add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody.
disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp
This commit is contained in:
erwincoumans
@@ -55,7 +55,262 @@ InvertedPendulumPDControl::~InvertedPendulumPDControl()
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extern bool gJointFeedbackInWorldSpace;
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extern bool gJointFeedbackInJointFrame;
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btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans)
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{
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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int curColor = 0;
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bool fixedBase = true;
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bool damping = false;
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bool gyro = false;
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int numLinks = 2;
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bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool canSleep = false;
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bool selfCollide = false;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.04, 0.35, 0.08);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 0.f;
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if(baseMass)
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{
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//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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btCollisionShape *shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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shape->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete shape;
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}
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btMultiBody *pMultiBody = new btMultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep);
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pMultiBody->setBaseWorldTransform(baseWorldTrans);
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btVector3 vel(0, 0, 0);
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// pMultiBody->setBaseVel(vel);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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//////
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btScalar q0 = 1.f * SIMD_PI/ 180.f;
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btQuaternion quat0(btVector3(1, 0, 0).normalized(), q0);
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quat0.normalize();
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/////
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for(int i = 0; i < numLinks; ++i)
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{
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float linkMass = 1.f;
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//if (i==3 || i==2)
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// linkMass= 1000;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* shape = 0;
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if (i==0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//
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} else
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{
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shape = new btSphereShape(radius);
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}
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shape->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete shape;
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if(!spherical)
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{
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//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
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if (i==0)
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{
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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hingeJointAxis,
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parentComToCurrentPivot,
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currentPivotToCurrentCom, false);
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} else
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{
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btVector3 parentComToCurrentCom(0, -radius * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -radius, 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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parentComToCurrentPivot,
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currentPivotToCurrentCom);
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}
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//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
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}
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else
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{
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
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}
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}
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pMultiBody->finalizeMultiDof();
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///
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world->addMultiBody(pMultiBody);
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btMultiBody* mbC = pMultiBody;
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
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if(!damping)
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{
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mbC->setLinearDamping(0.f);
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mbC->setAngularDamping(0.f);
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}else
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{ mbC->setLinearDamping(0.1f);
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mbC->setAngularDamping(0.9f);
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}
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//
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//////////////////////////////////////////////
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if(numLinks > 0)
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{
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btScalar q0 = 180.f * SIMD_PI/ 180.f;
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if(!spherical)
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{
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mbC->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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///
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btAlignedObjectArray<btQuaternion> world_to_local;
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
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btAlignedObjectArray<btVector3> local_origin;
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local_origin.resize(pMultiBody->getNumLinks() + 1);
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world_to_local[0] = pMultiBody->getWorldToBaseRot();
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local_origin[0] = pMultiBody->getBasePos();
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double friction = 1;
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{
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// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
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float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
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if (1)
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{
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btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0],baseHalfExtents[1],baseHalfExtents[2]));//new btSphereShape(baseHalfExtents[0]);
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guiHelper->createCollisionShapeGraphicsObject(shape);
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btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(shape);
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btTransform tr;
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tr.setIdentity();
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//if we don't set the initial pose of the btCollisionObject, the simulator will do this
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//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
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tr.setOrigin(local_origin[0]);
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btQuaternion orn(btVector3(0,0,1),0.25*3.1415926538);
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tr.setRotation(orn);
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col->setWorldTransform(tr);
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bool isDynamic = (baseMass > 0 && !fixedBase);
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short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
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short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
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btVector3 color(0.0,0.0,0.5);
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guiHelper->createCollisionObjectGraphicsObject(col,color);
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// col->setFriction(friction);
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pMultiBody->setBaseCollider(col);
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}
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}
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for (int i=0; i < pMultiBody->getNumLinks(); ++i)
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{
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const int parent = pMultiBody->getParent(i);
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world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
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local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
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}
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for (int i=0; i < pMultiBody->getNumLinks(); ++i)
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{
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btVector3 posr = local_origin[i+1];
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// float pos[4]={posr.x(),posr.y(),posr.z(),1};
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float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
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btCollisionShape* shape =0;
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if (i==0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0],linkHalfExtents[1],linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
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} else
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{
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shape = new btSphereShape(radius);
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}
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guiHelper->createCollisionShapeGraphicsObject(shape);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
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col->setCollisionShape(shape);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(posr);
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tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
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col->setWorldTransform(tr);
