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Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit.

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Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
This commit is contained in:
erwin coumans
2016-08-09 18:40:12 -07:00
parent b880ddf76b
commit a9b1544a9f
15 changed files with 575 additions and 118 deletions
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40
build3/premake4.lua
View File

@@ -85,10 +85,34 @@
newoption
{
trigger = "python",
description = "Enable Python scripting (experimental, use Physics Server in Example Browser). "
trigger = "enable_pybullet",
description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
}
if os.is("Linux") then
default_python_include_dir = "/usr/include/python2.7"
default_python_lib_dir = "/usr/local/lib/"
end
if os.is("Windows") then
default_python_include_dir = "C:/Python34/include"
default_python_lib_dir = "C:/Python34/libs"
end
newoption
{
trigger = "python_include_dir",
value = default_python_include_dir,
description = "Python (2.x or 3.x) include directory"
}
newoption
{
trigger = "python_lib_dir",
value = default_python_lib_dir,
description = "Python (2.x or 3.x) library directory "
}
newoption {
@@ -140,7 +164,7 @@
platforms {"x32"}
end
else
platforms {"x32", "x64"}
platforms {"x64"}
end
configuration {"x32"}
@@ -191,6 +215,14 @@
targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix)
if not _OPTIONS["python_include_dir"] then
_OPTIONS["python_include_dir"] = default_python_include_dir
end
if not _OPTIONS["python_lib_dir"] then
_OPTIONS["python_lib_dir"] = default_python_lib_dir
end
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
@@ -222,7 +254,7 @@
if _OPTIONS["lua"] then
include "../examples/ThirdPartyLibs/lua-5.2.3"
end
if _OPTIONS["python"] then
if _OPTIONS["enable_pybullet"] then
include "../examples/pybullet"
end

58
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -626,6 +626,7 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
return bodyId;
}
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* numDegreeOfFreedomQ,
@@ -1097,3 +1098,60 @@ void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUn
command->m_externalForceArguments.m_numForcesAndTorques++;
}
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CALCULATE_INVERSE_DYNAMICS;
command->m_updateFlags = 0;
command->m_calculateInverseDynamicsArguments.m_bodyUniqueId = bodyIndex;
int numJoints = cl->getNumJoints(bodyIndex);
for (int i = 0; i < numJoints;i++)
{
command->m_calculateInverseDynamicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
command->m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];
command->m_calculateInverseDynamicsArguments.m_jointAccelerations[i] = jointAccelerations[i];
}
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED);
if (status->m_type != CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
return false;
if (dofCount)
{
*dofCount = status->m_inverseDynamicsResultArgs.m_dofCount;
}
if (bodyUniqueId)
{
*bodyUniqueId = status->m_inverseDynamicsResultArgs.m_bodyUniqueId;
}
if (jointForces)
{
for (int i = 0; i < status->m_inverseDynamicsResultArgs.m_dofCount; i++)
{
jointForces[i] = status->m_inverseDynamicsResultArgs.m_jointForces[i];
}
}
return true;
}

10
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -97,6 +97,16 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead

58
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -413,6 +413,33 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
if (m_selectedBody >= 0)
{
btAlignedObjectArray<double> jointPositionsQ;
btAlignedObjectArray<double> jointVelocitiesQdot;
btAlignedObjectArray<double> jointAccelerations;
int numJoints = b3GetNumJoints(m_physicsClientHandle, m_selectedBody);
if (numJoints)
{
b3Printf("Compute inverse dynamics for joint accelerations:");
jointPositionsQ.resize(numJoints);
jointVelocitiesQdot.resize(numJoints);
jointAccelerations.resize(numJoints);
for (int i = 0; i < numJoints; i++)
{
jointAccelerations[i] = 100;
b3Printf("Desired joint acceleration[%d]=%f", i, jointAccelerations[i]);
}
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(m_physicsClientHandle,
m_selectedBody, &jointPositionsQ[0], &jointVelocitiesQdot[0], &jointAccelerations[0]);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
}
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -490,6 +517,7 @@ void PhysicsClientExample::createButtons()
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
createButton("Compute Inverse Dynamics", CMD_CALCULATE_INVERSE_DYNAMICS, isTrigger);
if (m_bodyUniqueIds.size())
{
@@ -695,6 +723,36 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
// b3Printf(msg);
}
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
{
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(status,
&bodyUniqueId,
&dofCount,
0);
btAlignedObjectArray<double> jointForces;
if (dofCount)
{
jointForces.resize(dofCount);
b3GetStatusInverseDynamicsJointForces(status,
0,
0,
&jointForces[0]);
for (int i = 0; i < dofCount; i++)
{
b3Printf("jointForces[%d]=%f", i, jointForces[i]);
}
}
}
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_FAILED)
{
b3Warning("Inverse Dynamics computations failed");
}
if (statusType == CMD_CAMERA_IMAGE_FAILED)
{
b3Warning("Camera image FAILED\n");

