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Use two SI solvers as blocks in block solver.

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In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
This commit is contained in:
Chuyuan Fu
2019-03-25 14:41:58 -07:00
parent 19f3ec8b80
commit 7aba1f9e8a
9 changed files with 369 additions and 128 deletions
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2
examples/ExampleBrowser/CMakeLists.txt
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@@ -211,6 +211,8 @@ SET(BulletExampleBrowser_SRCS
../BlockSolver/btBlockSolver.h
../BlockSolver/BlockSolverExample.cpp
../BlockSolver/BlockSolverExample.h
../BlockSolver/RigidBodyBoxes.cpp
../BlockSolver/RigidBodyBoxes.h
../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp

10
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@@ -132,14 +132,13 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
{
btConvexShape* convex = (btConvexShape*)collisionShape;
{
const btConvexPolyhedron* pol = 0;
if (convex->isPolyhedral())
{
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
pol = poly->getConvexPolyhedron();
}
if (pol)
{
for (int v = 0; v < pol->m_vertices.size(); v++)
@@ -151,19 +150,16 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
}
for (int f = 0; f < pol->m_faces.size(); f++)
{
for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
{
indicesOut.push_back(pol->m_faces[f].m_indices[0]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii-1]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii - 1]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii]);
}
}
}
}
else
{
btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0, 1);

11
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -1,6 +1,8 @@
#include "ExampleEntries.h"
#include "../BlockSolver/btBlockSolver.h"
#include "../BlockSolver/BlockSolverExample.h"
#include "../BlockSolver/RigidBodyBoxes.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../BulletRobotics/BoxStack.h"
@@ -134,7 +136,6 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc),
ExampleEntry(0, "Bullet Robotics"),
ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc),
ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc),
@@ -149,8 +150,7 @@ static ExampleEntry gDefaultExamples[] =
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),
ExampleEntry(1, "MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", MultiBodySoftContactCreateFunc, 0),
ExampleEntry(0, "Physics Client-Server"),
ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
PhysicsServerCreateFuncBullet2),
@@ -163,12 +163,13 @@ static ExampleEntry gDefaultExamples[] =
//
// ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(0, "BlockSolver"),
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK+ BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
ExampleEntry(0, "Inverse Dynamics"),
ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),

1
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -1127,7 +1127,6 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
gui2->registerFileOpenCallback(fileOpenCallback);
gui2->registerQuitCallback(quitCallback);
}
return true;