add Inverted Pendulum example with PD control
This commit is contained in:
erwincoumans
@@ -62,6 +62,9 @@ struct CommonGraphicsApp
|
||||
{
|
||||
}
|
||||
|
||||
virtual void dumpNextFrameToPng(const char* pngFilename){}
|
||||
virtual void dumpFramesToVideo(const char* mp4Filename){}
|
||||
|
||||
virtual void drawGrid(DrawGridData data=DrawGridData()) = 0;
|
||||
virtual void setUpAxis(int axis) = 0;
|
||||
virtual int getUpAxis() const = 0;
|
||||
|
||||
@@ -102,6 +102,8 @@ SET(App_ExampleBrowser_SRCS
|
||||
../Vehicles/Hinge2Vehicle.h
|
||||
../MultiBody/TestJointTorqueSetup.cpp
|
||||
../MultiBody/TestJointTorqueSetup.h
|
||||
../MultiBody/InvertedPendulumPDControl.cpp
|
||||
../MultiBody/InvertedPendulumPDControl.h
|
||||
../MultiBody/MultiBodyConstraintFeedback.cpp
|
||||
../MultiBody/MultiDofDemo.cpp
|
||||
../MultiBody/MultiDofDemo.h
|
||||
|
||||
@@ -16,12 +16,14 @@
|
||||
#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
|
||||
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
|
||||
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
|
||||
|
||||
#include "../GyroscopicDemo/GyroscopicSetup.h"
|
||||
#include "../Constraints/Dof6Spring2Setup.h"
|
||||
#include "../Constraints/ConstraintPhysicsSetup.h"
|
||||
#include "../MultiBody/TestJointTorqueSetup.h"
|
||||
#include "../MultiBody/MultiBodyConstraintFeedback.h"
|
||||
#include "../MultiBody/MultiDofDemo.h"
|
||||
#include "../MultiBody/InvertedPendulumPDControl.h"
|
||||
#include "../VoronoiFracture/VoronoiFractureDemo.h"
|
||||
#include "../SoftDemo/SoftDemo.h"
|
||||
#include "../Constraints/ConstraintDemo.h"
|
||||
@@ -102,7 +104,7 @@ static ExampleEntry gDefaultExamples[]=
|
||||
ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
|
||||
ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
|
||||
ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
|
||||
|
||||
ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
|
||||
|
||||
#ifdef INCLUDE_CLOTH_DEMOS
|
||||
ExampleEntry(0,"Soft Body"),
|
||||
|
||||
@@ -77,6 +77,7 @@
|
||||
"../MultiBody/MultiDofDemo.cpp",
|
||||
"../MultiBody/TestJointTorqueSetup.cpp",
|
||||
"../MultiBody/MultiBodyConstraintFeedback.cpp",
|
||||
"../MultiBody/InvertedPendulumPDControl.cpp",
|
||||
"../ThirdPartyLibs/stb_image/*",
|
||||
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
|
||||
"../ThirdPartyLibs/tinyxml/*",
|
||||
|
||||
473
examples/MultiBody/InvertedPendulumPDControl.cpp
Normal file
473
examples/MultiBody/InvertedPendulumPDControl.cpp
Normal file
@@ -0,0 +1,473 @@
|
||||
|
||||
#include "InvertedPendulumPDControl.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
static btScalar radius(0.2);
|
||||
static btScalar kp = 100;
|
||||
static btScalar kd = 20;
|
||||
static btScalar maxForce = 100;
|
||||
|
||||
struct InvertedPendulumPDControl : public CommonMultiBodyBase
|
||||
{
|
||||
btMultiBody* m_multiBody;
|
||||
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
|
||||
bool m_once;
|
||||
int m_frameCount;
|
||||
public:
|
||||
|
||||
InvertedPendulumPDControl(struct GUIHelperInterface* helper);
|
||||
virtual ~InvertedPendulumPDControl();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = 270;
|
||||
float yaw = 21;
|
||||
float targetPos[3]={-1.34,3.4,-0.44};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
InvertedPendulumPDControl::InvertedPendulumPDControl(struct GUIHelperInterface* helper)
|
||||
:CommonMultiBodyBase(helper),
|
||||
m_once(true),
|
||||
m_frameCount(0)
|
||||
{
|
||||
}
|
||||
|
||||
InvertedPendulumPDControl::~InvertedPendulumPDControl()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
///this is a temporary global, until we determine if we need the option or not
|
||||
extern bool gJointFeedbackInWorldSpace;
|
||||
extern bool gJointFeedbackInJointFrame;
|
||||