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// col->setFriction(friction);
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bool isDynamic = 1;//(linkMass > 0);
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short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
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short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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//if (i==0||i>numLinks-2)
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{
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world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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guiHelper->createCollisionObjectGraphicsObject(col,color);
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pMultiBody->getLink(i).m_collider=col;
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}
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}
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return pMultiBody;
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}
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void InvertedPendulumPDControl::initPhysics()
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{
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@@ -87,19 +342,7 @@ void InvertedPendulumPDControl::initPhysics()
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m_guiHelper->setUpAxis(upAxis);
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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int curColor = 0;
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this->createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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@@ -110,262 +353,20 @@ void InvertedPendulumPDControl::initPhysics()
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);//+btIDebugDraw::DBG_DrawConstraintLimits);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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btTransform baseWorldTrans;
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baseWorldTrans.setIdentity();
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baseWorldTrans.setOrigin(btVector3(1,2,3));
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m_multiBody = createInvertedPendulumMultiBody(m_dynamicsWorld, m_guiHelper, baseWorldTrans);
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{
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bool fixedBase = true;
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bool damping = false;
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bool gyro = false;
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int numLinks = 2;
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bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool canSleep = false;
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bool selfCollide = false;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.04, 0.35, 0.08);
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btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 0.f;
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if(baseMass)
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{
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//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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btCollisionShape *shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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shape->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete shape;
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}
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//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
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for (int i=0;i<m_multiBody->getNumLinks();i++)
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{
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btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
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m_multiBody->getLink(i).m_jointFeedback = fb;
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m_jointFeedbacks.push_back(fb);
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//break;
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}
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btMultiBody *pMultiBody = new btMultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep);
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m_multiBody = pMultiBody;
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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// baseOriQuat.setEulerZYX(-.25*SIMD_PI,0,-1.75*SIMD_PI);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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btVector3 vel(0, 0, 0);
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// pMultiBody->setBaseVel(vel);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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//////
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btScalar q0 = 1.f * SIMD_PI/ 180.f;
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btQuaternion quat0(btVector3(1, 0, 0).normalized(), q0);
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quat0.normalize();
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/////
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for(int i = 0; i < numLinks; ++i)
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{
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float linkMass = 1.f;
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//if (i==3 || i==2)
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// linkMass= 1000;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* shape = 0;
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if (i==0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//
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} else
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{
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shape = new btSphereShape(radius);
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}
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shape->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete shape;
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if(!spherical)
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{
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//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
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if (i==0)
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{
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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hingeJointAxis,
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parentComToCurrentPivot,
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currentPivotToCurrentCom, false);
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} else
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{
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btVector3 parentComToCurrentCom(0, -radius * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -radius, 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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parentComToCurrentPivot,
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currentPivotToCurrentCom);
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}
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//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
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}
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else
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{
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
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}
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}
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pMultiBody->finalizeMultiDof();
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//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
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for (int i=0;i<pMultiBody->getNumLinks();i++)
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{
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btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
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pMultiBody->getLink(i).m_jointFeedback = fb;
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m_jointFeedbacks.push_back(fb);
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//break;
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}
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btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
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///
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world->addMultiBody(pMultiBody);
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btMultiBody* mbC = pMultiBody;
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
|
||||
if(!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.f);
|
||||
mbC->setAngularDamping(0.f);
|
||||
}else
|
||||
{ mbC->setLinearDamping(0.1f);
|
||||
mbC->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
|
||||
|
||||
//////////////////////////////////////////////
|
||||
if(numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 180.f * SIMD_PI/ 180.f;
|
||||
if(!spherical)
|
||||
{
|
||||
mbC->setJointPosMultiDof(0, &q0);
|
||||
}
|
||||
else
|
||||
{
|
||||
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
mbC->setJointPosMultiDof(0, quat0);
|
||||
}
|
||||
}
|
||||
///
|
||||
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
double friction = 1;
|
||||
{
|
||||
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
|
||||
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0],baseHalfExtents[1],baseHalfExtents[2]));//new btSphereShape(baseHalfExtents[0]);
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
|
||||
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(shape);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
|
||||
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
|
||||
|
||||
tr.setOrigin(local_origin[0]);
|
||||
btQuaternion orn(btVector3(0,0,1),0.25*3.1415926538);
|
||||
|
||||
tr.setRotation(orn);
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
bool isDynamic = (baseMass > 0 && !fixedBase);
|
||||
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
|
||||
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
|
||||
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
|
||||
|
||||
btVector3 color(0.0,0.0,0.5);
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col,color);
|
||||
|
||||
// col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
|
||||
local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
|
||||
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
|
||||
btVector3 posr = local_origin[i+1];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
|
||||
|
||||
float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
|
||||
btCollisionShape* shape =0;
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0],linkHalfExtents[1],linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
|
||||
} else
|
||||
{
|
||||
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(shape);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
// col->setFriction(friction);
|
||||
bool isDynamic = 1;//(linkMass > 0);
|
||||
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
|
||||
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
//if (i==0||i>numLinks-2)
|
||||
{
|
||||
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor&=3;
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col,color);
|
||||
|
||||
|
||||
pMultiBody->getLink(i).m_collider=col;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
char fileName[1024];
|
||||
|
||||
Reference in New Issue
Block a user