prepare small experiment with block solver
This commit is contained in:
erwincoumans
335
examples/ConstraintSolvers/Grasp_Block.cpp
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335
examples/ConstraintSolvers/Grasp_Block.cpp
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#include "Grasp_Block.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
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#include "../OpenGLWindow/GLInstancingRenderer.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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class Grasp_Block : public CommonMultiBodyBase
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{
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public:
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Grasp_Block(GUIHelperInterface* helper);
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virtual ~Grasp_Block();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = -35;
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float yaw = 50;
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float targetPos[3] = {-3, 2.8, -2.5};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void createBoxStack(int numBoxes, btScalar centerX, btScalar centerY);
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btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool fixedBase = false);
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void createGround(const btVector3& halfExtents = btVector3(50, 50, 50), btScalar zOffSet = btScalar(-1.55));
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void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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};
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static bool g_fixedBase = true;
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static bool g_firstInit = true;
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static float scaling = 0.4f;
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static float friction = 1.;
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static int g_constraintSolverType = 0;
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Grasp_Block::Grasp_Block(GUIHelperInterface* helper)
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: CommonMultiBodyBase(helper)
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{
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m_guiHelper->setUpAxis(1);
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}
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Grasp_Block::~Grasp_Block()
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{
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// Do nothing
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}
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void Grasp_Block::stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
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}
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void Grasp_Block::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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if (g_firstInit)
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{
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
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g_firstInit = false;
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}
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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if (g_constraintSolverType == 3)
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{
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g_constraintSolverType = 0;
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g_fixedBase = !g_fixedBase;
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}
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btMLCPSolverInterface* mlcp;
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switch (g_constraintSolverType++)
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{
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case 0:
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m_solver = new btMultiBodyConstraintSolver;
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b3Printf("Constraint Solver: Sequential Impulse");
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break;
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case 1:
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mlcp = new btSolveProjectedGaussSeidel();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + PGS");
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break;
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default:
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mlcp = new btDantzigSolver();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + Dantzig");
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break;
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}
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m_solver = new btMultiBodyBlockConstraintSolver();
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btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_dynamicsWorld = world;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(btScalar(0), btScalar(-9.81), btScalar(0)));
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m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good?
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/// Create a few basic rigid bodies
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btVector3 groundHalfExtents(50, 50, 50);
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btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -50, 00));
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btVector3 linkHalfExtents(btScalar(0.05), btScalar(0.37), btScalar(0.1));
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btVector3 baseHalfExtents(btScalar(0.05), btScalar(0.37), btScalar(0.1));
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// createBoxStack(5, 0, 0);
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btScalar groundHeight = btScalar(-51.55);
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btScalar mass = btScalar(0.0);
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btVector3 localInertia(0, 0, 0);
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groundShape->calculateLocalInertia(mass, localInertia);
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// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, groundHeight, 0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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// Add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
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createGround();
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void Grasp_Block::createBoxStack(int numBoxes, btScalar centerX, btScalar centerZ)
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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const btScalar boxHalfSize = btScalar(0.1);
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btBoxShape* colShape = createBoxShape(btVector3(boxHalfSize, boxHalfSize, boxHalfSize));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.0);
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btVector3 localInertia(0, 0, 0);
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colShape->calculateLocalInertia(mass,localInertia);
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for (int i = 0; i < numBoxes; ++i)
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{
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startTransform.setOrigin(btVector3(centerX, btScalar(btScalar(2) * boxHalfSize * i), centerZ));
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createRigidBody(mass, startTransform, colShape);
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}
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}
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btMultiBody* Grasp_Block::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
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{
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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 = 1.f;
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if (baseMass)
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{
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btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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}
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bool canSleep = false;
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, fixedBase, canSleep);
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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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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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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float linkMass = 1.f;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete pTempBox;
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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 = 0.f * SIMD_PI / 180.f;
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btQuaternion quat0(btVector3(0, 1, 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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if (!spherical)
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
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else
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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, true);
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}
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pMultiBody->finalizeMultiDof();
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///
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pWorld->addMultiBody(pMultiBody);
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///
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return pMultiBody;
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}
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void Grasp_Block::createGround(const btVector3& halfExtents, btScalar zOffSet)
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{
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btCollisionShape* groundShape = new btBoxShape(halfExtents);
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m_collisionShapes.push_back(groundShape);
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// rigidbody is dynamic if and only if mass is non zero, otherwise static
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btScalar mass(0.);
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const bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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// using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -halfExtents.z() + zOffSet, 0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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// add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
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}
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void Grasp_Block::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
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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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{
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btScalar 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* box = new btBoxShape(baseHalfExtents);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(box);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(local_origin[0]);
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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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pWorld->addCollisionObject(col, 2, 1 + 2);
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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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btScalar 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* box = new btBoxShape(linkHalfExtents);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
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col->setCollisionShape(box);
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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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pWorld->addCollisionObject(col, 2, 1 + 2);
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pMultiBody->getLink(i).m_collider = col;
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}
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}
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CommonExampleInterface* Grasp_BlockCreateFunc(CommonExampleOptions& options)
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{
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return new Grasp_Block(options.m_guiHelper);
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}
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