expose timeout in pybullet/shared memory API
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
This commit is contained in:
Erwin Coumans
159
examples/RobotSimulator/CMakeLists.txt
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159
examples/RobotSimulator/CMakeLists.txt
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@@ -0,0 +1,159 @@
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
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)
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SET(RobotSimulator_SRCS
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RobotSimulatorMain.cpp
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b3RobotSimulatorClientAPI.cpp
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b3RobotSimulatorClientAPI.h
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MinitaurSetup.cpp
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MinitaurSetup.h
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../../examples/SharedMemory/IKTrajectoryHelper.cpp
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../../examples/SharedMemory/IKTrajectoryHelper.h
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../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
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../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
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../../examples/OpenGLWindow/SimpleCamera.cpp
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../../examples/OpenGLWindow/SimpleCamera.h
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../../examples/TinyRenderer/geometry.cpp
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../../examples/TinyRenderer/model.cpp
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../../examples/TinyRenderer/tgaimage.cpp
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../../examples/TinyRenderer/our_gl.cpp
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../../examples/TinyRenderer/TinyRenderer.cpp
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../../examples/SharedMemory/InProcessMemory.cpp
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../../examples/SharedMemory/PhysicsClient.cpp
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../../examples/SharedMemory/PhysicsClient.h
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../../examples/SharedMemory/PhysicsServer.cpp
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../../examples/SharedMemory/PhysicsServer.h
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../../examples/SharedMemory/PhysicsServerExample.cpp
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../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.h
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../../examples/SharedMemory/PhysicsDirect.cpp
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../../examples/SharedMemory/PhysicsDirect.h
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../../examples/SharedMemory/PhysicsDirectC_API.cpp
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../../examples/SharedMemory/PhysicsDirectC_API.h
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../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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../../examples/SharedMemory/PhysicsServerCommandProcessor.h
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../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory.h
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
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../../examples/SharedMemory/PhysicsClientC_API.cpp
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../../examples/SharedMemory/PhysicsClientC_API.h
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../../examples/SharedMemory/Win32SharedMemory.cpp
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../../examples/SharedMemory/Win32SharedMemory.h
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../../examples/SharedMemory/PosixSharedMemory.cpp
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../../examples/SharedMemory/PosixSharedMemory.h
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Utils/b3ResourcePath.h
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../../examples/Utils/RobotLoggingUtil.cpp
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../../examples/Utils/RobotLoggingUtil.h
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../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
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../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
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../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/MultiThreading/b3PosixThreadSupport.cpp
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../../examples/MultiThreading/b3Win32ThreadSupport.cpp
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../../examples/MultiThreading/b3ThreadSupportInterface.cpp
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)
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IF(BUILD_CLSOCKET)
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ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
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ENDIF(BUILD_CLSOCKET)
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IF(WIN32)
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LINK_LIBRARIES(
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${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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IF(BUILD_ENET)
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ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
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ENDIF(BUILD_ENET)
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IF(BUILD_CLSOCKET)
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ADD_DEFINITIONS(-DWIN32)
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ENDIF(BUILD_CLSOCKET)
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ELSE(WIN32)
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IF(BUILD_ENET)
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ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
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ENDIF(BUILD_ENET)
