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separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

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improvements in VR demo, add grasper etc.
This commit is contained in:
Erwin Coumans
2016-09-16 00:57:00 +01:00
parent 1d88cf71e4
commit 567b003654
14 changed files with 92 additions and 74 deletions
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49
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -27,6 +27,8 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
btVector3 gLastPickPos(0, 0, 0);
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
@@ -383,7 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
btMultiBody* m_gripperMultiBody;
int m_huskyId;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
@@ -435,6 +437,7 @@ struct PhysicsServerCommandProcessorInternalData
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_allowRealTimeSimulation(false),
m_huskyId(0),
m_commandLogger(0),
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
@@ -1874,10 +1877,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
applyJointDamping(i);
}
if (m_data->m_numSimulationSubSteps > 0)
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,m_data->m_numSimulationSubSteps,m_data->m_physicsDeltaTime/m_data->m_numSimulationSubSteps);
else
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
if (m_data->m_numSimulationSubSteps > 0)
{
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
}
else
{
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime, 0);
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
@@ -2678,7 +2686,7 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
}
}
btVector3 gLastPickPos(0,0,0);
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
@@ -2832,6 +2840,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
btVector3 gVRGripperPos(0,0,0);
btQuaternion gVRGripperOrn(0,0,0,1);
btScalar gVRGripperAnalog = 0;
bool gVRGripperClosed = false;
@@ -2860,7 +2869,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
int bodyId = 0;
if (loadUrdf("pr2_gripper.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
if (loadUrdf("pr2_gripper.urdf", btVector3(0, 0, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
{
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
@@ -2878,14 +2887,25 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
m_data->m_gripperMultiBody = parentBody->m_multiBody;
if (m_data->m_gripperMultiBody->getNumLinks() > 2)
{
m_data->m_gripperMultiBody->setJointPos(0, SIMD_HALF_PI);
m_data->m_gripperMultiBody->setJointPos(2, SIMD_HALF_PI);
m_data->m_gripperMultiBody->setJointPos(0, 0);
m_data->m_gripperMultiBody->setJointPos(2, 0);
}
m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(1.);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
}
}
loadUrdf("sphere2.urdf", btVector3(-2, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-2, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-2, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("kuka_iiwa/model.urdf", btVector3(3, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(1, 1, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
}
}
@@ -2904,14 +2924,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
motor->setErp(0.01);
if (gVRGripperClosed)
{
motor->setPositionTarget(0.2, 1);
}
else
{
motor->setPositionTarget(SIMD_HALF_PI, 1);
}
motor->setPositionTarget(0.1+(1-gVRGripperAnalog)*SIMD_HALF_PI*0.5, 1);
motor->setVelocityTarget(0, 0.1);
btScalar maxImp = 1550.*m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);