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add option for rigid body/typed constraint to set target velocity

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compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
This commit is contained in:
Erwin Coumans
2015-06-24 23:19:00 -07:00
parent b14afba350
commit d830681674
11 changed files with 426 additions and 164 deletions
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137
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -9,7 +9,7 @@
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "URDFJointTypes.h"
MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
:m_guiHelper(guiHelper),
@@ -42,12 +42,147 @@ class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider
}
class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder)
{
btGeneric6DofSpring2Constraint* c = new btGeneric6DofSpring2Constraint(rbA,rbB,offsetInA, offsetInB, (RotateOrder)rotateOrder);
return c;
}
class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createPrismaticJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit)
{
int rotateOrder=0;
btGeneric6DofSpring2Constraint* dof6 = allocateGeneric6DofSpring2Constraint(urdfLinkIndex, rbA , rbB, offsetInA, offsetInB, rotateOrder);
//todo(erwincoumans) for now, we only support principle axis along X, Y or Z
int principleAxis = jointAxisInJointSpace.closestAxis();
GenericConstraintUserInfo* userInfo = new GenericConstraintUserInfo;
userInfo->m_jointAxisInJointSpace = jointAxisInJointSpace;
userInfo->m_jointAxisIndex = principleAxis;
userInfo->m_urdfJointType = URDFPrismaticJoint;
userInfo->m_lowerJointLimit = jointLowerLimit;
userInfo->m_upperJointLimit = jointUpperLimit;
userInfo->m_urdfIndex = urdfLinkIndex;
dof6->setUserConstraintPtr(userInfo);
switch (principleAxis)
{
case 0:
{
dof6->setLinearLowerLimit(btVector3(jointLowerLimit,0,0));
dof6->setLinearUpperLimit(btVector3(jointUpperLimit,0,0));
break;
}
case 1:
{
dof6->setLinearLowerLimit(btVector3(0,jointLowerLimit,0));
dof6->setLinearUpperLimit(btVector3(0,jointUpperLimit,0));
break;
}
case 2:
default:
{
dof6->setLinearLowerLimit(btVector3(0,0,jointLowerLimit));
dof6->setLinearUpperLimit(btVector3(0,0,jointUpperLimit));
}
};
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_6DofConstraints.push_back(dof6);
return dof6;
}
class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit)
{
btGeneric6DofSpring2Constraint* dof6 = 0;
//only handle principle axis at the moment,
//@todo(erwincoumans) orient the constraint for non-principal axis
int principleAxis = jointAxisInJointSpace.closestAxis();
switch (principleAxis)
{
case 0:
{
dof6 = allocateGeneric6DofSpring2Constraint(urdfLinkIndex,rbA, rbB, offsetInA, offsetInB,RO_ZYX);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(-1,0,0));
dof6->setAngularLowerLimit(btVector3(1,0,0));
break;
}
case 1:
{
dof6 = allocateGeneric6DofSpring2Constraint(urdfLinkIndex,rbA, rbB, offsetInA, offsetInB,RO_XZY);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,-1,0));
dof6->setAngularLowerLimit(btVector3(0,1,0));
break;
}
case 2:
default:
{
dof6 = allocateGeneric6DofSpring2Constraint(urdfLinkIndex,rbA, rbB, offsetInA, offsetInB,RO_XYZ);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,-1));
dof6->setAngularLowerLimit(btVector3(0,0,0));
}
};
GenericConstraintUserInfo* userInfo = new GenericConstraintUserInfo;
userInfo->m_jointAxisInJointSpace = jointAxisInJointSpace;
userInfo->m_jointAxisIndex = 3+principleAxis;
if (jointLowerLimit > jointUpperLimit)
{
userInfo->m_urdfJointType = URDFContinuousJoint;
} else
{
userInfo->m_urdfJointType = URDFRevoluteJoint;
userInfo->m_lowerJointLimit = jointLowerLimit;
userInfo->m_upperJointLimit = jointUpperLimit;
userInfo->m_urdfIndex = urdfLinkIndex;
}
dof6->setUserConstraintPtr(userInfo);
m_6DofConstraints.push_back(dof6);
return dof6;
}
class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createFixedJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB)
{
btGeneric6DofSpring2Constraint* dof6 = allocateGeneric6DofSpring2Constraint(urdfLinkIndex, rbA, rbB, offsetInA, offsetInB);
GenericConstraintUserInfo* userInfo = new GenericConstraintUserInfo;
userInfo->m_urdfIndex = urdfLinkIndex;
userInfo->m_urdfJointType = URDFFixedJoint;
dof6->setUserConstraintPtr(userInfo);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
return dof6;
}
void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
{
// m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;