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Merge pull request #1706 from erwincoumans/master

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add HelloBulletRobotics C++ example with similar API to PyBullet
This commit is contained in:
erwincoumans
2018-05-26 16:35:38 +10:00
committed by GitHub
parent abeae7e1e7 e79ae13cde
commit 85478fc6ef
32 changed files with 162303 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
Extras/BulletRobotics/CMakeLists.txt
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@@ -2,6 +2,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
@@ -90,8 +91,8 @@ SET(BulletRobotics_SRCS
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
)
IF(BUILD_CLSOCKET)
@@ -99,9 +100,6 @@ IF(BUILD_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
@@ -120,7 +118,7 @@ ELSE(WIN32)
IF(NOT APPLE)
LINK_LIBRARIES( pthread ${DL} )
ENDIF(APPLE)
ENDIF(NOT APPLE)
ENDIF(WIN32)
IF(BUILD_ENET)
@@ -176,6 +174,7 @@ IF (INSTALL_EXTRA_LIBS)
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
DESTINATION include/bullet
)
INSTALL(TARGETS

1
examples/ExampleBrowser/CMakeLists.txt
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@@ -80,6 +80,7 @@ ENDIF(BUILD_SHARED_LIBS)
INCLUDE_DIRECTORIES(
.
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)

1
examples/ExampleBrowser/premake4.lua
View File

@@ -21,6 +21,7 @@ project "App_BulletExampleBrowser"
includedirs {
".",
"../../src",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
}

43
examples/RobotSimulator/CMakeLists.txt
View File

@@ -1,6 +1,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
@@ -11,8 +12,6 @@ SET(RobotSimulator_SRCS
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI.cpp
b3RobotSimulatorClientAPI.h
b3RobotSimulatorClientAPI_NoGUI.cpp
b3RobotSimulatorClientAPI_NoGUI.h
MinitaurSetup.cpp
MinitaurSetup.h
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -71,7 +70,7 @@ SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES COMPILE_DEFINITIONS "B3_USE_
IF(WIN32)
IF(BUILD_ENET OR BUILD_CLSOCKET)
TARGET_LINK_LIBRARIES(App_RobotSimulator ws2_32 )
TARGET_LINK_LIBRARIES(App_RobotSimulator ws2_32 Winmm)
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ENDIF(WIN32)
@@ -86,6 +85,7 @@ TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
@@ -93,8 +93,6 @@ INCLUDE_DIRECTORIES(
SET(RobotSimulator_NoGUI_SRCS
RobotSimulatorMain.cpp
b3RobotSimulatorClientAPI_NoGUI.cpp
b3RobotSimulatorClientAPI_NoGUI.h
MinitaurSetup.cpp
MinitaurSetup.h
)
@@ -107,7 +105,7 @@ SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES DEBUG_POSTFIX "_d")
IF(WIN32)
IF(BUILD_ENET OR BUILD_CLSOCKET)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI ws2_32 )
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI ws2_32 Winmm)
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ELSE()
IF(APPLE)
@@ -123,6 +121,39 @@ TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader B
########
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(App_HelloBulletRobotics_SRCS
HelloBulletRobotics.cpp
)
ADD_EXECUTABLE(App_HelloBulletRobotics ${App_HelloBulletRobotics_SRCS})
SET_TARGET_PROPERTIES(App_HelloBulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(App_HelloBulletRobotics PROPERTIES DEBUG_POSTFIX "_d")
IF(WIN32)
IF(BUILD_ENET OR BUILD_CLSOCKET)
TARGET_LINK_LIBRARIES(App_HelloBulletRobotics ws2_32 Winmm)
ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
ELSE()
IF(APPLE)
ELSE(APPLE)
TARGET_LINK_LIBRARIES( App_HelloBulletRobotics pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_HelloBulletRobotics BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)