10
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -542,7 +542,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Camera image FAILED\n");
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
{
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_FAILED:
{
b3Warning("Inverse Dynamics computations failed");
break;
}
default: {
b3Error("Unknown server status\n");
btAssert(0);

93
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4,13 +4,15 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "LinearMath/btHashMap.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "btBulletDynamicsCommon.h"
@@ -383,6 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@@ -548,8 +551,25 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
{
for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++)
{
btInverseDynamics::MultiBodyTree** treePtrPtr = m_data->m_inverseDynamicsBodies.getAtIndex(i);
if (treePtrPtr)
{
btInverseDynamics::MultiBodyTree* tree = *treePtrPtr;
delete tree;
}
}
m_data->m_inverseDynamicsBodies.clear();
}
void PhysicsServerCommandProcessor::deleteDynamicsWorld()
{
deleteCachedInverseDynamicsBodies();
for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
{
@@ -1869,8 +1889,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
//clean up all data
deleteCachedInverseDynamicsBodies();
if (m_data && m_data->m_guiHelper)
{
@@ -2066,6 +2085,74 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
btInverseDynamics::MultiBodyTree** treePtrPtr =
m_data->m_inverseDynamicsBodies.find(bodyHandle->m_multiBody);
btInverseDynamics::MultiBodyTree* tree = 0;
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
if (treePtrPtr)
{
tree = *treePtrPtr;
}
else
{
btInverseDynamics::btMultiBodyTreeCreator id_creator;
if (-1 == id_creator.createFromBtMultiBody(bodyHandle->m_multiBody, false))
{
b3Error("error creating tree\n");
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
else
{
tree = btInverseDynamics::CreateMultiBodyTree(id_creator);
m_data->m_inverseDynamicsBodies.insert(bodyHandle->m_multiBody, tree);
}
}
if (tree)
{
int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
const int num_dofs = bodyHandle->m_multiBody->getNumDofs();
btInverseDynamics::vecx nu(num_dofs+baseDofs), qdot(num_dofs + baseDofs), q(num_dofs + baseDofs), joint_force(num_dofs + baseDofs);
for (int i = 0; i < num_dofs; i++)
{
q[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i];
qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i];
nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i];
}
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{
serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;
for (int i = 0; i < num_dofs; i++)
{
serverCmd.m_inverseDynamicsResultArgs.m_jointForces[i] = joint_force[i+baseDofs];
}
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED;
}
else
{
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
}
}
else
{
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
hasStatus = true;
break;
}
case CMD_APPLY_EXTERNAL_FORCE:
{
if (m_data->m_verboseOutput)

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -29,6 +29,7 @@ protected:
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
void deleteCachedInverseDynamicsBodies();
public:
PhysicsServerCommandProcessor();
@@ -39,6 +40,7 @@ public:
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );
virtual void renderScene();

19
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -348,6 +348,23 @@ enum EnumSdfRequestInfoFlags
//SDF_REQUEST_INFO_CAMERA=2,
};
struct CalculateInverseDynamicsArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseDynamicsResultArgs
{
int m_bodyUniqueId;
int m_dofCount;
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
};
struct SharedMemoryCommand
{
int m_type;
@@ -374,6 +391,7 @@ struct SharedMemoryCommand
struct RequestPixelDataArgs m_requestPixelDataArguments;
struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
};
};
@@ -397,6 +415,7 @@ struct SharedMemoryStatus
struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
};
};

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -27,6 +27,7 @@ enum EnumSharedMemoryClientCommand
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_MAX_CLIENT_COMMANDS
};
@@ -59,6 +60,8 @@ enum EnumSharedMemoryServerStatus
CMD_BODY_INFO_COMPLETED,
CMD_BODY_INFO_FAILED,
CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_MAX_SERVER_COMMANDS
};

6
examples/SharedMemory/premake4.lua
View File

@@ -10,7 +10,7 @@ end
includedirs {".","../../src", "../ThirdPartyLibs",}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath"
"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
@@ -137,7 +137,7 @@ defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
"BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
@@ -211,7 +211,7 @@ if os.is("Windows") then
}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
}

1
examples/pybullet/CMakeLists.txt
View File

@@ -62,7 +62,6 @@ SET(pybullet_SRCS
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(WIN32)

