mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
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#ifndef BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
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#define BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
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#include "CoilCreator.hpp"
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#include "MultiBodyTreeCreator.hpp"
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#include "btMultiBodyFromURDF.hpp"
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#include "DillCreator.hpp"
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#include "MultiBodyTreeDebugGraph.hpp"
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#include "btMultiBodyTreeCreator.hpp"
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#include "IDRandomUtil.hpp"
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#include "SimpleTreeCreator.hpp"
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#include "invdyn_bullet_comparison.hpp"
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#include "MultiBodyNameMap.hpp"
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#include "User2InternalIndex.hpp"
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#endif//BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
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Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/CloneTreeCreator.o: \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/InverseDynamics/CloneTreeCreator.cpp \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/InverseDynamics/CloneTreeCreator.hpp \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletInverseDynamics/IDConfig.hpp \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletInverseDynamics/IDErrorMessages.hpp \
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INCLUDE_DIRECTORIES(
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||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
)
|
||||
|
||||
ADD_LIBRARY(
|
||||
BulletInverseDynamicsUtils
|
||||
CloneTreeCreator.cpp
|
||||
CoilCreator.cpp
|
||||
MultiBodyTreeCreator.cpp
|
||||
btMultiBodyTreeCreator.cpp
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||||
DillCreator.cpp
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||||
MultiBodyTreeDebugGraph.cpp
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invdyn_bullet_comparison.cpp
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IDRandomUtil.cpp
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RandomTreeCreator.cpp
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SimpleTreeCreator.cpp
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MultiBodyNameMap.cpp
|
||||
User2InternalIndex.cpp
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)
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|
||||
SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES SOVERSION ${BULLET_VERSION})
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||||
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||||
IF (BUILD_SHARED_LIBS)
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||||
TARGET_LINK_LIBRARIES(BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision Bullet3Common LinearMath)
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||||
ENDIF (BUILD_SHARED_LIBS)
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||||
IF (INSTALL_EXTRA_LIBS)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
#FILES_MATCHING requires CMake 2.6
|
||||
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION .)
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
|
||||
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES FRAMEWORK true)
|
||||
SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES PUBLIC_HEADER "BulletInverseDynamicsUtilsCommon.h" )
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF (INSTALL_EXTRA_LIBS)
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/InverseDynamics
|
||||
# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/InverseDynamics
|
||||
#
|
||||
# This file includes the relevant testing commands required for
|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
#include "CloneTreeCreator.hpp"
|
||||
|
||||
#include <cstdio>
|
||||
|
||||
namespace btInverseDynamics {
|
||||
#define CHECK_NULLPTR() \
|
||||
do { \
|
||||
if (m_reference == 0x0) { \
|
||||
error_message("m_reference == 0x0\n"); \
|
||||
return -1; \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#define TRY(x) \
|
||||
do { \
|
||||
if (x == -1) { \
|
||||
error_message("error calling " #x "\n"); \
|
||||
return -1; \
|
||||
} \
|
||||
} while (0)
|
||||
CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference) { m_reference = reference; }
|
||||
|
||||
CloneTreeCreator::~CloneTreeCreator() {}
|
||||
|
||||
int CloneTreeCreator::getNumBodies(int* num_bodies) const {
|
||||
CHECK_NULLPTR();
|
||||
*num_bodies = m_reference->numBodies();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
|
||||
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
|
||||
mat33* body_I_body, int* user_int, void** user_ptr) const {
|
||||
CHECK_NULLPTR();
|
||||
TRY(m_reference->getParentIndex(body_index, parent_index));
|
||||
TRY(m_reference->getJointType(body_index, joint_type));
|
||||
TRY(m_reference->getParentRParentBodyRef(body_index, parent_r_parent_body_ref));
|
||||
TRY(m_reference->getBodyTParentRef(body_index, body_T_parent_ref));
|
||||
TRY(m_reference->getBodyAxisOfMotion(body_index, body_axis_of_motion));
|
||||
TRY(m_reference->getBodyMass(body_index, mass));
|
||||
TRY(m_reference->getBodyFirstMassMoment(body_index, body_r_body_com));
|
||||
TRY(m_reference->getBodySecondMassMoment(body_index, body_I_body));
|
||||
TRY(m_reference->getUserInt(body_index, user_int));
|
||||
TRY(m_reference->getUserPtr(body_index, user_ptr));
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
#ifndef CLONETREE_CREATOR_HPP_
|
||||
#define CLONETREE_CREATOR_HPP_
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "MultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
/// Generate an identical multibody tree from a reference system.
|
||||
class CloneTreeCreator : public MultiBodyTreeCreator {
|
||||
public:
|
||||
/// ctor
|
||||
/// @param reference the MultiBodyTree to clone
|
||||
CloneTreeCreator(const MultiBodyTree*reference);
|
||||
~CloneTreeCreator();
|
||||
///\copydoc MultiBodyTreeCreator::getNumBodies
|
||||
int getNumBodies(int* num_bodies) const;
|
||||
///\copydoc MultiBodyTreeCreator::getBody
|
||||
int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
|
||||
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
|
||||
void** user_ptr) const;
|
||||
|
||||
private:
|
||||
const MultiBodyTree *m_reference;
|
||||
};
|
||||
}
|
||||
#endif // CLONETREE_CREATOR_HPP_
|
||||
67
Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.cpp
Normal file
67
Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.cpp
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
#include <cmath>
|
||||
|
||||
#include "CoilCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
|
||||
for (int i = 0; i < m_num_bodies; i++) {
|
||||
m_parent[i] = i - 1;
|
||||
}
|
||||
|
||||
// DH parameters (that's what's in the paper ...)
|
||||
const idScalar theta_DH = 0;
|
||||
const idScalar d_DH = 0.0;
|
||||
const idScalar a_DH = 1.0 / m_num_bodies;
|
||||
const idScalar alpha_DH = 5.0 * BT_ID_PI / m_num_bodies;
|
||||
getVecMatFromDH(theta_DH, d_DH, a_DH, alpha_DH, &m_parent_r_parent_body_ref,
|
||||
&m_body_T_parent_ref);
|
||||
// always z-axis
|
||||
m_body_axis_of_motion(0) = 0.0;
|
||||
m_body_axis_of_motion(1) = 0.0;
|
||||
m_body_axis_of_motion(2) = 1.0;
|
||||
|
||||
m_mass = 1.0 / m_num_bodies;
|
||||
m_body_r_body_com(0) = 1.0 / (2.0 * m_num_bodies);
|
||||
m_body_r_body_com(1) = 0.0;
|
||||
m_body_r_body_com(2) = 0.0;
|
||||
|
||||
m_body_I_body(0, 0) = 1e-4 / (2.0 * m_num_bodies);
|
||||
m_body_I_body(0, 1) = 0.0;
|
||||
m_body_I_body(0, 2) = 0.0;
|
||||
m_body_I_body(1, 0) = 0.0;
|
||||
m_body_I_body(1, 1) = (3e-4 + 4.0 / BT_ID_POW(m_num_bodies, 2)) / (12.0 * m_num_bodies);
|
||||
m_body_I_body(1, 2) = 0.0;
|
||||
m_body_I_body(2, 0) = 0.0;
|
||||
m_body_I_body(2, 1) = 0.0;
|
||||
m_body_I_body(2, 2) = m_body_I_body(1, 1);
|
||||
}
|
||||
|
||||
CoilCreator::~CoilCreator() {}
|
||||
|
||||
int CoilCreator::getNumBodies(int* num_bodies) const {
|
||||
*num_bodies = m_num_bodies;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
|
||||
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
|
||||
mat33* body_I_body, int* user_int, void** user_ptr) const {
|
||||
if (body_index < 0 || body_index >= m_num_bodies) {
|
||||
error_message("invalid body index %d\n", body_index);
|
||||
return -1;
|
||||
}
|
||||
*parent_index = m_parent[body_index];
|
||||
*joint_type = REVOLUTE;
|
||||
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
|
||||
*body_T_parent_ref = m_body_T_parent_ref;
|
||||
*body_axis_of_motion = m_body_axis_of_motion;
|
||||
*mass = m_mass;
|
||||
*body_r_body_com = m_body_r_body_com;
|
||||
*body_I_body = m_body_I_body;
|
||||
|
||||
*user_int = 0;
|
||||
*user_ptr = 0;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
40
Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.hpp
Normal file
40
Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.hpp
Normal file
|
|
@ -0,0 +1,40 @@
|
|||
#ifndef COILCREATOR_HPP_
|
||||
#define COILCREATOR_HPP_
|
||||
|
||||
#include "MultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
/// Creator class for building a "coil" system as intruduced as benchmark example in
|
||||
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
|
||||
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
|
||||
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
|
||||
///
|
||||
/// This is a serial chain, with an initial configuration resembling a coil.
