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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-11-07 07:55:47 -08:00
parent 5701b5b152 62f4737bb1
commit fdbad96e5d
4 changed files with 209 additions and 23 deletions
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203
data/quadruped/minitaur_single_motor.urdf Normal file
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@@ -0,0 +1,203 @@
<?xml version="0.0" ?>
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2017, Erwin Coumans -->
<!--Google Inc. -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions or derived work must retain this copyright notice, -->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<inertial>
<mass value="3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value=".1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value=".1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</robot>

2
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
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@@ -69,8 +69,6 @@ void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const
//tangentDir0/tangentDir1 can be precalculated //tangentDir0/tangentDir1 can be precalculated
btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
btVector3 supVertex0,supVertex1;
btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
btVector3 triangle[3]; btVector3 triangle[3];

25
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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@@ -113,12 +113,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f)
return false; return false;
btScalar lambda = btScalar(0.); btScalar lambda = btScalar(0.);
btVector3 v(1,0,0);
int maxIter = MAX_ITERATIONS;
btVector3 n; btVector3 n;
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
@@ -137,8 +132,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btPointCollector pointCollector1; btPointCollector pointCollector1;
{ {
computeClosestPoints(fromA,fromB,pointCollector1); computeClosestPoints(fromA,fromB,pointCollector1);
hasResult = pointCollector1.m_hasResult; hasResult = pointCollector1.m_hasResult;
@@ -172,28 +166,20 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
lambda += dLambda;
lambda = lambda + dLambda;
if (lambda > btScalar(1.)) if (lambda > btScalar(1.) || lambda < btScalar(0.))
return false; return false;
if (lambda < btScalar(0.))
return false;
//todo: next check with relative epsilon //todo: next check with relative epsilon
if (lambda <= lastLambda) if (lambda <= lastLambda)
{ {
return false; return false;
//n.setValue(0,0,0); //n.setValue(0,0,0);
break; //break;
} }
lastLambda = lambda; lastLambda = lambda;
//interpolate to next lambda //interpolate to next lambda
btTransform interpolatedTransA,interpolatedTransB,relativeTrans; btTransform interpolatedTransA,interpolatedTransB,relativeTrans;
@@ -223,7 +209,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
} }
numIter++; numIter++;
if (numIter > maxIter) if (numIter > MAX_ITERATIONS)
{ {
result.reportFailure(-2, numIter); result.reportFailure(-2, numIter);
return false; return false;
@@ -237,6 +223,5 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
} }
return false; return false;
} }

2
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
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@@ -25,7 +25,7 @@ class btStaticPlaneShape;
/// btContinuousConvexCollision implements angular and linear time of impact for convex objects. /// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). /// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. /// Algorithm operates in worldspace, in order to keep in between motion globally consistent.
/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops /// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
class btContinuousConvexCollision : public btConvexCast class btContinuousConvexCollision : public btConvexCast
{ {