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Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example.

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This commit is contained in:
yunfeibai
2016-10-17 13:01:04 -07:00
parent 880ee097fa
commit b07df4d504
10 changed files with 196 additions and 101 deletions
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14
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -55,6 +55,20 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_BUNNY;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -214,6 +214,8 @@ b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle phys
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient);
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags);
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
#ifdef __cplusplus
}

101
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -601,64 +601,28 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
//m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///collision configuration contains default setup for memory, collision setup
//m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
m_data->m_softBodyWorldInfo.m_dispatcher = m_data->m_dispatcher;
//m_data->m_broadphase = new btDbvtBroadphase();
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
int maxProxies = 32766;
m_data->m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_broadphase = new btDbvtBroadphase();
m_data->m_softbodySolver = 0;
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_softbodySolver);
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
m_data->m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1.0
;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,3.0));
psb->scale(btVector3(0.1,0.1,0.1));
psb->setTotalMass(1,true);
psb->getCollisionShape()->setMargin(0.01);
m_data->m_dynamicsWorld->addSoftBody(psb);
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -1464,6 +1428,35 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_LOAD_BUNNY:
{
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
m_data->m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny, &gIndicesBunny[0][0], BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1.0;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,3.0));
psb->scale(btVector3(0.1,0.1,0.1));
psb->setTotalMass(1,true);
psb->getCollisionShape()->setMargin(0.01);
m_data->m_dynamicsWorld->addSoftBody(psb);
break;
}
case CMD_CREATE_SENSOR:
@@ -2813,7 +2806,7 @@ void PhysicsServerCommandProcessor::renderScene()
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
}
}

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -7,6 +7,7 @@ enum EnumSharedMemoryClientCommand
{
CMD_LOAD_SDF,
CMD_LOAD_URDF,
CMD_LOAD_BUNNY,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
// CMD_DELETE_BOX_COLLISION_SHAPE,