|
||||
class CoilCreator : public MultiBodyTreeCreator {
|
||||
public:
|
||||
/// ctor.
|
||||
/// @param n the number of bodies in the system
|
||||
CoilCreator(int n);
|
||||
/// dtor
|
||||
~CoilCreator();
|
||||
// \copydoc MultiBodyTreeCreator::getNumBodies
|
||||
int getNumBodies(int* num_bodies) const;
|
||||
// \copydoc MultiBodyTreeCreator::getBody
|
||||
int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
|
||||
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
|
||||
void** user_ptr) const;
|
||||
|
||||
private:
|
||||
int m_num_bodies;
|
||||
std::vector<int> m_parent;
|
||||
vec3 m_parent_r_parent_body_ref;
|
||||
mat33 m_body_T_parent_ref;
|
||||
vec3 m_body_axis_of_motion;
|
||||
idScalar m_mass;
|
||||
vec3 m_body_r_body_com;
|
||||
mat33 m_body_I_body;
|
||||
};
|
||||
}
|
||||
#endif
|
||||
124
Engine/lib/bullet/Extras/InverseDynamics/DillCreator.cpp
Normal file
124
Engine/lib/bullet/Extras/InverseDynamics/DillCreator.cpp
Normal file
|
|
@ -0,0 +1,124 @@
|
|||
#include "DillCreator.hpp"
|
||||
#include <cmath>
|
||||
namespace btInverseDynamics {
|
||||
|
||||
DillCreator::DillCreator(int level)
|
||||
: m_level(level),
|
||||
m_num_bodies(BT_ID_POW(2, level))
|
||||
{
|
||||
m_parent.resize(m_num_bodies);
|
||||
m_parent_r_parent_body_ref.resize(m_num_bodies);
|
||||
m_body_T_parent_ref.resize(m_num_bodies);
|
||||
m_body_axis_of_motion.resize(m_num_bodies);
|
||||
m_mass.resize(m_num_bodies);
|
||||
m_body_r_body_com.resize(m_num_bodies);
|
||||
m_body_I_body.resize(m_num_bodies);
|
||||
|
||||
// generate names (for debugging)
|
||||
for (int i = 0; i < m_num_bodies; i++) {
|
||||
m_parent[i] = i - 1;
|
||||
|
||||
// all z-axis (DH convention)
|
||||
m_body_axis_of_motion[i](0) = 0.0;
|
||||
m_body_axis_of_motion[i](1) = 0.0;
|
||||
m_body_axis_of_motion[i](2) = 1.0;
|
||||
}
|
||||
|
||||
// recursively build data structures
|
||||
m_current_body = 0;
|
||||
const int parent = -1;
|
||||
const idScalar d_DH = 0.0;
|
||||
const idScalar a_DH = 0.0;
|
||||
const idScalar alpha_DH = 0.0;
|
||||
|
||||
if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH)) {
|
||||
error_message("recurseDill failed\n");
|
||||
abort();
|
||||
}
|
||||
}
|
||||
|
||||
DillCreator::~DillCreator() {}
|
||||
|
||||
int DillCreator::getNumBodies(int* num_bodies) const {
|
||||
*num_bodies = m_num_bodies;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
|
||||
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
|
||||
mat33* body_I_body, int* user_int, void** user_ptr) const {
|
||||
if (body_index < 0 || body_index >= m_num_bodies) {
|
||||
error_message("invalid body index %d\n", body_index);
|
||||
return -1;
|
||||
}
|
||||
*parent_index = m_parent[body_index];
|
||||
*joint_type = REVOLUTE;
|
||||
*parent_r_parent_body_ref = m_parent_r_parent_body_ref[body_index];
|
||||
*body_T_parent_ref = m_body_T_parent_ref[body_index];
|
||||
*body_axis_of_motion = m_body_axis_of_motion[body_index];
|
||||
*mass = m_mass[body_index];
|
||||
*body_r_body_com = m_body_r_body_com[body_index];
|
||||
*body_I_body = m_body_I_body[body_index];
|
||||
|
||||
*user_int = 0;
|
||||
*user_ptr = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
|
||||
const idScalar a_DH_in, const idScalar alpha_DH_in) {
|
||||
if (level < 0) {
|
||||
error_message("invalid level parameter (%d)\n", level);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (m_current_body >= m_num_bodies || m_current_body < 0) {
|
||||
error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
|
||||
m_num_bodies);
|
||||
return -1;
|
||||
}
|
||||
|
||||
idScalar size = BT_ID_MAX(level, 1);
|
||||
const int body = m_current_body;
|
||||
// length = 0.1 * size;
|
||||
// with = 2 * 0.01 * size;
|
||||
|
||||
/// these parameters are from the paper ...
|
||||
/// TODO: add proper citation
|
||||
m_parent[body] = parent;
|
||||
m_mass[body] = 0.1 * BT_ID_POW(size, 3);
|
||||
m_body_r_body_com[body](0) = 0.05 * size;
|
||||
m_body_r_body_com[body](1) = 0;
|
||||
m_body_r_body_com[body](2) = 0;
|
||||
// initialization
|
||||
for (int i = 0; i < 3; i++) {
|
||||
m_parent_r_parent_body_ref[body](i) = 0;
|
||||
for (int j = 0; j < 3; j++) {
|
||||
m_body_I_body[body](i, j) = 0.0;
|
||||
m_body_T_parent_ref[body](i, j) = 0.0;
|
||||
}
|
||||
}
|
||||
const idScalar size_5 = pow(size, 5);
|
||||
m_body_I_body[body](0, 0) = size_5 / 0.2e6;
|
||||
m_body_I_body[body](1, 1) = size_5 * 403 / 1.2e6;
|
||||
m_body_I_body[body](2, 2) = m_body_I_body[body](1, 1);
|
||||
|
||||
getVecMatFromDH(0, 0, a_DH_in, alpha_DH_in, &m_parent_r_parent_body_ref[body],
|
||||
&m_body_T_parent_ref[body]);
|
||||
|
||||
// attach "level" Dill systems of levels 1...level
|
||||
for (int i = 1; i <= level; i++) {
|
||||
idScalar d_DH = 0.01 * size;
|
||||
if (i == level) {
|
||||
d_DH = 0.0;
|
||||
}
|
||||
const idScalar a_DH = i * 0.1;
|
||||
const idScalar alpha_DH = i * BT_ID_PI / 3.0;
|
||||
m_current_body++;
|
||||
recurseDill(i - 1, body, d_DH, a_DH, alpha_DH);
|
||||
}
|
||||
|
||||
return 0; // ok!
|
||||
}
|
||||
}
|
||||
47
Engine/lib/bullet/Extras/InverseDynamics/DillCreator.hpp
Normal file
47
Engine/lib/bullet/Extras/InverseDynamics/DillCreator.hpp
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
#ifndef DILLCREATOR_HPP_
|
||||
#define DILLCREATOR_HPP_
|
||||
|
||||
#include "MultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
|
||||
/// Creator class for building a "Dill" system as intruduced as benchmark example in
|
||||
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
|
||||
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
|
||||
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
|
||||
///
|
||||
/// This is a self-similar branched tree, somewhat resembling a dill plant
|
||||
class DillCreator : public MultiBodyTreeCreator {
|
||||
public:
|
||||
/// ctor
|
||||
/// @param levels the number of dill levels
|
||||
DillCreator(int levels);
|
||||
/// dtor
|
||||
~DillCreator();
|
||||
///\copydoc MultiBodyTreeCreator::getNumBodies
|
||||
int getNumBodies(int* num_bodies) const;
|
||||
///\copydoc MultiBodyTreeCreator::getBody
|
||||
int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
|
||||
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
|
||||
void** user_ptr) const;
|
||||
|
||||
private:
|
||||
/// recursively generate dill bodies.