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IF(BUILD_CLSOCKET)
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IF(APPLE)
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ADD_DEFINITIONS(-D_DARWIN)
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ELSE()
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ADD_DEFINITIONS(-D_LINUX)
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ENDIF()
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ENDIF(BUILD_CLSOCKET)
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ENDIF(WIN32)
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IF(BUILD_ENET)
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set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
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../../examples/SharedMemory/PhysicsClientUDP.cpp
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../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientUDP.h
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../../examples/SharedMemory/PhysicsClientUDP_C_API.h
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../../examples/ThirdPartyLibs/enet/win32.c
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../../examples/ThirdPartyLibs/enet/unix.c
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../../examples/ThirdPartyLibs/enet/callbacks.c
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../../examples/ThirdPartyLibs/enet/compress.c
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../../examples/ThirdPartyLibs/enet/host.c
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../../examples/ThirdPartyLibs/enet/list.c
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../../examples/ThirdPartyLibs/enet/packet.c
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../../examples/ThirdPartyLibs/enet/peer.c
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../../examples/ThirdPartyLibs/enet/protocol.c
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)
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ENDIF(BUILD_ENET)
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IF(BUILD_CLSOCKET)
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set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
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../../examples/SharedMemory/PhysicsClientTCP.cpp
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../../examples/SharedMemory/PhysicsClientTCP.h
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../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientTCP_C_API.h
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../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
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../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
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../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
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)
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ENDIF()
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ADD_EXECUTABLE(App_RobotSimulator ${RobotSimulator_SRCS})
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SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
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IF(WIN32)
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IF(BUILD_ENET OR BUILD_CLSOCKET)
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TARGET_LINK_LIBRARIES(App_RobotSimulator ws2_32 )
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ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
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ENDIF(WIN32)
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TARGET_LINK_LIBRARIES(App_RobotSimulator BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
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96
examples/RobotSimulator/MinitaurSetup.cpp
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96
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -0,0 +1,96 @@
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#include "MinitaurSetup.h"
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#include "b3RobotSimulatorClientAPI.h"
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#include "Bullet3Common/b3HashMap.h"
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struct MinitaurSetupInternalData
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{
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int m_quadrupedUniqueId;
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MinitaurSetupInternalData()
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:m_quadrupedUniqueId(-1)
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{
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}
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b3HashMap<b3HashString, int> m_jointNameToId;
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};
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MinitaurSetup::MinitaurSetup()
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{
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m_data = new MinitaurSetupInternalData();
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}
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MinitaurSetup::~MinitaurSetup()
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{
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delete m_data;
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}
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void MinitaurSetup::resetPose()
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{
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#if 0
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def resetPose(self):
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#right front leg
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self.disableAllMotors()
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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self.setMotorAngleByName('motor_front_rightR_joint', 1.57)
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self.setMotorAngleByName('motor_front_rightL_joint',-1.57)
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#left front leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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self.setMotorAngleByName('motor_front_leftR_joint', 1.57)