|
||||
|
||||
|
||||
void InvertedPendulumPDControl::initPhysics()
|
||||
{
|
||||
{
|
||||
SliderParams slider("Kp",&kp);
|
||||
slider.m_minVal=-200;
|
||||
slider.m_maxVal=200;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Kd",&kd);
|
||||
slider.m_minVal=-50;
|
||||
slider.m_maxVal=50;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("max force",&maxForce);
|
||||
slider.m_minVal=0;
|
||||
slider.m_maxVal=100;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
int upAxis = 1;
|
||||
gJointFeedbackInWorldSpace = true;
|
||||
gJointFeedbackInJointFrame = true;
|
||||
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
btVector4 colors[4] =
|
||||
{
|
||||
btVector4(1,0,0,1),
|
||||
btVector4(0,1,0,1),
|
||||
btVector4(0,1,1,1),
|
||||
btVector4(1,1,0,1),
|
||||
};
|
||||
int curColor = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
//btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawWireframe
|
||||
+btIDebugDraw::DBG_DrawContactPoints
|
||||
+btIDebugDraw::DBG_DrawAabb
|
||||
);//+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
{
|
||||
bool floating = false;
|
||||
bool damping = false;
|
||||
bool gyro = false;
|
||||
int numLinks = 2;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
|
||||
btVector3 baseHalfExtents(0.04, 0.35, 0.08);
|
||||
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
|
||||
if(baseMass)
|
||||
{
|
||||
//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
btCollisionShape *shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
shape->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete shape;
|
||||
}
|
||||
|
||||
bool isMultiDof = true;
|
||||
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
|
||||
|
||||
m_multiBody = pMultiBody;
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
// baseOriQuat.setEulerZYX(-.25*SIMD_PI,0,-1.75*SIMD_PI);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
// pMultiBody->setBaseVel(vel);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
|
||||
//y-axis assumed up
|
||||
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 1.f * SIMD_PI/ 180.f;
|
||||
btQuaternion quat0(btVector3(1, 0, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for(int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
float linkMass = 1.f;
|
||||
//if (i==3 || i==2)
|
||||
// linkMass= 1000;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* shape = 0;
|
||||
if (i==0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//
|
||||
} else
|
||||
{
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
shape->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete shape;
|
||||
|
||||
|
||||
if(!spherical)
|
||||
{
|
||||
//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
hingeJointAxis,
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom, false);
|
||||
} else
|
||||
{
|
||||
btVector3 parentComToCurrentCom(0, -radius * 2.f, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(0, -radius, 0); //cur body's COM to cur body's PIV offset
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
||||
|
||||
|
||||
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom, false);
|
||||
}
|
||||
|
||||
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
|
||||
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
|
||||
}
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
|
||||
for (int i=0;i<pMultiBody->getNumLinks();i++)
|
||||
{
|
||||
btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
|
||||
pMultiBody->getLink(i).m_jointFeedback = fb;
|
||||
m_jointFeedbacks.push_back(fb);
|
||||
//break;
|
||||
}
|
||||
btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
|
||||
|
||||
///
|
||||
world->addMultiBody(pMultiBody);
|
||||
btMultiBody* mbC = pMultiBody;
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
//
|
||||