37
examples/RobotSimulator/HelloBulletRobotics.cpp Normal file
View File

@@ -0,0 +1,37 @@
#include "b3RobotSimulatorClientAPI_NoGUI.h"
int main(int argc, char* argv[])
{
b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
bool isConnected = sim->connect(eCONNECT_SHARED_MEMORY);
if (!isConnected)
{
printf("Using Direct mode\n");
isConnected = sim->connect(eCONNECT_DIRECT);
} else
{
printf("Using shared memory\n");
}
//remove all existing objects (if any)
sim->resetSimulation();
int planeUid = sim->loadURDF("plane.urdf");
printf("planeUid = %d\n", planeUid);
int r2d2Uid = sim->loadURDF("r2d2.urdf");
printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
b3Vector3 basePosition = b3MakeVector3(0,0,1);
b3Quaternion baseOrientation = b3Quaternion(0,0,0,1);
sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
sim->setGravity(b3MakeVector3(0,0,-10));
while (sim->isConnected())
{
sim->stepSimulation();
}
delete sim;
}

2
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
View File

@@ -1,7 +1,7 @@
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
#include "../SharedMemory/SharedMemoryPublic.h"
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"

1
examples/RobotSimulator/premake4.lua
View File

@@ -80,6 +80,7 @@ project ("App_RobotSimulator")
includedirs {
".",
"../../src",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
}

12
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl Normal file
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@@ -0,0 +1,12 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.001
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

65494
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.obj Normal file
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File diff suppressed because it is too large Load Diff

12
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_hip.mtl Normal file
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@@ -0,0 +1,12 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.003
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

30205
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_hip.obj Normal file
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File diff suppressed because it is too large Load Diff

10
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_optoforce.mtl Normal file
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@@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

735
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_optoforce.obj Normal file
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@@ -0,0 +1,735 @@
# Blender v2.78 (sub 0) OBJ File: ''
# www.blender.org
mtllib anymal_optoforce.mtl
o anymal_shank_2_LF_001_anymal_shank_2_LF.000
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v 22.275124 11.349790 0.000008
v -24.692184 -3.910906 -0.000040
v -24.692225 3.910791 0.000002
v -11.349827 22.275108 0.000026
v 24.692194 3.910923 -0.000030
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v 22.275185 -11.349720 -0.000006
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LH.mtl Normal file
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# Blender MTL File: 'None'
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.mtl Normal file
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# Blender MTL File: 'None'
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RH.mtl Normal file
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# Blender MTL File: 'None'
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_thigh.mtl Normal file
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illum 2

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# Blender MTL File: 'None'
# Material Count: 1
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/hip.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
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illum 2

