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This commit is contained in:
Benjamin Ellenberger
2016-07-31 16:07:38 +02:00
parent a5b55e8fbf
commit 46af3ddc54
1 changed files with 7 additions and 5 deletions
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12
examples/Evolution/NN3DWalkers.cpp
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@@ -34,6 +34,8 @@ class btDefaultCollisionConfiguration;
//TODO: Maybe add pointworldToLocal and AxisWorldToLocal etc. to a helper class //TODO: Maybe add pointworldToLocal and AxisWorldToLocal etc. to a helper class
//TODO: How to detect perpetually interpenetrating btRigidBodies? (Maybe contactpoints can tell us something)
btVector3 getPointWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 point); btVector3 getPointWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 point);
btVector3 getPointLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 point); btVector3 getPointLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 point);
@@ -105,7 +107,7 @@ static NN3DWalkers* nn3DWalkers = NULL;
void* GROUND_ID = (void*)1; void* GROUND_ID = (void*)1;
bool RANDOM_MOVEMENT = false; bool RANDOM_MOVEMENT = false;
bool RANDOM_DIMENSIONS = true; bool RANDOM_DIMENSIONS = false;
#define NUM_LEGS 6 #define NUM_LEGS 6
#define BODYPART_COUNT (2 * NUM_LEGS + 1) #define BODYPART_COUNT (2 * NUM_LEGS + 1)
@@ -117,7 +119,7 @@ class NNWalker
btCollisionShape* m_shapes[BODYPART_COUNT]; btCollisionShape* m_shapes[BODYPART_COUNT];
btRigidBody* m_bodies[BODYPART_COUNT]; btRigidBody* m_bodies[BODYPART_COUNT];
btTypedConstraint* m_joints[JOINT_COUNT]; btTypedConstraint* m_joints[JOINT_COUNT];
std::map<void*,int> m_bodyIndexMap; std::map<void*,int> m_bodyTouchSensorIndexMap;
bool m_touchSensors[BODYPART_COUNT]; bool m_touchSensors[BODYPART_COUNT];
float m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT]; float m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT];
@@ -244,7 +246,7 @@ public:
//m_bodies[i]->setSleepingThresholds(1.6, 2.5); //m_bodies[i]->setSleepingThresholds(1.6, 2.5);
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f); m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
m_bodies[i]->setUserPointer(this); m_bodies[i]->setUserPointer(this);
m_bodyIndexMap.insert(std::pair<void*,int>(m_bodies[i],i)); m_bodyTouchSensorIndexMap.insert(std::pair<void*,int>(m_bodies[i],i));
} }
} }
@@ -275,7 +277,7 @@ public:
btTypedConstraint** getJoints() {return &m_joints[0];} btTypedConstraint** getJoints() {return &m_joints[0];}
void setTouchSensor(void* bodyPointer){ void setTouchSensor(void* bodyPointer){
m_touchSensors[m_bodyIndexMap.at(bodyPointer)] = true; m_touchSensors[m_bodyTouchSensorIndexMap.at(bodyPointer)] = true;
} }
void clearTouchSensors(){ void clearTouchSensors(){
@@ -439,7 +441,7 @@ void NN3DWalkers::initPhysics()
for(int i = 0; i < 5 ; i++){ for(int i = 0; i < 5 ; i++){
for(int j = 0; j < 5; j++){ for(int j = 0; j < 5; j++){
float maxDimension = 0.3f; float maxDimension = 0.2f;
if(RANDOM_DIMENSIONS){ if(RANDOM_DIMENSIONS){
// randomize the dimensions // randomize the dimensions