|
||||
/// TODO better documentation
|
||||
int recurseDill(const int levels, const int parent, const idScalar d_DH_in,
|
||||
const idScalar a_DH_in, const idScalar alpha_DH_in);
|
||||
int m_level;
|
||||
int m_num_bodies;
|
||||
idArray<int>::type m_parent;
|
||||
idArray<vec3>::type m_parent_r_parent_body_ref;
|
||||
idArray<mat33>::type m_body_T_parent_ref;
|
||||
idArray<vec3>::type m_body_axis_of_motion;
|
||||
idArray<idScalar>::type m_mass;
|
||||
idArray<vec3>::type m_body_r_body_com;
|
||||
idArray<mat33>::type m_body_I_body;
|
||||
int m_current_body;
|
||||
};
|
||||
}
|
||||
#endif
|
||||
71
Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.cpp
Normal file
71
Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.cpp
Normal file
|
|
@ -0,0 +1,71 @@
|
|||
#include <cmath>
|
||||
#include <cstdlib>
|
||||
#include <ctime>
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "BulletInverseDynamics/IDMath.hpp"
|
||||
#include "IDRandomUtil.hpp"
|
||||
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
// constants for random mass and inertia generation
|
||||
// these are arbitrary positive values.
|
||||
static const float mass_min = 0.001;
|
||||
static const float mass_max = 1.0;
|
||||
|
||||
void randomInit() { srand(time(NULL)); }
|
||||
void randomInit(unsigned seed) { srand(seed); }
|
||||
|
||||
int randomInt(int low, int high) { return rand() % (high + 1 - low) + low; }
|
||||
|
||||
float randomFloat(float low, float high) {
|
||||
return low + static_cast<float>(rand()) / RAND_MAX * (high - low);
|
||||
}
|
||||
|
||||
float randomMass() { return randomFloat(mass_min, mass_max); }
|
||||
|
||||
vec3 randomInertiaPrincipal() {
|
||||
vec3 inertia;
|
||||
do {
|
||||
inertia(0) = randomFloat(mass_min, mass_max);
|
||||
inertia(1) = randomFloat(mass_min, mass_max);
|
||||
inertia(2) = randomFloat(mass_min, mass_max);
|
||||
} while (inertia(0) + inertia(1) < inertia(2) || inertia(0) + inertia(2) < inertia(1) ||
|
||||
inertia(1) + inertia(2) < inertia(0));
|
||||
return inertia;
|
||||
}
|
||||
|
||||
mat33 randomInertiaMatrix() {
|
||||
// generate random valid inertia matrix by first getting valid components
|
||||
// along major axes and then rotating by random amount
|
||||
vec3 principal = randomInertiaPrincipal();
|
||||
mat33 rot(transformX(randomFloat(-BT_ID_PI, BT_ID_PI)) * transformY(randomFloat(-BT_ID_PI, BT_ID_PI)) *
|
||||
transformZ(randomFloat(-BT_ID_PI, BT_ID_PI)));
|
||||
mat33 inertia;
|
||||
inertia(0, 0) = principal(0);
|
||||
inertia(0, 1) = 0;
|
||||
inertia(0, 2) = 0;
|
||||
inertia(1, 0) = 0;
|
||||
inertia(1, 1) = principal(1);
|
||||
inertia(1, 2) = 0;
|
||||
inertia(2, 0) = 0;
|
||||
inertia(2, 1) = 0;
|
||||
inertia(2, 2) = principal(2);
|
||||
return rot * inertia * rot.transpose();
|
||||
}
|
||||
|
||||
vec3 randomAxis() {
|
||||
vec3 axis;
|
||||
idScalar length;
|
||||
do {
|
||||
axis(0) = randomFloat(-1.0, 1.0);
|
||||
axis(1) = randomFloat(-1.0, 1.0);
|
||||
axis(2) = randomFloat(-1.0, 1.0);
|
||||
|
||||
length = std::sqrt(std::pow(axis(0), 2) + std::pow(axis(1), 2) + std::pow(axis(2), 2));
|
||||
} while (length < 0.01);
|
||||
|
||||
return axis / length;
|
||||
}
|
||||
}
|
||||
36
Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.hpp
Normal file
36
Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.hpp
Normal file
|
|
@ -0,0 +1,36 @@
|
|||
#ifndef ID_RANDOM_UTIL_HPP_
|
||||
#define ID_RANDOM_UTIL_HPP_
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
namespace btInverseDynamics {
|
||||
/// seed random number generator using time()
|
||||
void randomInit();
|
||||
/// seed random number generator with identical value to get repeatable results
|
||||
void randomInit(unsigned seed);
|
||||
/// Generate (not quite) uniformly distributed random integers in [low, high]
|
||||
/// Note: this is a low-quality implementation using only rand(), as
|
||||
/// C++11 <random> is not supported in bullet.
|
||||
/// The results will *not* be perfectly uniform.
|
||||
/// \param low is the lower bound (inclusive)
|
||||
/// \param high is the lower bound (inclusive)
|
||||
/// \return a random number within [\param low, \param high]
|
||||
int randomInt(int low, int high);
|
||||
/// Generate a (not quite) uniformly distributed random floats in [low, high]
|
||||
/// Note: this is a low-quality implementation using only rand(), as
|
||||
/// C++11 <random> is not supported in bullet.
|
||||
/// The results will *not* be perfectly uniform.
|
||||
/// \param low is the lower bound (inclusive)
|
||||
/// \param high is the lower bound (inclusive)
|
||||
/// \return a random number within [\param low, \param high]
|
||||
float randomFloat(float low, float high);
|
||||
|
||||
/// generate a random valid mass value
|
||||
/// \returns random mass
|
||||
float randomMass();
|
||||
/// generate a random valid vector of principal moments of inertia
|
||||
vec3 randomInertiaPrincipal();
|
||||
/// generate a random valid moment of inertia matrix
|
||||
mat33 randomInertiaMatrix();
|
||||
/// generate a random unit vector
|
||||
vec3 randomAxis();
|
||||
}
|
||||
#endif
|
||||
420
Engine/lib/bullet/Extras/InverseDynamics/Makefile
Normal file
420
Engine/lib/bullet/Extras/InverseDynamics/Makefile
Normal file
|
|
@ -0,0 +1,420 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.23
|
||||
|
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# Default target executed when no arguments are given to make.