68
examples/pybullet/premake4.lua
View File

@@ -1,7 +1,6 @@
project ("pybullet")
language "C++"
kind "SharedLib"
targetsuffix ("")
@@ -12,7 +11,7 @@ project ("pybullet")
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL()
initGlew()
@@ -20,10 +19,8 @@ project ("pybullet")
".",
"../../src",
"../ThirdPartyLibs",
"/usr/include/python2.7",
}
if os.is("MacOSX") then
links{"Cocoa.framework","Python"}
end
@@ -40,8 +37,69 @@ project ("pybullet")
files {
"pybullet.c",
"../../examples/ExampleBrowser/ExampleEntries.cpp",
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.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/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/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.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/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.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/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}
includedirs {
_OPTIONS["python_include_dir"],
}
libdirs {
_OPTIONS["python_lib_dir"]
}
if os.is("Linux") then
initX11()
end

119
examples/pybullet/pybullet.c
View File

@@ -1521,6 +1521,123 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
return Py_None;
}
///Given an object id, joint positions, joint velocities and joint accelerations,
///compute the joint forces using Inverse Dynamics
static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* args)
{
int size;
if (0 == sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
size = PySequence_Size(args);
if (size==4)
{
int bodyIndex;
PyObject* objPositionsQ;
PyObject* objVelocitiesQdot;
PyObject* objAccelerations;
if (PyArg_ParseTuple(args, "iOOO", &bodyIndex, &objPositionsQ, &objVelocitiesQdot, &objAccelerations))
{
int szObPos = PySequence_Size(objPositionsQ);
int szObVel = PySequence_Size(objVelocitiesQdot);
int szObAcc = PySequence_Size(objAccelerations);
int numJoints = b3GetNumJoints(sm, bodyIndex);
if (numJoints && (szObPos == numJoints) && (szObVel == numJoints) && (szObAcc == numJoints))
{
int szInBytes = sizeof(double)*numJoints;
int i;
PyObject* pylist = 0;
double* jointPositionsQ = (double*)malloc(szInBytes);
double* jointVelocitiesQdot = (double*)malloc(szInBytes);
double* jointAccelerations = (double*)malloc(szInBytes);
double* jointForcesOutput = (double*)malloc(szInBytes);
for (i = 0; i < numJoints; i++)
{
jointPositionsQ[i] = pybullet_internalGetFloatFromSequence(objPositionsQ, i);
jointVelocitiesQdot[i] = pybullet_internalGetFloatFromSequence(objVelocitiesQdot, i);
jointAccelerations[i] = pybullet_internalGetFloatFromSequence(objAccelerations, i);
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(sm,
bodyIndex, jointPositionsQ, jointVelocitiesQdot, jointAccelerations);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
{
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(statusHandle,
&bodyUniqueId,
&dofCount,
0);
if (dofCount)
{
b3GetStatusInverseDynamicsJointForces(statusHandle,
0,
0,
jointForcesOutput);
{
{
int i;
pylist = PyTuple_New(dofCount);
for (i = 0; i<dofCount; i++)
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(jointForcesOutput[i]));
}
}
}
}
else
{
PyErr_SetString(SpamError, "Internal error in calculateInverseDynamics");
}
}
free(jointPositionsQ);
free(jointVelocitiesQdot);
free(jointAccelerations);
free(jointForcesOutput);
if (pylist)
return pylist;
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics numJoints needs to be positive and [joint positions], [joint velocities], [joint accelerations] need to match the number of joints.");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics expects 4 arguments, body index, [joint positions], [joint velocities], [joint accelerations].");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics expects 4 arguments, body index, [joint positions], [joint velocities], [joint accelerations].");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyMethodDef SpamMethods[] = {
@@ -1587,6 +1704,8 @@ static PyMethodDef SpamMethods[] = {
{"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS,
"Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF convention"},
{ "calculateInverseDynamics", pybullet_calculateInverseDynamics, METH_VARARGS,
"Given an object id, joint positions, joint velocities and joint accelerations, compute the joint forces using Inverse Dynamics" },
//todo(erwincoumans)
//saveSnapshot
//loadSnapshot

2
test/SharedMemory/CMakeLists.txt
View File

@@ -13,7 +13,7 @@ ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VA
LINK_LIBRARIES(
BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest
BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest
)
IF (NOT WIN32)

4
test/SharedMemory/premake4.lua
View File

@@ -36,6 +36,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_LOOP_BACK"}
links {
"BulletInverseDynamicsUtils",
"BulletInverseDynamics",
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
@@ -104,6 +106,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_SERVER_DIRECT"}
links {
"BulletInverseDynamicsUtils",
"BulletInverseDynamics",
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",