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/dbellicoso/catkin_ws/src/anymal_beth/anymal_beth_description/urdf/anymal_beth.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--Copyright (C) 2015 by Dario Bellicoso -->
<!--bellicosodario@gmail.com -->
<!-- -->
<!--This program is free software; you can redistribute it and/or modify -->
<!--it under the terms of the Lesser GNU General Public License as published -->
<!--by the Free Software Foundation; either version 3 of the License, or -->
<!--(at your option) any later version. -->
<!-- -->
<!--This program is distributed in the hope that it will be useful, -->
<!--but WITHOUT ANY WARRANTY; without even the implied warranty of -->
<!--MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -->
<!--Lesser GNU General Public License for more details. -->
<!-- -->
<!--You should have received a copy of the Lesser GNU General Public License -->
<!--along with this program. If not, see <http://www.gnu.org/licenses/>. -->
<!-- This file contains the description of the ANYmal Beth robot. -->
<robot name="anymal" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="light_grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<gazebo>
<plugin filename="libanymal_gazebo.so" name="gazebo_ros_control">
<robotNamespace>anymal</robotNamespace>
<!-- Currently unused -->
<robotDescription>quadruped_description</robotDescription>
<robotBaseLink>base</robotBaseLink>
<statePublisherRate>400.0</statePublisherRate>
</plugin>
</gazebo>
<!-- Material for the visual primitives -->
<material name="anymal_black_material">
<color rgba="0.3 0.3 0.3 1"/>
</material>
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1"/>
</material>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_base_2.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_black_material"/>
</visual>
<collision>
<!-- Main Body -->
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<box size="0.531 0.232 0.26"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.022 -0.01 0.01"/>
<mass value="21.39"/>
<inertia ixx="0.268388530624" ixy="0.000775392455422" ixz="-0.0151848534451" iyy="0.884235660795" iyz="-0.000989297489507" izz="0.829158678306"/>
</inertial>
</link>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LF_HIP">
<visual>
<origin rpy="3.14159265359 1.5707963268 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0585 0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0542 -0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="-6.4285329973e-05" ixz="6.9990104e-08" iyy="0.000993231183395" iyz="2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LF_HAA" type="revolute">
<parent link="base"/>
<child link="LF_HIP"/>
<origin xyz="0.2629 0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LF_THIGH">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0.145 0 0" xyz="0 0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0008 0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="-1.7996507882e-05" ixz="0.000205877679383" iyy="0.0144188925719" iyz="-0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HIP"/>
<child link="LF_THIGH"/>
<origin xyz="0.0585 0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_LF.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 -0.9 -0.2" xyz="0.04 -0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="-0.0 0.34 0" xyz="0.06 -0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.016355414056 -0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="-7.7334500762e-05" ixz="-0.000152069372983" iyy="0.00400446467635" iyz="-0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_THIGH"/>
<child link="LF_SHANK"/>
<origin xyz="0.0 0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="LF_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-5.552058e-06 7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="4.16901601e-07" ixz="3.99054799e-07" iyy="8.2860209667e-05" iyz="-3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="LF_ANKLE_JOINT" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_FOOT_MOUNT"/>
<origin rpy="0.323 0.549 0" xyz="0.0 -0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="LF_MOUNT_TO_SENSOR"/>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RF_HIP">
<visual>
<origin rpy="0 -1.57079632679 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0585 -0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0542 0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="6.4285329973e-05" ixz="6.9990104e-08" iyy="0.000993231183395" iyz="-2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RF_HAA" type="revolute">
<parent link="base"/>
<child link="RF_HIP"/>
<origin xyz="0.2629 -0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RF_THIGH">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="-0.145 0 0" xyz="0 -0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0008 -0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="1.7996507882e-05" ixz="0.000205877679383" iyy="0.0144188925719" iyz="0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HIP"/>
<child link="RF_THIGH"/>
<origin xyz="0.0585 -0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RF_SHANK">
<visual>
<origin rpy="3.14159265359 3.14159265359 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_RF.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 -0.9 0.2" xyz="0.04 0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="0.0 0.34 0" xyz="0.06 0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.016355414056 0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="7.7334500762e-05" ixz="-0.000152069372983" iyy="0.00400446467635" iyz="0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_THIGH"/>
<child link="RF_SHANK"/>
<origin xyz="0.0 -0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="RF_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-5.552058e-06 -7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="-4.16901601e-07" ixz="3.99054799e-07" iyy="8.2860209667e-05" iyz="3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="RF_ANKLE_JOINT" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_FOOT_MOUNT"/>
<origin rpy="-0.323 0.549 0" xyz="0.0 0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="RF_MOUNT_TO_SENSOR"/>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LH_HIP">