|
||||
default_target: all
|
||||
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|
||||
|
||||
# Allow only one "make -f Makefile2" at a time, but pass parallelism.
|
||||
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|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
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||||
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||||
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|
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||||
# target to generate assembly for a file
|
||||
MultiBodyNameMap.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyNameMap.s
|
||||
.PHONY : MultiBodyNameMap.s
|
||||
|
||||
# target to build an object file
|
||||
MultiBodyTreeCreator.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyTreeCreator.o
|
||||
.PHONY : MultiBodyTreeCreator.o
|
||||
|
||||
# target to preprocess a source file
|
||||
MultiBodyTreeCreator.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyTreeCreator.i
|
||||
.PHONY : MultiBodyTreeCreator.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
MultiBodyTreeCreator.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyTreeCreator.s
|
||||
.PHONY : MultiBodyTreeCreator.s
|
||||
|
||||
# target to build an object file
|
||||
MultiBodyTreeDebugGraph.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyTreeDebugGraph.o
|
||||
.PHONY : MultiBodyTreeDebugGraph.o
|
||||
|
||||
# target to preprocess a source file
|
||||
MultiBodyTreeDebugGraph.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyTreeDebugGraph.i
|
||||
.PHONY : MultiBodyTreeDebugGraph.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
MultiBodyTreeDebugGraph.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/MultiBodyTreeDebugGraph.s
|
||||
.PHONY : MultiBodyTreeDebugGraph.s
|
||||
|
||||
# target to build an object file
|
||||
RandomTreeCreator.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/RandomTreeCreator.o
|
||||
.PHONY : RandomTreeCreator.o
|
||||
|
||||
# target to preprocess a source file
|
||||
RandomTreeCreator.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/RandomTreeCreator.i
|
||||
.PHONY : RandomTreeCreator.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
RandomTreeCreator.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/RandomTreeCreator.s
|
||||
.PHONY : RandomTreeCreator.s
|
||||
|
||||
# target to build an object file
|
||||
SimpleTreeCreator.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/SimpleTreeCreator.o
|
||||
.PHONY : SimpleTreeCreator.o
|
||||
|
||||
# target to preprocess a source file
|
||||
SimpleTreeCreator.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/SimpleTreeCreator.i
|
||||
.PHONY : SimpleTreeCreator.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
SimpleTreeCreator.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/SimpleTreeCreator.s
|
||||
.PHONY : SimpleTreeCreator.s
|
||||
|
||||
# target to build an object file
|
||||
User2InternalIndex.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/User2InternalIndex.o
|
||||
.PHONY : User2InternalIndex.o
|
||||
|
||||
# target to preprocess a source file
|
||||
User2InternalIndex.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/User2InternalIndex.i
|
||||
.PHONY : User2InternalIndex.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
User2InternalIndex.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/User2InternalIndex.s
|
||||
.PHONY : User2InternalIndex.s
|
||||
|
||||
# target to build an object file
|
||||
btMultiBodyTreeCreator.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/btMultiBodyTreeCreator.o
|
||||
.PHONY : btMultiBodyTreeCreator.o
|
||||
|
||||
# target to preprocess a source file
|
||||
btMultiBodyTreeCreator.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/btMultiBodyTreeCreator.i
|
||||
.PHONY : btMultiBodyTreeCreator.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
btMultiBodyTreeCreator.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/btMultiBodyTreeCreator.s
|
||||
.PHONY : btMultiBodyTreeCreator.s
|
||||
|
||||
# target to build an object file
|
||||
invdyn_bullet_comparison.o:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/invdyn_bullet_comparison.o
|
||||
.PHONY : invdyn_bullet_comparison.o
|
||||
|
||||
# target to preprocess a source file
|
||||
invdyn_bullet_comparison.i:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/invdyn_bullet_comparison.i
|
||||
.PHONY : invdyn_bullet_comparison.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
invdyn_bullet_comparison.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/build.make Engine/lib/bullet/Extras/InverseDynamics/CMakeFiles/BulletInverseDynamicsUtils.dir/invdyn_bullet_comparison.s
|
||||
.PHONY : invdyn_bullet_comparison.s
|
||||
|
||||
# Help Target
|
||||
help:
|
||||
@echo "The following are some of the valid targets for this Makefile:"
|
||||
@echo "... all (the default if no target is provided)"
|
||||
@echo "... clean"
|
||||
@echo "... depend"
|
||||
@echo "... edit_cache"
|
||||
@echo "... install"
|
||||
@echo "... install/local"
|
||||
@echo "... install/strip"
|
||||
@echo "... list_install_components"
|
||||
@echo "... rebuild_cache"
|
||||
@echo "... BulletInverseDynamicsUtils"
|
||||
@echo "... CloneTreeCreator.o"
|
||||
@echo "... CloneTreeCreator.i"
|
||||
@echo "... CloneTreeCreator.s"
|
||||
@echo "... CoilCreator.o"
|
||||
@echo "... CoilCreator.i"
|
||||
@echo "... CoilCreator.s"
|
||||
@echo "... DillCreator.o"
|
||||
@echo "... DillCreator.i"
|
||||
@echo "... DillCreator.s"
|
||||
@echo "... IDRandomUtil.o"
|
||||
@echo "... IDRandomUtil.i"
|
||||
@echo "... IDRandomUtil.s"
|
||||
@echo "... MultiBodyNameMap.o"
|
||||
@echo "... MultiBodyNameMap.i"
|
||||
@echo "... MultiBodyNameMap.s"
|
||||
@echo "... MultiBodyTreeCreator.o"
|
||||
@echo "... MultiBodyTreeCreator.i"
|
||||
@echo "... MultiBodyTreeCreator.s"
|
||||
@echo "... MultiBodyTreeDebugGraph.o"
|
||||
@echo "... MultiBodyTreeDebugGraph.i"
|
||||
@echo "... MultiBodyTreeDebugGraph.s"
|
||||
@echo "... RandomTreeCreator.o"
|
||||
@echo "... RandomTreeCreator.i"
|
||||
@echo "... RandomTreeCreator.s"
|
||||
@echo "... SimpleTreeCreator.o"
|
||||
@echo "... SimpleTreeCreator.i"
|
||||
@echo "... SimpleTreeCreator.s"
|
||||
@echo "... User2InternalIndex.o"
|
||||
@echo "... User2InternalIndex.i"
|
||||
@echo "... User2InternalIndex.s"
|
||||
@echo "... btMultiBodyTreeCreator.o"
|
||||
@echo "... btMultiBodyTreeCreator.i"
|
||||
@echo "... btMultiBodyTreeCreator.s"
|
||||
@echo "... invdyn_bullet_comparison.o"
|
||||
@echo "... invdyn_bullet_comparison.i"
|
||||
@echo "... invdyn_bullet_comparison.s"
|
||||
.PHONY : help
|
||||
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# Special targets to cleanup operation of make.
|
||||
|
||||
# Special rule to run CMake to check the build system integrity.
|
||||
# No rule that depends on this can have commands that come from listfiles
|
||||
# because they might be regenerated.
|
||||
cmake_check_build_system:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
|
||||
.PHONY : cmake_check_build_system
|
||||
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
#include "MultiBodyNameMap.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
MultiBodyNameMap::MultiBodyNameMap() {}
|
||||
|
||||
int MultiBodyNameMap::addBody(const int index, const std::string& name) {
|
||||
if (m_index_to_body_name.count(index) > 0) {
|
||||
error_message("trying to add index %d again\n", index);
|
||||
return -1;
|
||||
}
|
||||
if (m_body_name_to_index.count(name) > 0) {
|
||||
error_message("trying to add name %s again\n", name.c_str());
|
||||
return -1;
|
||||
}
|
||||
|
||||
m_index_to_body_name[index] = name;
|
||||
m_body_name_to_index[name] = index;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
|
||||
if (m_index_to_joint_name.count(index) > 0) {
|
||||
error_message("trying to add index %d again\n", index);
|
||||
return -1;
|
||||
}
|
||||
if (m_joint_name_to_index.count(name) > 0) {
|
||||
error_message("trying to add name %s again\n", name.c_str());
|
||||
return -1;
|
||||
}
|
||||
|
||||
m_index_to_joint_name[index] = name;
|
||||
m_joint_name_to_index[name] = index;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
|
||||
std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
|
||||
if (it == m_index_to_body_name.end()) {
|
||||
error_message("index %d not known\n", index);
|
||||
return -1;
|
||||
}
|
||||
*name = it->second;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
|
||||
std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
|
||||
if (it == m_index_to_joint_name.end()) {
|
||||
error_message("index %d not known\n", index);
|
||||
return -1;
|
||||
}
|
||||
*name = it->second;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
|
||||
std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
|
||||
if (it == m_body_name_to_index.end()) {
|
||||
error_message("name %s not known\n", name.c_str());
|
||||
return -1;
|
||||
}
|
||||
*index = it->second;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const {
|
||||
std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
|
||||
if (it == m_joint_name_to_index.end()) {
|
||||
error_message("name %s not known\n", name.c_str());
|
||||
return -1;
|
||||
}
|
||||
*index = it->second;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
#ifndef MULTIBODYNAMEMAP_HPP_
|
||||
#define MULTIBODYNAMEMAP_HPP_
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include <string>
|
||||
#include <map>
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
/// \brief The MultiBodyNameMap class
|
||||
/// Utility class that stores a maps from body/joint indices to/from body and joint names
|
||||
class MultiBodyNameMap {
|
||||
public:
|
||||
MultiBodyNameMap();
|
||||
/// add a body to the map
|
||||
/// @param index of the body
|
||||
/// @param name name of the body
|
||||
/// @return 0 on success, -1 on failure
|
||||
int addBody(const int index, const std::string& name);
|
||||
/// add a joint to the map
|
||||
/// @param index of the joint
|
||||
/// @param name name of the joint
|
||||
/// @return 0 on success, -1 on failure
|
||||
int addJoint(const int index, const std::string& name);
|
