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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-09-11 04:11:51 -07:00
parent a00841a498 30bd1d7362
commit c952c50ad9
66 changed files with 2812 additions and 1923 deletions
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162
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -15,7 +15,7 @@
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
#include "LinearMath/btHashMap.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btTransform.h"
@@ -381,6 +381,9 @@ struct PhysicsServerCommandProcessorInternalData
bool m_allowRealTimeSimulation;
bool m_hasGround;
btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
btMultiBody* m_gripperMultiBody;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
@@ -389,6 +392,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_numSimulationSubSteps;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@@ -428,6 +432,8 @@ struct PhysicsServerCommandProcessorInternalData
PhysicsServerCommandProcessorInternalData()
:m_hasGround(false),
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_allowRealTimeSimulation(false),
m_commandLogger(0),
m_logPlayback(0),
@@ -552,10 +558,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(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 = 0.005;
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -1061,6 +1071,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//no timestamp yet
int timeStamp = 0;
//catch uninitialized cases
serverStatusOut.m_type = CMD_INVALID_STATUS;
//consume the command
switch (clientCmd.m_type)
@@ -1868,6 +1881,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
@@ -1961,6 +1979,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
hasStatus = true;
m_data->m_hasGround = false;
m_data->m_gripperRigidbodyFixed = 0;
break;
}
case CMD_CREATE_RIGID_BODY:
@@ -2516,9 +2535,50 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
IKTrajectoryHelper* ikHelperPtr = 0;
if (ikHelperPtrPtr)
{
ikHelperPtr = *ikHelperPtrPtr;
}
else
{
IKTrajectoryHelper* tmpHelper = new IKTrajectoryHelper;
if (tmpHelper->createFromMultiBody(bodyHandle->m_multiBody))
{
m_data->m_inverseKinematicsHelpers.insert(bodyHandle->m_multiBody, ikHelperPtr);
ikHelperPtr = tmpHelper;
} else
{
delete tmpHelper;
}
}
if (ikHelperPtr)
{
serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED;
}
}
hasStatus = true;
break;
}
default:
{
b3Error("Unknown command encountered");
@@ -2536,13 +2596,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
return hasStatus;
}
static int skip=1;
void PhysicsServerCommandProcessor::renderScene()
{
if (m_data->m_guiHelper)
{
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
@@ -2560,6 +2620,7 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
}
}
btVector3 gLastPickPos(0,0,0);
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
@@ -2573,6 +2634,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
{
btVector3 pickPos = rayCallback.m_hitPointWorld;
gLastPickPos = pickPos;
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
@@ -2591,6 +2653,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
}
} else
{
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
@@ -2709,23 +2772,108 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
m_data->m_logPlayback = pb;
}
btVector3 gVRGripperPos(0,0,0);
btQuaternion gVRGripperOrn(0,0,0,1);
bool gVRGripperClosed = false;
int gDroppedSimulationSteps = 0;
int gNumSteps = 0;
double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (m_data->m_allowRealTimeSimulation)
if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper)
{
static btAlignedObjectArray<char> gBufferServerToClient;
gBufferServerToClient.resize(32768);
if (!m_data->m_hasGround)
{
m_data->m_hasGround = true;
int bodyId = 0;
btAlignedObjectArray<char> bufferServerToClient;
bufferServerToClient.resize(32768);
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
if (m_data->m_gripperRigidbodyFixed == 0)
{
int bodyId = 0;
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
if (loadUrdf("pr2_gripper.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
{
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
{
parentBody->m_multiBody->setHasSelfCollision(1);
btVector3 pivotInParent(0, 0, 0);
btMatrix3x3 frameInParent;
frameInParent.setRotation(btQuaternion(0, 0, 0, 1));
btVector3 pivotInChild(0, 0, 0);
btMatrix3x3 frameInChild;
frameInChild.setIdentity();
m_data->m_gripperRigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody, -1, 0, pivotInParent, pivotInChild, frameInParent, frameInChild);
m_data->m_gripperMultiBody = parentBody->m_multiBody;
if (m_data->m_gripperMultiBody->getNumLinks() > 2)
{
m_data->m_gripperMultiBody->setJointPos(0, SIMD_HALF_PI);
m_data->m_gripperMultiBody->setJointPos(2, SIMD_HALF_PI);
}
m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(2.);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
}
}
}
}
m_data->m_dynamicsWorld->stepSimulation(dtInSec,10,m_data->m_physicsDeltaTime);
if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody)
{
m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn));
m_data->m_gripperRigidbodyFixed->setPivotInB(gVRGripperPos);
if (m_data->m_gripperMultiBody->getNumLinks() > 2)
{
for (int i = 0; i < 2; i++)
{
if (supportsJointMotor(m_data->m_gripperMultiBody, i * 2))
{
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i * 2).m_userPtr;
if (motor)
{
motor->setErp(0.005);
if (gVRGripperClosed)
{
motor->setPositionTarget(0.2, 1);
}
else
{
motor->setPositionTarget(SIMD_HALF_PI, 1);
}
motor->setVelocityTarget(0, 0.1);
btScalar maxImp = 550.*m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
}
}
}
}
int maxSteps = 3;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime);
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
if (numSteps)
{
gNumSteps = numSteps;
gDtInSec = dtInSec;
gSubStep = m_data->m_physicsDeltaTime;
}
}
}