<visual>
<origin rpy="0 -1.5707963268 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="-0.0585 0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0542 -0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="6.4285329973e-05" ixz="-6.9990104e-08" iyy="0.000993231183395" iyz="2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LH_HAA" type="revolute">
<parent link="base"/>
<child link="LH_HIP"/>
<origin xyz="-0.2629 0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LH_THIGH">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0.145 0 0" xyz="0 0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0008 0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="1.7996507882e-05" ixz="-0.000205877679383" iyy="0.0144188925719" iyz="-0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HIP"/>
<child link="LH_THIGH"/>
<origin xyz="-0.0585 0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LH_SHANK">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_LH.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 0.9 0.2" xyz="-0.04 -0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="-0.0 -0.34 0" xyz="-0.06 -0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.016355414056 -0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="7.7334500762e-05" ixz="0.000152069372983" iyy="0.00400446467635" iyz="-0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_THIGH"/>
<child link="LH_SHANK"/>
<origin xyz="-0.0 0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="LH_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="5.552058e-06 7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="-4.16901601e-07" ixz="-3.99054799e-07" iyy="8.2860209667e-05" iyz="-3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="LH_ANKLE_JOINT" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_FOOT_MOUNT"/>
<origin rpy="0.323 -0.549 0" xyz="-0.0 -0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="LH_MOUNT_TO_SENSOR"/>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RH_HIP">
<visual>
<origin rpy="1.5707963268 1.5707963268 -1.5707963268" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="-0.0585 -0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0542 0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="-6.4285329973e-05" ixz="-6.9990104e-08" iyy="0.000993231183395" iyz="-2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RH_HAA" type="revolute">
<parent link="base"/>
<child link="RH_HIP"/>
<origin xyz="-0.2629 -0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RH_THIGH">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="-0.145 0 0" xyz="0 -0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0008 -0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="-1.7996507882e-05" ixz="-0.000205877679383" iyy="0.0144188925719" iyz="0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HIP"/>
<child link="RH_THIGH"/>
<origin xyz="-0.0585 -0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RH_SHANK">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_RH.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 0.9 -0.2" xyz="-0.04 0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="0.0 -0.34 0" xyz="-0.06 0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.016355414056 0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="-7.7334500762e-05" ixz="0.000152069372983" iyy="0.00400446467635" iyz="0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_THIGH"/>
<child link="RH_SHANK"/>
<origin xyz="-0.0 -0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="RH_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="5.552058e-06 -7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="4.16901601e-07" ixz="-3.99054799e-07" iyy="8.2860209667e-05" iyz="3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="RH_ANKLE_JOINT" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_FOOT_MOUNT"/>
<origin rpy="-0.323 -0.549 0" xyz="-0.0 0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="RH_MOUNT_TO_SENSOR"/>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.011"/>
<geometry>
<box size="0.058 0.058 0.022"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.011"/>
<geometry>
<box size="0.058 0.058 0.022"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin xyz="0 0 0"/>
<inertia ixx="1.60333333333e-05" ixy="0.0" ixz="0.0" iyy="2.80333333333e-05" iyz="0.0" izz="1.60333333333e-05"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="3.14159265359 0 0" xyz="0.0245 -0.04255 0.1857"/>
</joint>
<gazebo reference="imu_link">
<material>Gazebo/Orange</material>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="imu_joint">
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_plugin">
<robotNamespace>sensors</robotNamespace>
<bodyName>imu_link</bodyName>
<frameId>/imu_link</frameId>
<topicName>imu</topicName>
<biasTopicName>imu/bias</biasTopicName>
<serviceName>imu/calibrate</serviceName>
<updateRate>400</updateRate>
</plugin>
</gazebo>
<!-- Omniview -->
<!-- <xacro:include filename="$(find anymal_beth_description)/urdf/omniview/anymal_beth_omniview_macro.urdf.xacro"/> -->
<!-- <xacro:anymal_beth_omniview_mesh link_name="omniview_mesh_front" parent_name="base" joint_name="omniview_mesh_front_joint"> -->
<!-- <origin xyz="0.3312 0.0 0.025" rpy="-1.57079632679 0.0 0.0"/> -->
<!-- </xacro:anymal_beth_omniview_mesh> -->
<!-- <xacro:anymal_beth_omniview_mesh link_name="omniview_mesh_back" parent_name="base" joint_name="omniview_mesh_back_joint"> -->
<!-- <origin xyz="-0.3312 0.0 0.025" rpy="-1.57079632679 0.0 3.14159265359"/> -->
<!-- </xacro:anymal_beth_omniview_mesh> -->
<!--<link name="static_lidar_front"/>-->
<!--<joint name="base_to_static_lidar_front" type="fixed">-->
<!--<origin rpy="1.57079632679 0.0 1.57079632679" xyz="0.2 0.0 0.1415"/>-->
<!--<parent link="base"/>-->
<!--<child link="static_lidar_front"/>-->
<!--<origin rpy="0 0 0" xyz="0 0 0"/>-->
<!--</joint>-->
<!-- <xacro:anymal_lidar_fix name="static_lidar_back" parent="base" dynamixel_lidar_offset="0.1515">
<origin xyz="-0.2 0.0 0.1415" rpy="1.57079632679 0.0 -1.57079632679"/>
</xacro:anymal_lidar_fix> -->
</robot>