||||
/// get body name from index
|
||||
/// @param index of the body
|
||||
/// @param body_name name of the body
|
||||
/// @return 0 on success, -1 on failure
|
||||
int getBodyName(const int index, std::string* name) const;
|
||||
/// get joint name from index
|
||||
/// @param index of the joint
|
||||
/// @param joint_name name of the joint
|
||||
/// @return 0 on success, -1 on failure
|
||||
int getJointName(const int index, std::string* name) const;
|
||||
/// get body index from name
|
||||
/// @param index of the body
|
||||
/// @param name name of the body
|
||||
/// @return 0 on success, -1 on failure
|
||||
int getBodyIndex(const std::string& name, int* index) const;
|
||||
/// get joint index from name
|
||||
/// @param index of the joint
|
||||
/// @param name name of the joint
|
||||
/// @return 0 on success, -1 on failure
|
||||
int getJointIndex(const std::string& name, int* index) const;
|
||||
|
||||
private:
|
||||
std::map<int, std::string> m_index_to_joint_name;
|
||||
std::map<int, std::string> m_index_to_body_name;
|
||||
|
||||
std::map<std::string, int> m_joint_name_to_index;
|
||||
std::map<std::string, int> m_body_name_to_index;
|
||||
};
|
||||
}
|
||||
#endif // MULTIBODYNAMEMAP_HPP_
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
#include "MultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
|
||||
int num_bodies;
|
||||
int parent_index;
|
||||
JointType joint_type;
|
||||
vec3 body_r_parent_body_ref;
|
||||
mat33 body_R_parent_ref;
|
||||
vec3 body_axis_of_motion;
|
||||
idScalar mass;
|
||||
vec3 body_r_body_com;
|
||||
mat33 body_I_body;
|
||||
int user_int;
|
||||
void* user_ptr;
|
||||
|
||||
MultiBodyTree* tree = new MultiBodyTree();
|
||||
if (0x0 == tree) {
|
||||
error_message("cannot allocate tree\n");
|
||||
return 0x0;
|
||||
}
|
||||
|
||||
// TODO: move to some policy argument
|
||||
tree->setAcceptInvalidMassParameters(false);
|
||||
|
||||
// get number of bodies in the system
|
||||
if (-1 == creator.getNumBodies(&num_bodies)) {
|
||||
error_message("getting body indices\n");
|
||||
delete tree;
|
||||
return 0x0;
|
||||
}
|
||||
|
||||
// get data for all bodies
|
||||
for (int index = 0; index < num_bodies; index++) {
|
||||
// get body parameters from user callbacks
|
||||
if (-1 ==
|
||||
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
|
||||
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
|
||||
&body_I_body, &user_int, &user_ptr)) {
|
||||
error_message("getting data for body %d\n", index);
|
||||
delete tree;
|
||||
return 0x0;
|
||||
}
|
||||
// add body to system
|
||||
if (-1 ==
|
||||
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
|
||||
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
|
||||
body_I_body, user_int, user_ptr)) {
|
||||
error_message("adding body %d\n", index);
|
||||
delete tree;
|
||||
return 0x0;
|
||||
}
|
||||
}
|
||||
// finalize initialization
|
||||
if (-1 == tree->finalize()) {
|
||||
error_message("building system\n");
|
||||
delete tree;
|
||||
return 0x0;
|
||||
}
|
||||
|
||||
return tree;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
#ifndef MULTI_BODY_TREE_CREATOR_HPP_
|
||||
#define MULTI_BODY_TREE_CREATOR_HPP_
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "BulletInverseDynamics/IDMath.hpp"
|
||||
#include "BulletInverseDynamics/MultiBodyTree.hpp"
|
||||
#include "MultiBodyNameMap.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
/// Interface class for initializing a MultiBodyTree instance.
|
||||
/// Data to be provided is modeled on the URDF specification.
|
||||
/// The user can derive from this class in order to programmatically
|
||||
/// initialize a system.
|
||||
class MultiBodyTreeCreator {
|
||||
public:
|
||||
/// the dtor
|
||||
virtual ~MultiBodyTreeCreator() {}
|
||||
/// Get the number of bodies in the system
|
||||
/// @param num_bodies write number of bodies here
|
||||
/// @return 0 on success, -1 on error
|
||||
virtual int getNumBodies(int* num_bodies) const = 0;
|
||||
/// Interface for accessing link mass properties.
|
||||
/// For detailed description of data, @sa MultiBodyTree::addBody
|
||||
/// \copydoc MultiBodyTree::addBody
|
||||
virtual int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
|
||||
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
|
||||
mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
|
||||
/// @return a pointer to a name mapping utility class, or 0x0 if not available
|
||||
virtual const MultiBodyNameMap* getNameMap() const {return 0x0;}
|
||||
};
|
||||
|
||||
/// Create a multibody object.
|
||||
/// @param creator an object implementing the MultiBodyTreeCreator interface
|
||||
/// that returns data defining the system
|
||||
/// @return A pointer to an allocated multibodytree instance, or
|
||||
/// 0x0 if an error occured.
|
||||
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
|
||||
}
|
||||
|
||||
// does urdf have gravity direction ??
|
||||
|
||||
#endif // MULTI_BODY_TREE_CREATOR_HPP_
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
#include "MultiBodyTreeDebugGraph.hpp"
|
||||
|
||||
#include <cstdio>
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
|
||||
const char* filename) {
|
||||
if (0x0 == tree) {
|
||||
error_message("tree pointer is null\n");
|
||||
return -1;
|
||||
}
|
||||
if (0x0 == filename) {
|
||||
error_message("filename is null\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
FILE* fp = fopen(filename, "w");
|
||||
if (NULL == fp) {
|
||||
error_message("cannot open file %s for writing\n", filename);
|
||||
return -1;
|
||||
}
|
||||
fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n"
|
||||
"// details see graphviz documentation at http://graphviz.org\n"
|
||||
"digraph tree {\n",
|
||||
filename, filename);
|
||||
|
||||
for (int body = 0; body < tree->numBodies(); body++) {
|
||||
std::string name;
|
||||
if (0x0 != map) {
|
||||
if (-1 == map->getBodyName(body, &name)) {
|
||||
error_message("can't get name of body %d\n", body);
|
||||
return -1;
|
||||
}
|
||||
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
|
||||
}
|
||||
}
|
||||
for (int body = 0; body < tree->numBodies(); body++) {
|
||||
int parent;
|
||||
const char* joint_type;
|
||||
int qi;
|
||||
if (-1 == tree->getParentIndex(body, &parent)) {
|
||||
error_message("indexing error\n");
|
||||
return -1;
|
||||
}
|
||||
if (-1 == tree->getJointTypeStr(body, &joint_type)) {
|
||||
error_message("indexing error\n");
|
||||
return -1;
|
||||
}
|
||||
if (-1 == tree->getDoFOffset(body, &qi)) {
|
||||
error_message("indexing error\n");
|
||||
return -1;
|
||||
}
|
||||
if (-1 != parent) {
|
||||
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
|
||||
joint_type, qi);
|
||||
}
|
||||
}
|
||||
|
||||
fprintf(fp, "}\n");
|
||||
fclose(fp);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
#ifndef MULTIBODYTREEDEBUGGRAPH_HPP_
|
||||
#define MULTIBODYTREEDEBUGGRAPH_HPP_
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "BulletInverseDynamics/MultiBodyTree.hpp"
|
||||
#include "MultiBodyNameMap.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
/// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool
|
||||
/// @param tree the multibody tree
|
||||
/// @param map to add names of links (if 0x0, no names will be added)
|
||||
/// @param filename name for the output file
|
||||
/// @return 0 on success, -1 on error
|
||||
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
|
||||
const char* filename);
|
||||
}
|
||||
|
||||
#endif // MULTIBODYTREEDEBUGGRAPH_HPP
|
||||
|
|
@ -0,0 +1,81 @@
|
|||
#include "RandomTreeCreator.hpp"
|
||||
|
||||
#include <cstdio>
|
||||
|
||||
#include "IDRandomUtil.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
|
||||
// seed generator
|
||||
if(random_seed) {
|
||||
randomInit(); // seeds with time()
|
||||
} else {
|
||||
randomInit(1); // seeds with 1
|
||||
}
|
||||
m_num_bodies = randomInt(1, max_bodies);
|
||||
}
|
||||
|
||||
RandomTreeCreator::~RandomTreeCreator() {}
|
||||
|
||||
int RandomTreeCreator::getNumBodies(int* num_bodies) const {
|
||||
*num_bodies = m_num_bodies;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
|
||||
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
|
||||
mat33* body_I_body, int* user_int, void** user_ptr) const {
|
||||
if(0 == body_index) { //root body
|
||||
*parent_index = -1;
|
||||
} else {
|
||||
*parent_index = randomInt(0, body_index - 1);
|
||||
}
|
||||
|
||||
switch (randomInt(0, 3)) {
|
||||
case 0:
|
||||
*joint_type = FIXED;
|
||||
break;
|
||||
case 1:
|
||||
*joint_type = REVOLUTE;
|
||||
break;
|
||||
case 2:
|
||||
*joint_type = PRISMATIC;
|
||||
break;
|
||||
case 3:
|
||||
*joint_type = FLOATING;
|
||||
break;
|
||||
default:
|
||||
error_message("randomInt() result out of range\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
(*parent_r_parent_body_ref)(0) = randomFloat(-1.0, 1.0);
|
||||
(*parent_r_parent_body_ref)(1) = randomFloat(-1.0, 1.0);
|
||||
(*parent_r_parent_body_ref)(2) = randomFloat(-1.0, 1.0);
|
||||
|
||||
bodyTParentFromAxisAngle(randomAxis(), randomFloat(-BT_ID_PI, BT_ID_PI), body_T_parent_ref);
|
||||
|
||||
*body_axis_of_motion = randomAxis();
|
||||
*mass = randomMass();
|
||||
(*body_r_body_com)(0) = randomFloat(-1.0, 1.0);
|
||||
(*body_r_body_com)(1) = randomFloat(-1.0, 1.0);
|
||||
(*body_r_body_com)(2) = randomFloat(-1.0, 1.0);
|
||||
const double a = randomFloat(-BT_ID_PI, BT_ID_PI);
|
||||
const double b = randomFloat(-BT_ID_PI, BT_ID_PI);
|
||||
const double c = randomFloat(-BT_ID_PI, BT_ID_PI);
|
||||
vec3 ii = randomInertiaPrincipal();
|
||||
mat33 ii_diag;
|
||||
setZero(ii_diag);
|
||||
ii_diag(0,0)=ii(0);
|
||||
ii_diag(1,1)=ii(1);
|
||||
ii_diag(2,2)=ii(2);
|
||||
*body_I_body = transformX(a) * transformY(b) * transformZ(c) * ii_diag *
|
||||
transformZ(-c) * transformY(-b) * transformX(-a);
|
||||
*user_int = 0;
|
||||
*user_ptr = 0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
#ifndef RANDOMTREE_CREATOR_HPP_
|
||||
#define RANDOMTREE_CREATOR_HPP_
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "MultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
|
||||
/// joints
|
||||
/// Uses a pseudo random number generator seeded from a random device.