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self.setMotorAngleByName('motor_front_leftL_joint',-1.57)
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#right back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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self.setMotorAngleByName('motor_back_rightR_joint', 1.57)
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self.setMotorAngleByName('motor_back_rightL_joint',-1.57)
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#left back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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self.setMotorAngleByName('motor_back_leftR_joint', 1.57)
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self.setMotorAngleByName('motor_back_leftL_joint',-1.57)
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#endif
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}
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int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition = startPos;
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args.m_startOrientation = startOrn;
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m_data->m_quadrupedUniqueId = sim->loadURDF("quadruped/quadruped.urdf",args);
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int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo jointInfo;
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sim->getJointInfo(m_data->m_quadrupedUniqueId,i,&jointInfo);
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if (jointInfo.m_jointName)
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{
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m_data->m_jointNameToId.insert(jointInfo.m_jointName,i);
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}
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}
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resetPose();
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return m_data->m_quadrupedUniqueId;
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}
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20
examples/RobotSimulator/MinitaurSetup.h
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20
examples/RobotSimulator/MinitaurSetup.h
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@@ -0,0 +1,20 @@
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#ifndef MINITAUR_SIMULATION_SETUP_H
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#define MINITAUR_SIMULATION_SETUP_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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class MinitaurSetup
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{
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struct MinitaurSetupInternalData* m_data;
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public:
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MinitaurSetup();
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virtual ~MinitaurSetup();
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int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
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void resetPose();
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};
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#endif //MINITAUR_SIMULATION_SETUP_H
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66
examples/RobotSimulator/RobotSimulatorMain.cpp
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66
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -0,0 +1,66 @@
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#include "b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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#include <string.h>
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#include <stdio.h>
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#include <assert.h>
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#define ASSERT_EQ(a,b) assert((a)==(b));
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#include "MinitaurSetup.h"
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int main(int argc, char* argv[])
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{
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b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
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sim->connect(eCONNECT_GUI);
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//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
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//sim->connect(eCONNECT_UDP, "localhost", 1234);
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sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
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sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
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//syncBodies is only needed when connecting to an existing physics server that has already some bodies
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sim->syncBodies();
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sim->setTimeStep(1./240.);
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sim->setGravity(b3MakeVector3(0,0,-10));
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sim->loadURDF("plane.urdf");
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MinitaurSetup minitaur;
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int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,1));
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(2,0,1);
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int r2d2 = sim->loadURDF("r2d2.urdf",args);
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b3RobotSimulatorLoadFileResults sdfResults;
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if (!sim->loadSDF("two_cubes.sdf",sdfResults))
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{
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b3Warning("Can't load SDF!\n");
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}
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b3Clock clock;
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double startTime = clock.getTimeInSeconds();
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double simWallClockSeconds = 20.;
