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export contact friction/damping through URDF and API

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convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
This commit is contained in:
Erwin Coumans
2016-09-02 16:40:56 -07:00
parent 23f7293a25
commit ecd814c9c5
19 changed files with 269 additions and 125 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -418,7 +418,10 @@ void ConvertURDF2BulletInternal(
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING)!=0)
{
col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness,contactInfo.m_contactDamping);
}
if (mbLinkIndex>=0) //???? double-check +/- 1
{

10
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -19,7 +19,8 @@ enum URDF_LinkContactFlags
URDF_CONTACT_HAS_ROLLING_FRICTION=2,
URDF_CONTACT_HAS_INERTIA_SCALING=2,
URDF_CONTACT_HAS_CONTACT_CFM=4,
URDF_CONTACT_HAS_CONTACT_ERP=8
URDF_CONTACT_HAS_CONTACT_ERP=8,
URDF_CONTACT_HAS_STIFFNESS_DAMPING=16,
};
struct URDFLinkContactInfo
@@ -29,6 +30,9 @@ struct URDFLinkContactInfo
btScalar m_inertiaScaling;
btScalar m_contactCfm;
btScalar m_contactErp;
btScalar m_contactStiffness;
btScalar m_contactDamping;
int m_flags;
URDFLinkContactInfo()
@@ -36,7 +40,9 @@ struct URDFLinkContactInfo
m_rollingFriction(0),
m_inertiaScaling(1),
m_contactCfm(0),
m_contactErp(0)
m_contactErp(0),
m_contactStiffness(1e4),
m_contactDamping(1)
{
m_flags = URDF_CONTACT_HAS_LATERAL_FRICTION;
}

77
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -647,26 +647,75 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
if (m_parseSDF)
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
if (m_parseSDF)
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
}
{
TiXmlElement *stiffness_xml = ci->FirstChildElement("stiffness");
if (stiffness_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!stiffness_xml->Attribute("value"))
{
logger->reportError("Link/contact: stiffness element must have value attribute");
return false;
}
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
{
TiXmlElement *damping_xml = ci->FirstChildElement("damping");
if (damping_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("Link/contact: damping element must have value attribute");
return false;
}
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
}
}

21
examples/MultiBody/MultiBodySoftContact.cpp
View File

@@ -36,7 +36,6 @@ public:
};
extern ContactAddedCallback gContactAddedCallback;
MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
@@ -47,18 +46,7 @@ m_once(true)
MultiBodySoftContact::~MultiBodySoftContact()
{
gContactAddedCallback = 0;
}
static bool btMultiBodySoftContactCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
cp.m_contactCFM = 0.3;
cp.m_contactERP = 0.2;
cp.m_contactPointFlags |= BT_CONTACT_FLAG_HAS_CONTACT_CFM;
cp.m_contactPointFlags |= BT_CONTACT_FLAG_HAS_CONTACT_ERP;
return true;
}
@@ -66,7 +54,7 @@ static bool btMultiBodySoftContactCallback(btManifoldPoint& cp, const btCollisio
void MultiBodySoftContact::initPhysics()
{
gContactAddedCallback = btMultiBodySoftContactCallback;
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
@@ -109,12 +97,13 @@ void MultiBodySoftContact::initPhysics()
start.setOrigin(groundOrigin);
// start.setRotation(groundOrn);
btRigidBody* body = createRigidBody(0,start,box);
//setContactStiffnessAndDamping will enable compliant rigid body contact
body->setContactStiffnessAndDamping(300,10);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
m_guiHelper->createRigidBodyGraphicsObject(body,color);
int flags = body->getCollisionFlags();
body->setCollisionFlags(flags|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}

20
examples/RigidBody/RigidBodySoftContact.cpp
View File

@@ -29,7 +29,7 @@ subject to the following restrictions:
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
extern ContactAddedCallback gContactAddedCallback;
struct RigidBodySoftContact : public CommonRigidBodyBase
@@ -40,7 +40,7 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
}
virtual ~RigidBodySoftContact()
{
gContactAddedCallback = 0;
}
virtual void initPhysics();
virtual void renderScene();
@@ -55,21 +55,12 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
};
static bool btRigidBodySoftContactCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
cp.m_contactCFM = 0.3;
cp.m_contactERP = 0.2;
cp.m_contactPointFlags |= BT_CONTACT_FLAG_HAS_CONTACT_CFM;
cp.m_contactPointFlags |= BT_CONTACT_FLAG_HAS_CONTACT_ERP;
return true;
}
void RigidBodySoftContact::initPhysics()
{
gContactAddedCallback = btRigidBodySoftContactCallback;
m_guiHelper->setUpAxis(1);
@@ -120,8 +111,9 @@ void RigidBodySoftContact::initPhysics()
{
btScalar mass(0.);
btRigidBody* body = createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
int flags = body->getCollisionFlags();
body->setCollisionFlags(flags|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
body->setContactStiffnessAndDamping(300,10);
}

2
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@@ -153,7 +153,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
//m_robotSim.setNumSimulationSubSteps(4);
m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eTWO_POINT_GRASP)!=0)

2
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -117,7 +117,7 @@ public:
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
{
args.m_fileName = "cube.urdf";
args.m_fileName = "cube_soft.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);