Add MLCP constraint solver for multibody
This commit is contained in:
Jeongseok Lee
@@ -326,6 +326,7 @@ SET(BulletExampleBrowser_SRCS
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../MultiBody/InvertedPendulumPDControl.cpp
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../MultiBody/InvertedPendulumPDControl.h
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../MultiBody/MultiBodyConstraintFeedback.cpp
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../MultiBody/SerialChains.cpp
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../MultiBody/MultiDofDemo.cpp
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../MultiBody/MultiDofDemo.h
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../RigidBody/RigidBodySoftContact.cpp
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@@ -29,6 +29,7 @@
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#include "../MultiBody/MultiBodyConstraintFeedback.h"
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#include "../MultiBody/MultiDofDemo.h"
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#include "../MultiBody/InvertedPendulumPDControl.h"
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#include "../MultiBody/SerialChains.h"
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#include "../RigidBody/RigidBodySoftContact.h"
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#include "../VoronoiFracture/VoronoiFractureDemo.h"
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#include "../SoftDemo/SoftDemo.h"
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@@ -137,6 +138,7 @@ static ExampleEntry gDefaultExamples[]=
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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),
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ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
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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),
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ExampleEntry(1,"Serial Chains", "Show colliding two serial chains using different constraint solvers.", SerialChainsCreateFunc,0),
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ExampleEntry(0,"Physics Client-Server"),
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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.",
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@@ -2,8 +2,13 @@
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
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@@ -40,7 +45,6 @@ public:
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m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
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void addBoxes_testMultiDof();
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@@ -52,6 +56,7 @@ static bool g_floatingBase = false;
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static bool g_firstInit = true;
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static float scaling = 0.4f;
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static float friction = 1.;
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static int g_constraintSolverType = 0;
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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@@ -104,8 +109,37 @@ void MultiDofDemo::initPhysics()
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m_broadphase = new btDbvtBroadphase();
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//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
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btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver;
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if (g_constraintSolverType == 4)
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{
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g_constraintSolverType = 0;
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g_floatingBase = !g_floatingBase;
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}
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btMultiBodyConstraintSolver* sol;
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btMLCPSolverInterface* mlcp;
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switch (g_constraintSolverType++)
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{
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case 0:
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sol = new btMultiBodyConstraintSolver;
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b3Printf("Constraint Solver: Sequential Impulse");
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break;
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case 1:
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mlcp = new btSolveProjectedGaussSeidel();
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sol = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + PGS");
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break;
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case 2:
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mlcp = new btDantzigSolver();
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sol = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + Dantzig");
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break;
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default:
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mlcp = new btLemkeSolver();
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sol = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + Lemke");
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break;
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}
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m_solver = sol;
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//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
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@@ -144,7 +178,6 @@ void MultiDofDemo::initPhysics()
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btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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g_floatingBase = ! g_floatingBase;
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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405
examples/MultiBody/SerialChains.cpp
Normal file
405
examples/MultiBody/SerialChains.cpp
Normal file
@@ -0,0 +1,405 @@
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#include "SerialChains.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
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#include "../OpenGLWindow/GLInstancingRenderer.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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class SerialChains : public CommonMultiBodyBase
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{
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public:
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SerialChains(GUIHelperInterface* helper);
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virtual ~SerialChains();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = -35;
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float yaw = 50;
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float targetPos[3] = {-3, 2.8, -2.5};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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};
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static bool g_fixedBase = true;
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static bool g_firstInit = true;
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static float scaling = 0.4f;
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static float friction = 1.;
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static int g_constraintSolverType = 0;
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SerialChains::SerialChains(GUIHelperInterface* helper)
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: CommonMultiBodyBase(helper)
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{
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m_guiHelper->setUpAxis(1);
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}
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SerialChains::~SerialChains()
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{
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// Do nothing
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}
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void SerialChains::stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
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}
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void SerialChains::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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if (g_firstInit)
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{
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
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g_firstInit = false;
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}
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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if (g_constraintSolverType == 4)
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{
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g_constraintSolverType = 0;