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while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
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{
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sim->stepSimulation();
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}
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sim->setRealTimeSimulation(true);
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startTime = clock.getTimeInSeconds();
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while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
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{
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b3Clock::usleep(1000);
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}
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sim->disconnect();
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delete sim;
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}
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776
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
Normal file
776
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -0,0 +1,776 @@
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#include "b3RobotSimulatorClientAPI.h"
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//#include "SharedMemoryCommands.h"
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#include "SharedMemory/PhysicsClientC_API.h"
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#ifdef BT_ENABLE_ENET
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#include "SharedMemory/PhysicsClientUDP_C_API.h"
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#endif//PHYSICS_UDP
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#ifdef BT_ENABLE_CLSOCKET
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#include "SharedMemory/PhysicsClientTCP_C_API.h"
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#endif//PHYSICS_TCP
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#include "SharedMemory/PhysicsDirectC_API.h"
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#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
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#include "SharedMemory/SharedMemoryPublic.h"
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#include "Bullet3Common/b3Logging.h"
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struct b3RobotSimulatorClientAPI_InternalData
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{
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b3PhysicsClientHandle m_physicsClientHandle;
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b3RobotSimulatorClientAPI_InternalData()
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:m_physicsClientHandle(0)
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{
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}
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};
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b3RobotSimulatorClientAPI::b3RobotSimulatorClientAPI()
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{
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m_data = new b3RobotSimulatorClientAPI_InternalData();
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}
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b3RobotSimulatorClientAPI::~b3RobotSimulatorClientAPI()
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{
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delete m_data;
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}
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bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, int portOrKey)
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{
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if (m_data->m_physicsClientHandle)
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{
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b3Warning ("Already connected, disconnect first.");
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return false;
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}
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b3PhysicsClientHandle sm = 0;
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int udpPort = 1234;
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int tcpPort = 6667;
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int key = SHARED_MEMORY_KEY;
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bool connected = false;
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switch (mode)
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{
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case eCONNECT_GUI:
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{
|
||||
int argc = 0;
|
||||
char* argv[1] = {0};
|
||||
#ifdef __APPLE__
|
||||
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
|
||||
#else
|
||||
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
case eCONNECT_DIRECT: {
|
||||
sm = b3ConnectPhysicsDirect();
|
||||
break;
|
||||
}
|
||||
case eCONNECT_SHARED_MEMORY: {
|
||||
if (portOrKey>=0)
|
||||
{
|
||||
key = portOrKey;
|
||||
}
|
||||
sm = b3ConnectSharedMemory(key);
|
||||
break;
|
||||
}
|
||||
case eCONNECT_UDP:
|
||||
{
|
||||
if (portOrKey>=0)
|
||||
{
|
||||
udpPort = portOrKey;
|
||||
}
|
||||
#ifdef BT_ENABLE_ENET
|
||||
|
||||
sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
|
||||
#else
|
||||
b3Warning("UDP is not enabled in this build");
|
||||
#endif //BT_ENABLE_ENET
|
||||
|
||||
break;
|
||||
}
|
||||
case eCONNECT_TCP:
|
||||
{
|
||||
if (portOrKey>=0)
|
||||
{
|
||||
tcpPort = portOrKey;
|
||||
}
|
||||
#ifdef BT_ENABLE_CLSOCKET
|
||||
|
||||
sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
|
||||
#else
|
||||
b3Warning("TCP is not enabled in this pybullet build");
|
||||
#endif //BT_ENABLE_CLSOCKET
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
default: {
|
||||
b3Warning("connectPhysicsServer unexpected argument");
|
||||
}
|
||||
};
|
||||
|
||||
if (sm)
|
||||
{
|
||||
m_data->m_physicsClientHandle = sm;
|
||||
if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
|
||||
{
|
||||
disconnect();
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::isConnected() const
|
||||
{
|
||||
return (m_data->m_physicsClientHandle!=0);
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimulatorClientAPI::disconnect()