51
examples/pybullet/gym/pybullet_envs/examples/ANYmal.py Normal file
View File

@@ -0,0 +1,51 @@
import pybullet as p
import pybullet_data
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
p.changeVisualShape(ground,-1,rgbaColor=[1,1,1,0.8])
#p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
print("hasNumpy = ",p.isNumpyEnabled())
anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[3,3,3], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False)
p.resetSimulation()
ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
#todo, tweak this value to trade solver quality versus performance
p.setPhysicsEngineParameter(solverResidualThreshold=1e-2)
index = 0
numX = 3
numY = 3
for i in range (numX):
for j in range (numY):
print("loading animal ", index)
index+=1
#anymal = p.loadURDF("atlas/atlas_v4_with_multisense.urdf",[i*3,j*3,1], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[(i-numX/2)*2,(j-numY/2)*2,0.6], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False)
for j in range(p.getNumJoints(anymal)):
p.setJointMotorControl2(anymal,j,p.POSITION_CONTROL,targetPosition=0, force=500)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0,0,-10)
#p.setRealTimeSimulation(1)
while (1):
p.stepSimulation()
time.sleep(1./240.)

1
examples/pybullet/gym/pybullet_envs/examples/__init__.py
View File

@@ -10,4 +10,3 @@ from . import enjoy_TF_Walker2DBulletEnv_v0_2017may
from . import kukaGymEnvTest
from . import racecarGymEnvTest
from . import racecarZEDGymEnvTest
from . import simpleHumanoidGymEnvTest

4
setup.py
View File

@@ -438,7 +438,7 @@ hh = setup_py_dir + "/" + datadir
for root, dirs, files in os.walk(hh):
for fn in files:
ext = os.path.splitext(fn)[1][1:]
if ext and ext in 'png gif jpg urdf sdf obj mtl dae off stl STL xml '.split():
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj mtl dae off stl STL xml '.split():
fn = root + "/" + fn
need_files.append(fn[1+len(hh):])
@@ -450,7 +450,7 @@ print("-----")
setup(
name = 'pybullet',
version='1.9.9',
version='2.0.0',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',

2
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -39,7 +39,7 @@ btCollisionObject::btCollisionObject()
m_rollingFriction(0.0f),
m_spinningFriction(0.f),
m_contactDamping(.1),
m_contactStiffness(1e4),
m_contactStiffness(BT_LARGE_FLOAT),
m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
m_userIndex2(-1),

68
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
View File

@@ -21,46 +21,64 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw)
bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw)
{
(void)debugDraw;
(void)v;
(void)simplexSolver;
// const btScalar radialmargin(btScalar(0.));
btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
btGjkEpaSolver2::sResults results;
btVector3 guessVectors[] = {
btVector3(transformB.getOrigin() - transformA.getOrigin()),
btVector3(transformA.getOrigin() - transformB.getOrigin()),
btVector3(0, 0, 1),
btVector3(0, 1, 0),
btVector3(1, 0, 0),
btVector3(1, 1, 0),
btVector3(1, 1, 1),
btVector3(0, 1, 1),
btVector3(1, 0, 1),
};
if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
pConvexB,transformB,
guessVector,results))
{
// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
return true;
} else
int numVectors = sizeof(guessVectors) / sizeof(btVector3);
for (int i = 0; i < numVectors; i++)
{
if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
simplexSolver.reset();
btVector3 guessVector = guessVectors[i];
btGjkEpaSolver2::sResults results;
if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
pConvexB, transformB,
guessVector, results))
{
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
return false;
return true;
}
else
{
if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
{
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
return false;
}
}
}
//failed to find a distance/penetration
wWitnessOnA.setValue(0, 0, 0);
wWitnessOnB.setValue(0, 0, 0);
v.setValue(0, 0, 0);
return false;
}

4
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -32,10 +32,10 @@ subject to the following restrictions:
//must be above the machine epsilon
#ifdef BT_USE_DOUBLE_PRECISION
#define REL_ERROR2 btScalar(1.0e-12)
btScalar gGjkEpaPenetrationTolerance = 1e-7;
btScalar gGjkEpaPenetrationTolerance = BT_LARGE_FLOAT;
#else
#define REL_ERROR2 btScalar(1.0e-6)
btScalar gGjkEpaPenetrationTolerance = 0.001;
btScalar gGjkEpaPenetrationTolerance = BT_LARGE_FLOAT;
#endif
//temp globals, to improve GJK/EPA/penetration calculations