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g_fixedBase = !g_fixedBase;
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}
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btMultiBodyConstraintSolver* sol;
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btMLCPSolverInterface* mlcp;
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switch (g_constraintSolverType++)
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{
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case 0:
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m_solver = new btMultiBodyConstraintSolver;
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b3Printf("Constraint Solver: Sequential Impulse");
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break;
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case 1:
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mlcp = new btSolveProjectedGaussSeidel();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + PGS");
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break;
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case 2:
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mlcp = new btDantzigSolver();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + Dantzig");
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break;
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default:
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mlcp = new btLemkeSolver();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + Lemke");
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break;
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}
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btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_dynamicsWorld = world;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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///create a few basic rigid bodies
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btVector3 groundHalfExtents(50, 50, 50);
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btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -50, 00));
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/////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////
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bool damping = true;
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bool gyro = true;
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int numLinks = 5;
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bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool multibodyOnly = true; //false
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bool canSleep = true;
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bool selfCollide = true;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.05, 0.37, 0.1);
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btMultiBody* mbC1 = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
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btMultiBody* mbC2 = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.0f, 0.5f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
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mbC1->setCanSleep(canSleep);
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mbC1->setHasSelfCollision(selfCollide);
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mbC1->setUseGyroTerm(gyro);
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if (!damping)
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{
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mbC1->setLinearDamping(0.f);
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mbC1->setAngularDamping(0.f);
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}
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else
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{
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mbC1->setLinearDamping(0.1f);
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mbC1->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC1->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC1->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders_testMultiDof(mbC1, world, baseHalfExtents, linkHalfExtents);
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mbC2->setCanSleep(canSleep);
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mbC2->setHasSelfCollision(selfCollide);
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mbC2->setUseGyroTerm(gyro);
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//
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if (!damping)
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{
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mbC2->setLinearDamping(0.f);
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mbC2->setAngularDamping(0.f);
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}
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else
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{
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mbC2->setLinearDamping(0.1f);
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mbC2->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = -45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC2->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC2->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders_testMultiDof(mbC2, world, baseHalfExtents, linkHalfExtents);
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/////////////////////////////////////////////////////////////////
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btScalar groundHeight = -51.55;
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if (!multibodyOnly)
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, groundHeight, 0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body, 1, 1 + 2); //,1,1+2);
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}
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/////////////////////////////////////////////////////////////////
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if (!multibodyOnly)
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{
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btVector3 halfExtents(.5, .5, .5);
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btBoxShape* colShape = new btBoxShape(halfExtents);
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass, localInertia);
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startTransform.setOrigin(btVector3(
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btScalar(0.0),
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0.0,
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btScalar(0.0)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body); //,1,1+2);
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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/////////////////////////////////////////////////////////////////
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}
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btMultiBody* SerialChains::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
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{
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 1.f;
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if (baseMass)
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{
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btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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}
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bool canSleep = false;
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, fixedBase, canSleep);
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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btVector3 vel(0, 0, 0);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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float linkMass = 1.f;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete pTempBox;
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//y-axis assumed up
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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 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
if (!spherical)
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
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, true);
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void SerialChains::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
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();
|
||||
|
||||
{
|
||||
btScalar 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* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
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];
|
||||
|
||||
btScalar 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* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
CommonExampleInterface* SerialChainsCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new SerialChains(options.m_guiHelper);
|
||||
}
|
||||
7
examples/MultiBody/SerialChains.h
Normal file
7
examples/MultiBody/SerialChains.h
Normal file
@@ -0,0 +1,7 @@
|
||||
|
||||
#ifndef MULTI_BODY_CONSTRAINT_SOLVERS_DEMO_H
|
||||
#define MULTI_BODY_CONSTRAINT_SOLVERS_DEMO_H
|
||||
|
||||
class CommonExampleInterface* SerialChainsCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //MULTI_BODY_CONSTRAINT_SOLVERS_DEMO_H
|
||||
Reference in New Issue
Block a user