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
b3DisconnectSharedMemory(m_data->m_physicsClientHandle);
|
||||
m_data->m_physicsClientHandle = 0;
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::syncBodies()
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
b3SharedMemoryCommandHandle command;
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
|
||||
command = b3InitSyncBodyInfoCommand(m_data->m_physicsClientHandle);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::resetSimulation()
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(
|
||||
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::stepSimulation()
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
|
||||
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
|
||||
{
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
b3Assert(statusType==CMD_STEP_FORWARD_SIMULATION_COMPLETED);
|
||||
}
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3PhysicsParamSetGravity(command, gravityAcceleration[0],gravityAcceleration[1],gravityAcceleration[2]);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
|
||||
}
|
||||
|
||||
b3Quaternion b3RobotSimulatorClientAPI::getQuaternionFromEuler(const b3Vector3& rollPitchYaw)
|
||||
{
|
||||
double phi, the, psi;
|
||||
phi = rollPitchYaw[0] / 2.0;
|
||||
the = rollPitchYaw[1] / 2.0;
|
||||
psi = rollPitchYaw[2] / 2.0;
|
||||
double quat[4] = {
|
||||
sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
|
||||
cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
|
||||
cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
|
||||
cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi)};
|
||||
|
||||
// normalize the quaternion
|
||||
double len = sqrt(quat[0] * quat[0] + quat[1] * quat[1] +
|
||||
quat[2] * quat[2] + quat[3] * quat[3]);
|
||||
quat[0] /= len;
|
||||
quat[1] /= len;
|
||||
quat[2] /= len;
|
||||
quat[3] /= len;
|
||||
b3Quaternion q(quat[0],quat[1],quat[2],quat[3]);
|
||||
return q;
|
||||
}
|
||||
|
||||
b3Vector3 b3RobotSimulatorClientAPI::getEulerFromQuaternion(const b3Quaternion& quat)
|
||||
{
|
||||
double squ;
|
||||
double sqx;
|
||||
double sqy;
|
||||
double sqz;
|
||||
double sarg;
|
||||
|
||||
b3Vector3 rpy;
|
||||
sqx = quat[0] * quat[0];
|
||||
sqy = quat[1] * quat[1];
|
||||
sqz = quat[2] * quat[2];
|
||||
squ = quat[3] * quat[3];
|
||||
rpy[0] = atan2(2 * (quat[1] * quat[2] + quat[3] * quat[0]),
|
||||
squ - sqx - sqy + sqz);
|
||||
sarg = -2 * (quat[0] * quat[2] - quat[3] * quat[1]);
|
||||
rpy[1] = sarg <= -1.0 ? -0.5 * 3.141592538
|
||||
: (sarg >= 1.0 ? 0.5 * 3.141592538 : asin(sarg));
|
||||
rpy[2] = atan2(2 * (quat[0] * quat[1] + quat[3] * quat[2]),
|
||||
squ + sqx - sqy - sqz);
|
||||
return rpy;
|
||||
}
|
||||
|
||||
int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
|
||||
{
|
||||
int robotUniqueId = -1;
|
||||
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return robotUniqueId;
|
||||
}
|
||||
|
||||
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
|
||||
|
||||
//setting the initial position, orientation and other arguments are optional
|
||||
|
||||
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
|
||||
args.m_startPosition[1],
|
||||
args.m_startPosition[2]);
|
||||
b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
|
||||
,args.m_startOrientation[1]
|
||||
,args.m_startOrientation[2]
|
||||
,args.m_startOrientation[3]);
|
||||
if (args.m_forceOverrideFixedBase)
|
||||
{
|
||||
b3LoadUrdfCommandSetUseFixedBase(command,true);
|
||||
}
|
||||
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
|
||||
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
|
||||
if (statusType==CMD_URDF_LOADING_COMPLETED)
|
||||
{
|
||||
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
|
||||
}
|
||||
return robotUniqueId;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle command;
|
||||
|
||||
command = b3LoadMJCFCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
if (statusType != CMD_MJCF_LOADING_COMPLETED)
|
||||
{
|
||||
b3Warning("Couldn't load .mjcf file.");
|
||||
return false;
|
||||
}
|
||||
int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
|
||||
if (numBodies)
|
||||
{
|
||||
results.m_uniqueObjectIds.resize(numBodies);
|
||||
int numBodies;
|
||||
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle command;
|
||||
|
||||
command = b3LoadBulletCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
if (statusType != CMD_BULLET_LOADING_COMPLETED)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
|
||||
if (numBodies)
|
||||
{
|
||||
results.m_uniqueObjectIds.resize(numBodies);
|
||||
int numBodies;
|
||||
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
|
||||
bool statusOk = false;
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
|
||||
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);
|
||||
if (statusType == CMD_SDF_LOADING_COMPLETED)
|
||||
{
|
||||
int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
|
||||
if (numBodies)
|
||||
{
|
||||
results.m_uniqueObjectIds.resize(numBodies);
|
||||
int numBodies;
|
||||
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
|
||||
|
||||
}
|
||||
statusOk = true;
|
||||
}
|
||||
|
||||
return statusOk;
|
||||
}
|
||||
|
||||
|
||||
bool b3RobotSimulatorClientAPI::getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const
|
||||
{
|
||||
b3SharedMemoryCommandHandle cmd_handle =
|
||||
b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
|
||||
b3SharedMemoryStatusHandle status_handle =
|
||||
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, cmd_handle);
|
||||
|
||||
const int status_type = b3GetStatusType(status_handle);
|
||||
const double* actualStateQ;
|
||||
|
||||
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) {
|
||||
return false;
|
||||
}
|
||||
|
||||
b3GetStatusActualState(
|
||||
status_handle, 0 /* body_unique_id */,
|
||||
0 /* num_degree_of_freedom_q */, 0 /* num_degree_of_freedom_u */,
|
||||
0 /*root_local_inertial_frame*/, &actualStateQ,
|
||||
0 /* actual_state_q_dot */, 0 /* joint_reaction_forces */);
|
||||
|
||||
basePosition[0] = actualStateQ[0];
|
||||
basePosition[1] = actualStateQ[1];
|
||||
basePosition[2] = actualStateQ[2];
|
||||
|
||||
baseOrientation[0] = actualStateQ[3];
|
||||
baseOrientation[1] = actualStateQ[4];
|
||||
baseOrientation[2] = actualStateQ[5];
|
||||
baseOrientation[3] = actualStateQ[6];