|
||||
class RandomTreeCreator : public MultiBodyTreeCreator {
|
||||
public:
|
||||
/// ctor
|
||||
/// @param max_bodies maximum number of bodies
|
||||
/// @param gravity gravitational acceleration
|
||||
/// @param use_seed if true, seed random number generator
|
||||
RandomTreeCreator(const int max_bodies, bool use_seed=false);
|
||||
~RandomTreeCreator();
|
||||
///\copydoc MultiBodyTreeCreator::getNumBodies
|
||||
int getNumBodies(int* num_bodies) const;
|
||||
///\copydoc MultiBodyTreeCreator::getBody
|
||||
int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
|
||||
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
|
||||
void** user_ptr) const;
|
||||
|
||||
private:
|
||||
int m_num_bodies;
|
||||
};
|
||||
}
|
||||
#endif // RANDOMTREE_CREATOR_HPP_
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
#include "SimpleTreeCreator.hpp"
|
||||
|
||||
#include <cstdio>
|
||||
|
||||
namespace btInverseDynamics {
|
||||
/// minimal "tree" (chain)
|
||||
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
|
||||
m_mass = 1.0;
|
||||
m_body_T_parent_ref(0, 0) = 1;
|
||||
m_body_T_parent_ref(0, 1) = 0;
|
||||
m_body_T_parent_ref(0, 2) = 0;
|
||||
m_body_T_parent_ref(1, 0) = 0;
|
||||
m_body_T_parent_ref(1, 1) = 1;
|
||||
m_body_T_parent_ref(1, 2) = 0;
|
||||
m_body_T_parent_ref(2, 0) = 0;
|
||||
m_body_T_parent_ref(2, 1) = 0;
|
||||
m_body_T_parent_ref(2, 2) = 1;
|
||||
|
||||
m_parent_r_parent_body_ref(0) = 1.0;
|
||||
m_parent_r_parent_body_ref(1) = 0.0;
|
||||
m_parent_r_parent_body_ref(2) = 0.0;
|
||||
|
||||
m_body_r_body_com(0) = 0.5;
|
||||
m_body_r_body_com(1) = 0.0;
|
||||
m_body_r_body_com(2) = 0.0;
|
||||
|
||||
m_body_I_body(0, 0) = 1;
|
||||
m_body_I_body(0, 1) = 0;
|
||||
m_body_I_body(0, 2) = 0;
|
||||
m_body_I_body(1, 0) = 0;
|
||||
m_body_I_body(1, 1) = 1;
|
||||
m_body_I_body(1, 2) = 0;
|
||||
m_body_I_body(2, 0) = 0;
|
||||
m_body_I_body(2, 1) = 0;
|
||||
m_body_I_body(2, 2) = 1;
|
||||
|
||||
m_axis(0) = 0;
|
||||
m_axis(1) = 0;
|
||||
m_axis(2) = 1;
|
||||
}
|
||||
int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
|
||||
*num_bodies = m_num_bodies;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
|
||||
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
|
||||
mat33* body_I_body, int* user_int, void** user_ptr) const {
|
||||
*parent_index = body_index - 1;
|
||||
if (body_index % 2) {
|
||||
*joint_type = PRISMATIC;
|
||||
} else {
|
||||
*joint_type = REVOLUTE;
|
||||
}
|
||||
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
|
||||
if (0 == body_index) {
|
||||
(*parent_r_parent_body_ref)(2) = 1.0;
|
||||
}
|
||||
*body_T_parent_ref = m_body_T_parent_ref;
|
||||
*body_axis_of_motion = m_axis;
|
||||
*mass = m_mass;
|
||||
*body_r_body_com = m_body_r_body_com;
|
||||
*body_I_body = m_body_I_body;
|
||||
*user_int = 0;
|
||||
*user_ptr = 0;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
#ifndef SIMPLETREECREATOR_HPP_
|
||||
#define SIMPLETREECREATOR_HPP_
|
||||
|
||||
#include "MultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
/// minimal "tree" (chain)
|
||||
class SimpleTreeCreator : public MultiBodyTreeCreator {
|
||||
public:
|
||||
/// ctor
|
||||
/// @param dim number of bodies
|
||||
SimpleTreeCreator(int dim);
|
||||
// dtor
|
||||
~SimpleTreeCreator() {}
|
||||
///\copydoc MultiBodyTreeCreator::getNumBodies
|
||||
int getNumBodies(int* num_bodies) const;
|
||||
///\copydoc MultiBodyTreeCreator::getBody
|
||||
int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
||||
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
|
||||
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
|
||||
void** user_ptr) const;
|
||||
|
||||
private:
|
||||
int m_num_bodies;
|
||||
idScalar m_mass;
|
||||
mat33 m_body_T_parent_ref;
|
||||
vec3 m_parent_r_parent_body_ref;
|
||||
vec3 m_body_r_body_com;
|
||||
mat33 m_body_I_body;
|
||||
vec3 m_axis;
|
||||
};
|
||||
}
|
||||
#endif // SIMPLETREECREATOR_HPP_
|
||||
|
|
@ -0,0 +1,99 @@
|
|||
#include "User2InternalIndex.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
|
||||
|
||||
void User2InternalIndex::addBody(const int body, const int parent) {
|
||||
m_user_parent_index_map[body] = parent;
|
||||
}
|
||||
|
||||
int User2InternalIndex::findRoot(int index) {
|
||||
if (0 == m_user_parent_index_map.count(index)) {
|
||||
return index;
|
||||
}
|
||||
return findRoot(m_user_parent_index_map[index]);
|
||||
}
|
||||
|
||||
// modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
|
||||
// URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
|
||||
// int urdfParentIndex)
|
||||
void User2InternalIndex::recurseIndexSets(const int user_body_index) {
|
||||
m_user_to_internal[user_body_index] = m_current_index;
|
||||
m_current_index++;
|
||||
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) {
|
||||
recurseIndexSets(m_user_child_indices[user_body_index][i]);
|
||||
}
|
||||
}
|
||||
|
||||
int User2InternalIndex::buildMapping() {
|
||||
// find root index
|
||||
int user_root_index = -1;
|
||||
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
|
||||
it != m_user_parent_index_map.end(); it++) {
|
||||
int current_root_index = findRoot(it->second);
|
||||
if (it == m_user_parent_index_map.begin()) {
|
||||
user_root_index = current_root_index;
|
||||
} else {
|
||||
if (user_root_index != current_root_index) {
|
||||
error_message("multiple roots (at least) %d and %d\n", user_root_index,
|
||||
current_root_index);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// build child index map
|
||||
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
|
||||
it != m_user_parent_index_map.end(); it++) {
|
||||
m_user_child_indices[it->second].push_back(it->first);
|
||||
}
|
||||
|
||||
m_current_index = -1;
|
||||
// build internal index set
|
||||
m_user_to_internal[user_root_index] = -1; // add map for root link
|
||||
recurseIndexSets(user_root_index);
|
||||
|
||||
// reverse mapping
|
||||
for (std::map<int, int>::iterator it = m_user_to_internal.begin();
|
||||
it != m_user_to_internal.end(); it++) {
|
||||
m_internal_to_user[it->second] = it->first;
|
||||
}
|
||||
|
||||
m_map_built = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int User2InternalIndex::user2internal(const int user, int *internal) const {
|
||||
|
||||
if (!m_map_built) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
std::map<int, int>::const_iterator it;
|
||||
it = m_user_to_internal.find(user);
|
||||
if (it != m_user_to_internal.end()) {
|
||||
*internal = it->second;
|
||||
return 0;
|
||||
} else {
|
||||
error_message("no user index %d\n", user);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
int User2InternalIndex::internal2user(const int internal, int *user) const {
|
||||
|
||||
if (!m_map_built) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
std::map<int, int>::const_iterator it;
|
||||
it = m_internal_to_user.find(internal);
|
||||
if (it != m_internal_to_user.end()) {
|
||||