if(!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.f);
|
||||
mbC->setAngularDamping(0.f);
|
||||
}else
|
||||
{ mbC->setLinearDamping(0.1f);
|
||||
mbC->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
|
||||
|
||||
//////////////////////////////////////////////
|
||||
if(numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 180.f * SIMD_PI/ 180.f;
|
||||
if(!spherical)
|
||||
if(mbC->isMultiDof())
|
||||
mbC->setJointPosMultiDof(0, &q0);
|
||||
else
|
||||
mbC->setJointPos(0, q0);
|
||||
else
|
||||
{
|
||||
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
mbC->setJointPosMultiDof(0, quat0);
|
||||
}
|
||||
}
|
||||
///
|
||||
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
double friction = 1;
|
||||
{
|
||||
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
|
||||
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0],baseHalfExtents[1],baseHalfExtents[2]));//new btSphereShape(baseHalfExtents[0]);
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
|
||||
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(shape);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
|
||||
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
|
||||
|
||||
tr.setOrigin(local_origin[0]);
|
||||
btQuaternion orn(btVector3(0,0,1),0.25*3.1415926538);
|
||||
|
||||
tr.setRotation(orn);
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
bool isDynamic = (baseMass > 0 && floating);
|
||||
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
|
||||
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
|
||||
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
|
||||
|
||||
btVector3 color(0.0,0.0,0.5);
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col,color);
|
||||
|
||||
// col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
|
||||
local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
|
||||
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
|
||||
btVector3 posr = local_origin[i+1];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
|
||||
|
||||
float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
|
||||
btCollisionShape* shape =0;
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0],linkHalfExtents[1],linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
|
||||
} else
|
||||
{
|
||||
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(shape);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
// col->setFriction(friction);
|
||||
bool isDynamic = 1;//(linkMass > 0);
|
||||
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
|
||||
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
//if (i==0||i>numLinks-2)
|
||||
{
|
||||
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor&=3;
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col,color);
|
||||
|
||||
|
||||
pMultiBody->getLink(i).m_collider=col;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
char fileName[1024];
|
||||
|
||||
static btAlignedObjectArray<btScalar> qDesiredArray;
|
||||
void InvertedPendulumPDControl::stepSimulation(float deltaTime)
|
||||
{
|
||||
|
||||
static btScalar offset = -0.1*SIMD_PI;
|
||||
|
||||
m_frameCount++;
|
||||
if ((m_frameCount&0xff)==0 )
|
||||
{
|
||||
offset = -offset;
|
||||
}
|
||||
btScalar target= SIMD_PI+offset;
|
||||
qDesiredArray.resize(0);
|
||||
qDesiredArray.resize(m_multiBody->getNumLinks(),target);
|
||||
|
||||
for (int joint = 0; joint<m_multiBody->getNumLinks();joint++)
|
||||
{
|
||||
int dof1 = 0;
|
||||
btScalar qActual = m_multiBody->getJointPosMultiDof(joint)[dof1];
|
||||
btScalar qdActual = m_multiBody->getJointVelMultiDof(joint)[dof1];
|
||||
// b3Printf("Joint Pos[%d]=%f, Vel = %f\n", joint, qActual, qdActual);
|
||||
|
||||
btScalar positionError = (qDesiredArray[joint]-qActual);
|
||||
|
||||
btScalar force = kp * positionError - kd*qdActual;
|