|
||||
return true;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation)
|
||||
{
|
||||
b3SharedMemoryCommandHandle commandHandle;
|
||||
|
||||
commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
|
||||
|
||||
b3CreatePoseCommandSetBasePosition(commandHandle, basePosition[0], basePosition[1], basePosition[2]);
|
||||
b3CreatePoseCommandSetBaseOrientation(commandHandle, baseOrientation[0], baseOrientation[1],
|
||||
baseOrientation[2], baseOrientation[3]);
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimulatorClientAPI::setRealTimeSimulation(bool enableRealTimeSimulation)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
|
||||
int ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
|
||||
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
|
||||
}
|
||||
|
||||
int b3RobotSimulatorClientAPI::getNumJoints(int bodyUniqueId) const
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
return b3GetNumJoints(m_data->m_physicsClientHandle,bodyUniqueId);
|
||||
}
|
||||
|
||||
|
||||
bool b3RobotSimulatorClientAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
return (b3GetJointInfo(m_data->m_physicsClientHandle,bodyUniqueId, jointIndex,jointInfo)!=0);
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
|
||||
if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
|
||||
{
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
|
||||
}
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState *state)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle,bodyUniqueId);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
int statusType = b3GetStatusType(statusHandle);
|
||||
if (statusType != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
|
||||
{
|
||||
if (b3GetJointState(m_data->m_physicsClientHandle, statusHandle, jointIndex, state))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::resetJointState(int bodyUniqueId, int jointIndex, int targetValue)
|
||||
{
|
||||
b3SharedMemoryCommandHandle commandHandle;
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int numJoints;
|
||||
|
||||
numJoints = b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
|
||||
if ((jointIndex >= numJoints) || (jointIndex < 0)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
|
||||
|
||||
b3CreatePoseCommandSetJointPosition(m_data->m_physicsClientHandle, commandHandle, jointIndex,
|
||||
targetValue);
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimulatorClientAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
switch (args.m_controlMode)
|
||||
{
|
||||
case CONTROL_MODE_VELOCITY:
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_VELOCITY);
|
||||
b3JointInfo jointInfo;
|
||||
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
|
||||
int uIndex = jointInfo.m_uIndex;
|
||||
b3JointControlSetKd(command,uIndex,args.m_kd);
|
||||
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
|
||||
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
break;
|
||||
}
|
||||
case CONTROL_MODE_POSITION_VELOCITY_PD:
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
|
||||
b3JointInfo jointInfo;
|
||||
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
|
||||
int uIndex = jointInfo.m_uIndex;
|
||||
int qIndex = jointInfo.m_qIndex;
|
||||
|
||||
b3JointControlSetDesiredPosition(command,qIndex,args.m_targetPosition);
|
||||
b3JointControlSetKp(command,uIndex,args.m_kp);
|
||||
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
|
||||
b3JointControlSetKd(command,uIndex,args.m_kd);
|
||||
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
break;
|
||||
}
|
||||
case CONTROL_MODE_TORQUE:
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_TORQUE);
|
||||
b3JointInfo jointInfo;
|
||||
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
|
||||
int uIndex = jointInfo.m_uIndex;
|
||||
b3JointControlSetDesiredForceTorque(command,uIndex,args.m_maxTorqueValue);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Error("Unknown control command in b3RobotSimulationClientAPI::setJointMotorControl");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimulatorClientAPI::setNumSolverIterations(int numIterations)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3PhysicsParamSetNumSolverIterations(command, numIterations);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
|
||||
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::setTimeStep(double timeStepInSeconds)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int ret;
|
||||
ret = b3PhysicsParamSetTimeStep(command, timeStepInSeconds);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimulatorClientAPI::setNumSimulationSubSteps(int numSubSteps)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
|
||||
}
|
||||
|
||||
|
||||
bool b3RobotSimulatorClientAPI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
b3Assert(args.m_endEffectorLinkIndex>=0);
|
||||
b3Assert(args.m_bodyUniqueId>=0);
|
||||
|
||||
|
||||
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClientHandle,args.m_bodyUniqueId);
|
||||
if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
|
||||
{
|
||||
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
|
||||
} else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
|
||||
{
|
||||
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition,args.m_endEffectorTargetOrientation);
|
||||
} else if (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY)
|
||||
{
|
||||
b3CalculateInverseKinematicsPosWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
|
||||
} else
|
||||
{
|
||||
b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);
|
||||
}
|
||||
|
||||
if (args.m_flags & B3_HAS_JOINT_DAMPING)
|
||||
{
|
||||
b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]);
|
||||
}
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
|
||||
|
||||
|
||||
int numPos=0;
|
||||
|
||||
bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
|
||||
&results.m_bodyUniqueId,
|
||||
&numPos,
|
||||
0)!=0;
|
||||
if (result && numPos)
|
||||
{
|
||||
results.m_calculatedJointPositions.resize(numPos);
|
||||
result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
|
||||
&results.m_bodyUniqueId,
|
||||
&numPos,
|
||||
&results.m_calculatedJointPositions[0])!=0;
|
||||
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool b3RobotSimulatorClientAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