*user = it->second;
|
||||
return 0;
|
||||
} else {
|
||||
error_message("no internal index %d\n", internal);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
#ifndef USER2INTERNALINDEX_HPP
|
||||
#define USER2INTERNALINDEX_HPP
|
||||
#include <map>
|
||||
#include <vector>
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
/// Convert arbitrary indexing scheme to internal indexing
|
||||
/// used for MultiBodyTree
|
||||
class User2InternalIndex {
|
||||
public:
|
||||
/// Ctor
|
||||
User2InternalIndex();
|
||||
/// add body to index maps
|
||||
/// @param body index of body to add (external)
|
||||
/// @param parent index of parent body (external)
|
||||
void addBody(const int body, const int parent);
|
||||
/// build mapping from external to internal indexing
|
||||
/// @return 0 on success, -1 on failure
|
||||
int buildMapping();
|
||||
/// get internal index from external index
|
||||
/// @param user external (user) index
|
||||
/// @param internal pointer for storage of corresponding internal index
|
||||
/// @return 0 on success, -1 on failure
|
||||
int user2internal(const int user, int *internal) const;
|
||||
/// get internal index from external index
|
||||
/// @param user external (user) index
|
||||
/// @param internal pointer for storage of corresponding internal index
|
||||
/// @return 0 on success, -1 on failure
|
||||
int internal2user(const int internal, int *user) const;
|
||||
|
||||
private:
|
||||
int findRoot(int index);
|
||||
void recurseIndexSets(const int user_body_index);
|
||||
bool m_map_built;
|
||||
std::map<int, int> m_user_parent_index_map;
|
||||
std::map<int, int> m_user_to_internal;
|
||||
std::map<int, int> m_internal_to_user;
|
||||
std::map<int, std::vector<int> > m_user_child_indices;
|
||||
int m_current_index;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // USER2INTERNALINDEX_HPP
|
||||
|
|
@ -0,0 +1,91 @@
|
|||
#ifndef BTMULTIBODYFROMURDF_HPP
|
||||
#define BTMULTIBODYFROMURDF_HPP
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
#include "../../examples/CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h"
|
||||
#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
|
||||
#include "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h"
|
||||
#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
|
||||
|
||||
/// Create a btMultiBody model from URDF.
|
||||
/// This is adapted from Bullet URDF loader example
|
||||
class MyBtMultiBodyFromURDF {
|
||||
public:
|
||||
/// ctor
|
||||
/// @param gravity gravitational acceleration (in world frame)
|
||||
/// @param base_fixed if true, the root body is treated as fixed,
|
||||
/// if false, it is treated as floating
|
||||
MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed)
|
||||
: m_gravity(gravity), m_base_fixed(base_fixed) {
|
||||
m_broadphase = 0x0;
|
||||
m_dispatcher = 0x0;
|
||||
m_solver = 0x0;
|
||||
m_collisionConfiguration = 0x0;
|
||||
m_dynamicsWorld = 0x0;
|
||||
m_multibody = 0x0;
|
||||
}
|
||||
/// dtor
|
||||
~MyBtMultiBodyFromURDF() {
|
||||
delete m_dynamicsWorld;
|
||||
delete m_solver;
|
||||
delete m_broadphase;
|
||||
delete m_dispatcher;
|
||||
delete m_collisionConfiguration;
|
||||
delete m_multibody;
|
||||
}
|
||||
/// @param name path to urdf file
|
||||
void setFileName(const std::string name) { m_filename = name; }
|
||||
/// load urdf file and build btMultiBody model
|
||||
void init() {
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_dynamicsWorld->setGravity(m_gravity);
|
||||
BulletURDFImporter urdf_importer(&m_nogfx,0);
|
||||
URDFImporterInterface &u2b(urdf_importer);
|
||||
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
|
||||
|
||||
if (loadOk) {
|
||||
btTransform identityTrans;
|
||||
identityTrans.setIdentity();
|
||||
MyMultiBodyCreator creation(&m_nogfx);
|
||||
const bool use_multibody = true;
|
||||
ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, use_multibody,
|
||||
u2b.getPathPrefix());
|
||||
m_multibody = creation.getBulletMultiBody();
|
||||
m_dynamicsWorld->stepSimulation(1. / 240., 0);
|
||||
}
|
||||
}
|
||||
/// @return pointer to the btMultiBody model
|
||||
btMultiBody *getBtMultiBody() { return m_multibody; }
|
||||
|
||||
private:
|
||||
// internal utility function
|
||||
void createEmptyDynamicsWorld() {
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
/// use the default collision dispatcher. For parallel processing you can use a diffent
|
||||
/// dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
m_solver = new btMultiBodyConstraintSolver;
|
||||
m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver,
|
||||
m_collisionConfiguration);
|
||||
m_dynamicsWorld->setGravity(m_gravity);
|
||||
}
|
||||
|
||||
btBroadphaseInterface *m_broadphase;
|
||||
btCollisionDispatcher *m_dispatcher;
|
||||
btMultiBodyConstraintSolver *m_solver;
|
||||
btDefaultCollisionConfiguration *m_collisionConfiguration;
|
||||
btMultiBodyDynamicsWorld *m_dynamicsWorld;
|
||||
std::string m_filename;
|
||||
DummyGUIHelper m_nogfx;
|
||||
btMultiBody *m_multibody;
|
||||
const btVector3 m_gravity;
|
||||
const bool m_base_fixed;
|
||||
};
|
||||
#endif // BTMULTIBODYFROMURDF_HPP
|
||||
|
|
@ -0,0 +1,270 @@
|
|||
#include "btMultiBodyTreeCreator.hpp"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {}
|
||||
|
||||
int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose) {
|
||||
if (0x0 == btmb) {
|
||||
error_message("cannot create MultiBodyTree from null pointer\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// in case this is a second call, discard old data
|
||||
m_data.clear();
|
||||
m_initialized = false;
|
||||
|
||||
// btMultiBody treats base link separately
|
||||
m_data.resize(1 + btmb->getNumLinks());
|
||||
|
||||
// add base link data
|
||||
{
|
||||
LinkData &link = m_data[0];
|
||||
|
||||
link.parent_index = -1;
|
||||
if (btmb->hasFixedBase()) {
|
||||
link.joint_type = FIXED;
|
||||
} else {
|
||||
link.joint_type = FLOATING;
|
||||
}
|
||||
btTransform transform(btmb->getBaseWorldTransform());
|
||||
|
||||
link.parent_r_parent_body_ref(0) = transform.getOrigin()[0];
|
||||
link.parent_r_parent_body_ref(1) = transform.getOrigin()[1];
|
||||
link.parent_r_parent_body_ref(2) = transform.getOrigin()[2];
|
||||
|
||||
link.body_T_parent_ref(0, 0) = transform.getBasis()[0][0];
|
||||
link.body_T_parent_ref(0, 1) = transform.getBasis()[0][1];
|
||||
link.body_T_parent_ref(0, 2) = transform.getBasis()[0][2];
|
||||
|
||||
link.body_T_parent_ref(1, 0) = transform.getBasis()[1][0];
|
||||
link.body_T_parent_ref(1, 1) = transform.getBasis()[1][1];
|
||||
link.body_T_parent_ref(1, 2) = transform.getBasis()[1][2];
|
||||
|
||||
link.body_T_parent_ref(2, 0) = transform.getBasis()[2][0];
|
||||
link.body_T_parent_ref(2, 1) = transform.getBasis()[2][1];
|
||||
link.body_T_parent_ref(2, 2) = transform.getBasis()[2][2];
|
||||
|
||||
// random unit vector. value not used for fixed or floating joints.