||||
btClamp(force,-maxForce,maxForce);
|
||||
|
||||
// b3Printf("force = %f positionError = %f, qDesired = %f\n", force,positionError, target);
|
||||
m_multiBody->addJointTorque(joint, force);
|
||||
|
||||
//btScalar torque = m_multiBody->getJointTorque(0);
|
||||
// b3Printf("t = %f,%f,%f\n",torque,torque,torque);//[0],torque[1],torque[2]);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (m_frameCount==100)
|
||||
{
|
||||
const char* gPngFileName = "pendulum";
|
||||
|
||||
|
||||
if (gPngFileName)
|
||||
{
|
||||
|
||||
|
||||
//printf("gPngFileName=%s\n",gPngFileName);
|
||||
|
||||
sprintf(fileName,"%s%d.png",gPngFileName,m_frameCount);
|
||||
b3Printf("Made screenshot %s",fileName);
|
||||
this->m_guiHelper->getAppInterface()->dumpNextFrameToPng(fileName);
|
||||
}
|
||||
}
|
||||
m_dynamicsWorld->stepSimulation(1./240,0);
|
||||
|
||||
static int count = 0;
|
||||
if ((count& 0x0f)==0)
|
||||
{
|
||||
#if 0
|
||||
for (int i=0;i<m_jointFeedbacks.size();i++)
|
||||
{
|
||||
|
||||
b3Printf("F_reaction[%i] linear:%f,%f,%f, angular:%f,%f,%f",
|
||||
i,
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[0],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[1],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[2],
|
||||
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[0],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[1],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[2]
|
||||
|
||||
);
|
||||
|
||||
}
|
||||
#endif
|
||||
}
|
||||
count++;
|
||||
|
||||
|
||||
/*
|
||||
b3Printf("base angvel = %f,%f,%f",m_multiBody->getBaseOmega()[0],
|
||||
m_multiBody->getBaseOmega()[1],
|
||||
m_multiBody->getBaseOmega()[2]
|
||||
);
|
||||
*/
|
||||
btScalar jointVel =m_multiBody->getJointVel(0);
|
||||
|
||||
// b3Printf("child angvel = %f",jointVel);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
class CommonExampleInterface* InvertedPendulumPDControlCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new InvertedPendulumPDControl(options.m_guiHelper);
|
||||
}
|
||||
7
examples/MultiBody/InvertedPendulumPDControl.h
Normal file
7
examples/MultiBody/InvertedPendulumPDControl.h
Normal file
@@ -0,0 +1,7 @@
|
||||
#ifndef INVERTED_PENDULUM_PD_CONTROL_H
|
||||
#define INVERTED_PENDULUM_PD_CONTROL_H
|
||||
|
||||
class CommonExampleInterface* InvertedPendulumPDControlCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //INVERTED_PENDULUM_PD_CONTROL_H
|
||||
|
||||
@@ -695,7 +695,7 @@ void SimpleOpenGL3App::swapBuffer()
|
||||
//m_data->m_renderTexture->disable();
|
||||
//if (m_data->m_ffmpegFile==0)
|
||||
//{
|
||||
// m_data->m_frameDumpPngFileName = 0;
|
||||
m_data->m_frameDumpPngFileName = 0;
|
||||
//}
|
||||
}
|
||||
m_window->startRendering();
|
||||
@@ -727,10 +727,13 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
|
||||
{
|
||||
pclose(m_data->m_ffmpegFile);
|
||||
}
|
||||
if (mp4FileName)
|
||||
{
|
||||
m_data->m_ffmpegFile = popen(cmd, "w");
|
||||
|
||||
m_data->m_frameDumpPngFileName = mp4FileName;
|
||||
}
|
||||
}
|
||||
void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
|
||||
{
|
||||
|
||||
@@ -739,7 +742,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
|
||||
m_data->m_frameDumpPngFileName = filename;
|
||||
|
||||
//you could use m_renderTexture to allow to render at higher resolutions, such as 4k or so
|
||||
/*if (!m_data->m_renderTexture)
|
||||
if (!m_data->m_renderTexture)
|
||||
{
|
||||
m_data->m_renderTexture = new GLRenderToTexture();
|
||||
GLuint renderTextureId;
|
||||
@@ -764,7 +767,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
|
||||
}
|
||||
|
||||
bool result = m_data->m_renderTexture->enable();
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
void SimpleOpenGL3App::setUpAxis(int axis)
|
||||
|
||||
Reference in New Issue
Block a user