b3SharedMemoryCommandHandle command = b3CalculateJacobianCommandInit(m_data->m_physicsClientHandle, bodyUniqueId, linkIndex, localPosition, jointPositions, jointVelocities, jointAccelerations);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
|
||||
if (b3GetStatusType(statusHandle) == CMD_CALCULATED_JACOBIAN_COMPLETED)
|
||||
{
|
||||
b3GetStatusJacobian(statusHandle, linearJacobian, angularJacobian);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool b3RobotSimulatorClientAPI::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return false;
|
||||
}
|
||||
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle,bodyUniqueId);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
|
||||
if (b3GetStatusType(statusHandle) == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
|
||||
{
|
||||
b3GetLinkState(m_data->m_physicsClientHandle, statusHandle, linkIndex, linkState);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
|
||||
b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
|
||||
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
}
|
||||
|
||||
int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds)
|
||||
{
|
||||
int loggingUniqueId = -1;
|
||||
b3SharedMemoryCommandHandle commandHandle;
|
||||
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
|
||||
|
||||
b3StateLoggingStart(commandHandle,loggingType,fileName.c_str());
|
||||
|
||||
for ( int i=0;i<objectUniqueIds.size();i++)
|
||||
{
|
||||
int objectUid = objectUniqueIds[i];
|
||||
b3StateLoggingAddLoggingObjectUniqueId(commandHandle,objectUid);
|
||||
}
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
if (statusType==CMD_STATE_LOGGING_START_COMPLETED)
|
||||
{
|
||||
loggingUniqueId = b3GetStatusLoggingUniqueId(statusHandle);
|
||||
}
|
||||
return loggingUniqueId;
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
|
||||
{
|
||||
b3SharedMemoryCommandHandle commandHandle;
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
|
||||
b3StateLoggingStop(commandHandle, stateLoggerUniqueId);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
}
|
||||
|
||||
191
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
Normal file
191
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
Normal file
@@ -0,0 +1,191 @@
|
||||
#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
|
||||
#define B3_ROBOT_SIMULATOR_CLIENT_API_H
|
||||
|
||||
#include "../SharedMemory/SharedMemoryPublic.h"
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3Transform.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
struct b3RobotSimulatorLoadUrdfFileArgs
|
||||
{
|
||||
b3Vector3 m_startPosition;
|
||||
b3Quaternion m_startOrientation;
|
||||
bool m_forceOverrideFixedBase;
|
||||
bool m_useMultiBody;
|
||||
|
||||
b3RobotSimulatorLoadUrdfFileArgs()
|
||||
:
|
||||
m_startPosition(b3MakeVector3(0,0,0)),
|
||||
m_startOrientation(b3Quaternion(0,0,0,1)),
|
||||
m_forceOverrideFixedBase(false),
|
||||
m_useMultiBody(true)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
struct b3RobotSimulatorLoadSdfFileArgs
|
||||
{
|
||||
bool m_forceOverrideFixedBase;
|
||||
bool m_useMultiBody;
|
||||
|
||||
b3RobotSimulatorLoadSdfFileArgs()
|
||||
:
|
||||
m_forceOverrideFixedBase(false),
|
||||
m_useMultiBody(true)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
struct b3RobotSimulatorLoadFileResults
|
||||
{
|
||||
b3AlignedObjectArray<int> m_uniqueObjectIds;
|
||||
b3RobotSimulatorLoadFileResults()
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
struct b3RobotSimulatorJointMotorArgs
|
||||
{
|
||||
int m_controlMode;
|
||||
|
||||
double m_targetPosition;
|
||||
double m_kp;
|
||||
|
||||
double m_targetVelocity;
|
||||
double m_kd;
|
||||
|
||||
double m_maxTorqueValue;
|
||||
|
||||
b3RobotSimulatorJointMotorArgs(int controlMode)
|
||||
:m_controlMode(controlMode),
|
||||
m_targetPosition(0),
|
||||
m_kp(0.1),
|
||||
m_targetVelocity(0),
|
||||
m_kd(0.9),
|
||||
m_maxTorqueValue(1000)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
enum b3RobotSimulatorInverseKinematicsFlags
|
||||
{
|
||||
B3_HAS_IK_TARGET_ORIENTATION=1,
|
||||
B3_HAS_NULL_SPACE_VELOCITY=2,
|
||||
B3_HAS_JOINT_DAMPING=4,
|
||||
};
|
||||
|
||||
struct b3RobotSimulatorInverseKinematicArgs
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
// double* m_currentJointPositions;
|
||||
// int m_numPositions;
|
||||
double m_endEffectorTargetPosition[3];
|
||||
double m_endEffectorTargetOrientation[4];
|
||||
int m_endEffectorLinkIndex;
|
||||
int m_flags;
|
||||
int m_numDegreeOfFreedom;
|
||||
b3AlignedObjectArray<double> m_lowerLimits;
|
||||
b3AlignedObjectArray<double> m_upperLimits;
|
||||
b3AlignedObjectArray<double> m_jointRanges;
|
||||
b3AlignedObjectArray<double> m_restPoses;
|
||||
b3AlignedObjectArray<double> m_jointDamping;
|
||||
|
||||
b3RobotSimulatorInverseKinematicArgs()
|
||||
:m_bodyUniqueId(-1),
|
||||
m_endEffectorLinkIndex(-1),
|
||||
m_flags(0)
|
||||
{
|
||||
m_endEffectorTargetPosition[0]=0;
|
||||
m_endEffectorTargetPosition[1]=0;
|
||||
m_endEffectorTargetPosition[2]=0;
|
||||
|
||||
m_endEffectorTargetOrientation[0]=0;
|
||||
m_endEffectorTargetOrientation[1]=0;
|
||||
m_endEffectorTargetOrientation[2]=0;
|
||||
m_endEffectorTargetOrientation[3]=1;
|
||||
}
|
||||
};
|
||||
|
||||
struct b3RobotSimulatorInverseKinematicsResults
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
b3AlignedObjectArray<double> m_calculatedJointPositions;
|
||||
};
|
||||
|
||||
|
||||
///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
|
||||
///as documented in the pybullet Quickstart Guide
|
||||
///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
|
||||
class b3RobotSimulatorClientAPI
|
||||
{
|
||||
struct b3RobotSimulatorClientAPI_InternalData* m_data;
|
||||
|
||||
public:
|
||||
b3RobotSimulatorClientAPI();
|
||||
virtual ~b3RobotSimulatorClientAPI();
|
||||
|
||||
bool connect(int mode, const std::string& hostName="localhost", int portOrKey=-1);
|
||||
|
||||
void disconnect();
|
||||
|
||||
bool isConnected() const;
|
||||
|
||||
void syncBodies();
|
||||
|
||||
void resetSimulation();
|
||||
|
||||
b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
|
||||
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
|
||||
|
||||
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args=b3RobotSimulatorLoadUrdfFileArgs());
|
||||
