,0);
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,1.0));
psb->scale(btVector3(0.1,0.1,0.1));
psb->setTotalMass(1,true);
m_data->m_dynamicsWorld->addSoftBody(psb);
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -2766,6 +2797,15 @@ void PhysicsServerCommandProcessor::renderScene()
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
for ( int i=0;i<m_data->m_dynamicsWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
}
}
}
void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)

8
examples/SoftDemo/SoftDemo.cpp
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@@ -1019,7 +1019,7 @@ static void Init_Bunny(SoftDemo* pdemo)
psb->scale(btVector3(6,6,6));
psb->setTotalMass(1,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
//pdemo->m_cutting=true;
}
@@ -2214,7 +2214,7 @@ void SoftDemo::initPhysics()
if( g_softBodyOutput )
delete g_softBodyOutput;
if (1)
if (0)
{
g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext);
// g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
@@ -2223,7 +2223,7 @@ void SoftDemo::initPhysics()
softBodySolver = g_openCLSIMDSolver;
//softBodySolver = g_openCLSIMDSolver;
g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
#endif //USE_AMD_OPENCL
@@ -2289,7 +2289,7 @@ void SoftDemo::initPhysics()
m_autocam = false;
m_raycast = false;
m_cutting = false;
//m_cutting = false;
m_results.fraction = 1.f;
demofncs[current_demo](this);