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add set starting position and orientation to softbody

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This commit is contained in:
Chuyuan Fu
2019-04-30 17:41:46 -07:00
parent 55f9f1eb89
commit 3fb0a7c19b
8 changed files with 93 additions and 13 deletions
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5
examples/ExampleBrowser/CMakeLists.txt
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@@ -94,6 +94,9 @@ LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
)
add_definitions(-DINCLUDE_CLOTH_DEMOS)
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad
@@ -346,6 +349,8 @@ SET(BulletExampleBrowser_SRCS
../MultiBody/InvertedPendulumPDControl.cpp
../MultiBody/InvertedPendulumPDControl.h
../MultiBody/MultiBodyConstraintFeedback.cpp
../SoftDemo/SoftDemo.cpp
../SoftDemo/SoftDemo.h
../MultiBody/MultiDofDemo.cpp
../MultiBody/MultiDofDemo.h
../RigidBody/RigidBodySoftContact.cpp

8
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -326,7 +326,10 @@ public:
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.loadSoftBody("bunny.obj", 0.1, 0.1, 0.02);
b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
args.m_startPosition.setValue(0, 0, 5);
args.m_startOrientation.setValue(1, 0, 0, 1);
m_robotSim.loadSoftBody("bunny.obj", args);
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -402,7 +405,8 @@ public:
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.loadSoftBody("bunny.obj", 0.3, 10.0, 0.1);
b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
m_robotSim.loadSoftBody("bunny.obj", args);
}
}
virtual void exitPhysics()

4
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -315,7 +315,7 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle c
}
B3_SHARED_API int b3LoadSoftbodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ)
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
@@ -326,7 +326,7 @@ B3_SHARED_API int b3LoadSoftbodySetStartPosition(b3SharedMemoryCommandHandle com
return 0;
}
B3_SHARED_API int b3LoadSoftbodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW)
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -614,8 +614,8 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
B3_SHARED_API int b3LoadSoftbodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftbodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7376,6 +7376,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->generateBendingConstraints(2, pm);
psb->m_cfg.piterations = 20;
psb->m_cfg.kDF = 0.5;
//turn on softbody vs softbody collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
psb->rotate(initialOrn);
psb->translate(initialPos);

10
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1134,7 +1134,7 @@ void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string&
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args)
{
if (!isConnected())
{
@@ -1143,9 +1143,11 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
}
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetScale(command, scale);
b3LoadSoftBodySetMass(command, mass);
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}

43
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -52,6 +52,47 @@ struct b3RobotSimulatorLoadSdfFileArgs
}
};
struct b3RobotSimulatorLoadSoftBodyArgs
{
btVector3 m_startPosition;
btQuaternion m_startOrientation;
double m_scale;
double m_mass;
double m_collisionMargin;
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double& scale, const double& mass, const double& collisionMargin )
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
{
b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
}
b3RobotSimulatorLoadSoftBodyArgs()
{
b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
}
b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
: m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -647,7 +688,7 @@ public:
int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string &fileName, double scale, double mass, double collisionMargin);
void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args);
virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
virtual struct GUIHelperInterface *getGuiHelper();

30
examples/pybullet/pybullet.c
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@@ -1942,7 +1942,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
int bodyUniqueId = -1;
const char* fileName = "";
@@ -1952,10 +1952,36 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
b3PhysicsClientHandle sm = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &physicsClientId))
double startPos[3] = {0.0, 0.0, 0.0};
double startOrn[4] = {0.0, 0.0, 0.0, 1.0};
PyObject* basePosObj = 0;
PyObject* baseOrnObj = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId))
{
return NULL;
}
else
{
if (basePosObj)
{
if (!pybullet_internalSetVectord(basePosObj, startPos))
{
PyErr_SetString(SpamError, "Cannot convert basePosition.");
return NULL;
}
}
if (baseOrnObj)
{
if (!pybullet_internalSetVector4d(baseOrnObj, startOrn))
{
PyErr_SetString(SpamError, "Cannot convert baseOrientation.");
return NULL;
}
}
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)