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args=b3RobotSimulatorLoadSdfFileArgs());
|
||||
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
|
||||
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
|
||||
|
||||
bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
|
||||
bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
|
||||
|
||||
int getNumJoints(int bodyUniqueId) const;
|
||||
|
||||
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
|
||||
|
||||
void createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
|
||||
|
||||
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState *state);
|
||||
|
||||
bool resetJointState(int bodyUniqueId, int jointIndex, int targetValue);
|
||||
|
||||
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
|
||||
|
||||
void stepSimulation();
|
||||
|
||||
void setRealTimeSimulation(bool enableRealTimeSimulation);
|
||||
|
||||
void setGravity(const b3Vector3& gravityAcceleration);
|
||||
|
||||
void setTimeStep(double timeStepInSeconds);
|
||||
void setNumSimulationSubSteps(int numSubSteps);
|
||||
void setNumSolverIterations(int numIterations);
|
||||
|
||||
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
|
||||
|
||||
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
|
||||
|
||||
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
|
||||
|
||||
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
|
||||
|
||||
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds);
|
||||
void stopStateLogging(int stateLoggerUniqueId);
|
||||
|
||||
};
|
||||
|
||||
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H
|
||||
158
examples/RobotSimulator/premake4.lua
Normal file
158
examples/RobotSimulator/premake4.lua
Normal file
@@ -0,0 +1,158 @@
|
||||
project ("App_RobotSimulator")
|
||||
|
||||
language "C++"
|
||||
kind "ConsoleApp"
|
||||
|
||||
includedirs {"../../src", "../../examples",
|
||||
"../../examples/ThirdPartyLibs"}
|
||||
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
|
||||
|
||||
hasCL = findOpenCL("clew")
|
||||
|
||||
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
includedirs {
|
||||
".",
|
||||
"../../src",
|
||||
"../ThirdPartyLibs",
|
||||
}
|
||||
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
if (hasCL) then
|
||||
links {
|
||||
"Bullet3OpenCL_clew",
|
||||
"Bullet3Dynamics",
|
||||
"Bullet3Collision",
|
||||
"Bullet3Geometry",
|
||||
"Bullet3Common",
|
||||
}
|
||||
end
|
||||
|
||||
|
||||
|
||||
if not _OPTIONS["no-enet"] then
|
||||
|
||||
includedirs {"../../examples/ThirdPartyLibs/enet/include"}
|
||||
|
||||
if os.is("Windows") then
|
||||
-- targetextension {"dylib"}
|
||||
defines { "WIN32" }
|
||||
links {"Ws2_32","Winmm"}
|
||||
end
|
||||
if os.is("Linux") then
|
||||
end
|
||||
if os.is("MacOSX") then
|
||||
end
|
||||
|
||||
links {"enet"}
|
||||
|
||||
files {
|
||||
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientUDP.h",
|
||||
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
|
||||
}
|
||||
defines {"BT_ENABLE_ENET"}
|
||||
end
|
||||
|
||||
if not _OPTIONS["no-clsocket"] then
|
||||
|
||||
includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
|
||||
|
||||
if os.is("Windows") then
|
||||
defines { "WIN32" }
|
||||
links {"Ws2_32","Winmm"}
|
||||
end
|
||||
if os.is("Linux") then
|
||||
defines {"_LINUX"}
|
||||
end
|
||||
if os.is("MacOSX") then
|
||||
defines {"_DARWIN"}
|
||||
end
|
||||
|
||||
links {"clsocket"}
|
||||
|
||||
files {
|
||||
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP.h",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
|
||||
}
|
||||
defines {"BT_ENABLE_CLSOCKET"}
|
||||
end
|
||||
|
||||
files {
|
||||
"RobotSimulatorMain.cpp",
|
||||
"b3RobotSimulatorClientAPI.cpp",
|
||||
"b3RobotSimulatorClientAPI.h",
|
||||
"MinitaurSetup.cpp",
|
||||
"MinitaurSetup.h",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.h",
|
||||
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
|
||||
"../../examples/SharedMemory/InProcessMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.h",
|
||||
"../../examples/SharedMemory/PhysicsServer.cpp",
|
||||
"../../examples/SharedMemory/PhysicsServer.h",
|
||||
"../../examples/SharedMemory/PhysicsServerExample.cpp",
|
||||
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
|
||||
"../../examples/SharedMemory/PhysicsDirect.cpp",
|
||||
"../../examples/SharedMemory/PhysicsDirect.h",
|
||||
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsDirectC_API.h",
|
||||
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
|
||||
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
|
||||
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientC_API.h",
|
||||
"../../examples/SharedMemory/Win32SharedMemory.cpp",
|
||||
"../../examples/SharedMemory/Win32SharedMemory.h",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.h",
|
||||
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
|
||||
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
|
||||
"../../examples/TinyRenderer/geometry.cpp",
|
||||
"../../examples/TinyRenderer/model.cpp",
|
||||
"../../examples/TinyRenderer/tgaimage.cpp",
|
||||
"../../examples/TinyRenderer/our_gl.cpp",
|
||||
"../../examples/TinyRenderer/TinyRenderer.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.h",
|
||||
"../../examples/Utils/RobotLoggingUtil.cpp",
|
||||
"../../examples/Utils/RobotLoggingUtil.h",
|
||||
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
|
||||
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
|
||||
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
|
||||
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
|
||||
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
|
||||
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
|
||||
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
|
||||
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
|
||||
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
|
||||
"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
|
||||
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
|
||||
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
|
||||
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
|
||||
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
|
||||
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
|
||||
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
Reference in New Issue
Block a user