89addd438e
improve btMultiBody version of URDF reader (still work-in-progress) enabled planar joint for btMultiBody (untested) enable loading from relative path for .stl meshes
252 lines
8.8 KiB
C++
252 lines
8.8 KiB
C++
//test addJointTorque
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#include "TestJointTorqueSetup.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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TestJointTorqueSetup::TestJointTorqueSetup()
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{
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}
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TestJointTorqueSetup::~TestJointTorqueSetup()
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{
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}
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void TestJointTorqueSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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int upAxis = 2;
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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int curColor = 0;
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gfxBridge.setUpAxis(upAxis);
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this->createEmptyDynamicsWorld();
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gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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//btIDebugDraw::DBG_DrawConstraints
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+btIDebugDraw::DBG_DrawWireframe
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+btIDebugDraw::DBG_DrawContactPoints
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+btIDebugDraw::DBG_DrawAabb
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);//+btIDebugDraw::DBG_DrawConstraintLimits);
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//create a static ground object
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if (0)
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{
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btVector3 groundHalfExtents(20,20,20);
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groundHalfExtents[upAxis]=1.f;
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btBoxShape* box = new btBoxShape(groundHalfExtents);
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box->initializePolyhedralFeatures();
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gfxBridge.createCollisionShapeGraphicsObject(box);
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btTransform start; start.setIdentity();
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btVector3 groundOrigin(0,0,0);
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groundOrigin[upAxis]=-1.5;
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start.setOrigin(groundOrigin);
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btRigidBody* body = createRigidBody(0,start,box);
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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gfxBridge.createRigidBodyGraphicsObject(body,color);
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}
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{
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bool floating = false;
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bool damping = true;
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bool gyro = true;
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int numLinks = 5;
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bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool canSleep = false;
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bool selfCollide = false;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.05, 0.37, 0.1);
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btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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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 isMultiDof = false;
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btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
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m_multiBody = pMultiBody;
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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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// pMultiBody->setBaseVel(vel);
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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, false);
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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, false);
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}
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//pMultiBody->finalizeMultiDof();
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btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
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///
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world->addMultiBody(pMultiBody);
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btMultiBody* mbC = pMultiBody;
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
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if(!damping)
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{
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mbC->setLinearDamping(0.f);
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mbC->setAngularDamping(0.f);
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}else
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{ mbC->setLinearDamping(0.1f);
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mbC->setAngularDamping(0.9f);
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}
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//
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btVector3 gravity(0,0,0);
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//gravity[upAxis] = -9.81;
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m_dynamicsWorld->setGravity(gravity);
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//////////////////////////////////////////////
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if(numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI/ 180.f;
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if(!spherical)
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if(mbC->isMultiDof())
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mbC->setJointPosMultiDof(0, &q0);
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else
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mbC->setJointPos(0, q0);
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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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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double friction = 1;
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{
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// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
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float 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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gfxBridge.createCollisionShapeGraphicsObject(box);
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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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//if we don't set the initial pose of the btCollisionObject, the simulator will do this
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//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
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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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world->addCollisionObject(col, 2,1+2);
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btVector3 color(0.0,0.0,0.5);
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gfxBridge.createCollisionObjectGraphicsObject(col,color);
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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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// float pos[4]={posr.x(),posr.y(),posr.z(),1};
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float 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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gfxBridge.createCollisionShapeGraphicsObject(box);
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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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world->addCollisionObject(col,2,1+2);
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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gfxBridge.createCollisionObjectGraphicsObject(col,color);
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pMultiBody->getLink(i).m_collider=col;
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}
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}
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}
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void TestJointTorqueSetup::stepSimulation(float deltaTime)
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{
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m_multiBody->addJointTorque(0, 10.0);
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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