|
||||
link.body_axis_of_motion(0) = 0;
|
||||
link.body_axis_of_motion(1) = 0;
|
||||
link.body_axis_of_motion(2) = 1;
|
||||
|
||||
link.mass = btmb->getBaseMass();
|
||||
// link frame in the center of mass
|
||||
link.body_r_body_com(0) = 0;
|
||||
link.body_r_body_com(1) = 0;
|
||||
link.body_r_body_com(2) = 0;
|
||||
// BulletDynamics uses body-fixed frame in the cog, aligned with principal axes
|
||||
link.body_I_body(0, 0) = btmb->getBaseInertia()[0];
|
||||
link.body_I_body(0, 1) = 0.0;
|
||||
link.body_I_body(0, 2) = 0.0;
|
||||
link.body_I_body(1, 0) = 0.0;
|
||||
link.body_I_body(1, 1) = btmb->getBaseInertia()[1];
|
||||
link.body_I_body(1, 2) = 0.0;
|
||||
link.body_I_body(2, 0) = 0.0;
|
||||
link.body_I_body(2, 1) = 0.0;
|
||||
link.body_I_body(2, 2) = btmb->getBaseInertia()[2];
|
||||
// shift reference point to link origin (in joint axis)
|
||||
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
|
||||
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
|
||||
if (verbose) {
|
||||
id_printf("base: mass= %f, bt_inertia= [%f %f %f]\n"
|
||||
"Io= [%f %f %f;\n"
|
||||
" %f %f %f;\n"
|
||||
" %f %f %f]\n",
|
||||
link.mass, btmb->getBaseInertia()[0], btmb->getBaseInertia()[1],
|
||||
btmb->getBaseInertia()[2], link.body_I_body(0, 0), link.body_I_body(0, 1),
|
||||
link.body_I_body(0, 2), link.body_I_body(1, 0), link.body_I_body(1, 1),
|
||||
link.body_I_body(1, 2), link.body_I_body(2, 0), link.body_I_body(2, 1),
|
||||
link.body_I_body(2, 2));
|
||||
}
|
||||
}
|
||||
|
||||
for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++) {
|
||||
if (verbose) {
|
||||
id_printf("bt->id: converting link %d\n", bt_index);
|
||||
}
|
||||
const btMultibodyLink &bt_link = btmb->getLink(bt_index);
|
||||
LinkData &link = m_data[bt_index + 1];
|
||||
|
||||
link.parent_index = bt_link.m_parent + 1;
|
||||
|
||||
link.mass = bt_link.m_mass;
|
||||
if (verbose) {
|
||||
id_printf("mass= %f\n", link.mass);
|
||||
}
|
||||
// from this body's pivot to this body's com in this body's frame
|
||||
link.body_r_body_com[0] = bt_link.m_dVector[0];
|
||||
link.body_r_body_com[1] = bt_link.m_dVector[1];
|
||||
link.body_r_body_com[2] = bt_link.m_dVector[2];
|
||||
if (verbose) {
|
||||
id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1],
|
||||
link.body_r_body_com[2]);
|
||||
}
|
||||
// BulletDynamics uses a body-fixed frame in the CoM, aligned with principal axes
|
||||
link.body_I_body(0, 0) = bt_link.m_inertiaLocal[0];
|
||||
link.body_I_body(0, 1) = 0.0;
|
||||
link.body_I_body(0, 2) = 0.0;
|
||||
link.body_I_body(1, 0) = 0.0;
|
||||
link.body_I_body(1, 1) = bt_link.m_inertiaLocal[1];
|
||||
link.body_I_body(1, 2) = 0.0;
|
||||
link.body_I_body(2, 0) = 0.0;
|
||||
link.body_I_body(2, 1) = 0.0;
|
||||
link.body_I_body(2, 2) = bt_link.m_inertiaLocal[2];
|
||||
// shift reference point to link origin (in joint axis)
|
||||
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
|
||||
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
|
||||
|
||||
if (verbose) {
|
||||
id_printf("link %d: mass= %f, bt_inertia= [%f %f %f]\n"
|
||||
"Io= [%f %f %f;\n"
|
||||
" %f %f %f;\n"
|
||||
" %f %f %f]\n",
|
||||
bt_index, link.mass, bt_link.m_inertiaLocal[0], bt_link.m_inertiaLocal[1],
|
||||
bt_link.m_inertiaLocal[2], link.body_I_body(0, 0), link.body_I_body(0, 1),
|
||||
link.body_I_body(0, 2), link.body_I_body(1, 0), link.body_I_body(1, 1),
|
||||
link.body_I_body(1, 2), link.body_I_body(2, 0), link.body_I_body(2, 1),
|
||||
link.body_I_body(2, 2));
|
||||
}
|
||||
// transform for vectors written in parent frame to this link's body-fixed frame
|
||||
btMatrix3x3 basis = btTransform(bt_link.m_zeroRotParentToThis).getBasis();
|
||||
link.body_T_parent_ref(0, 0) = basis[0][0];
|
||||
link.body_T_parent_ref(0, 1) = basis[0][1];
|
||||
link.body_T_parent_ref(0, 2) = basis[0][2];
|
||||
link.body_T_parent_ref(1, 0) = basis[1][0];
|
||||
link.body_T_parent_ref(1, 1) = basis[1][1];
|
||||
link.body_T_parent_ref(1, 2) = basis[1][2];
|
||||
link.body_T_parent_ref(2, 0) = basis[2][0];
|
||||
link.body_T_parent_ref(2, 1) = basis[2][1];
|
||||
link.body_T_parent_ref(2, 2) = basis[2][2];
|
||||
if (verbose) {
|
||||
id_printf("body_T_parent_ref= %f %f %f\n"
|
||||
" %f %f %f\n"
|
||||
" %f %f %f\n",
|
||||
basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2],
|
||||
basis[2][0], basis[2][1], basis[2][2]);
|
||||
}
|
||||
switch (bt_link.m_jointType) {
|
||||
case btMultibodyLink::eRevolute:
|
||||
link.joint_type = REVOLUTE;
|
||||
if (verbose) {
|
||||
id_printf("type= revolute\n");
|
||||
}
|
||||
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0];
|
||||
link.body_axis_of_motion(1) = bt_link.m_axes[0].m_topVec[1];
|
||||
link.body_axis_of_motion(2) = bt_link.m_axes[0].m_topVec[2];
|
||||
|
||||
// for revolute joints, m_eVector = parentComToThisPivotOffset
|
||||
// m_dVector = thisPivotToThisComOffset
|
||||
// from parent com to pivot, in parent frame
|
||||
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
|
||||
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
|
||||
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
|
||||
break;
|
||||
case btMultibodyLink::ePrismatic:
|
||||
link.joint_type = PRISMATIC;
|
||||
if (verbose) {
|
||||
id_printf("type= prismatic\n");
|
||||
}
|
||||
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0];
|
||||
link.body_axis_of_motion(1) = bt_link.m_axes[0].m_bottomVec[1];
|
||||
link.body_axis_of_motion(2) = bt_link.m_axes[0].m_bottomVec[2];
|
||||
|
||||
// for prismatic joints, eVector
|
||||
// according to documentation :
|
||||
// parentComToThisComOffset
|
||||
// but seems to be: from parent's com to parent's
|
||||
// pivot ??
|
||||
// m_dVector = thisPivotToThisComOffset
|
||||
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
|
||||
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
|
||||
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
|
||||
break;
|
||||
case btMultibodyLink::eSpherical:
|
||||
error_message("spherical joints not implemented\n");
|
||||
return -1;
|
||||
case btMultibodyLink::ePlanar:
|
||||
error_message("planar joints not implemented\n");
|
||||
return -1;
|
||||
case btMultibodyLink::eFixed:
|
||||
link.joint_type = FIXED;
|
||||
// random unit vector
|
||||
link.body_axis_of_motion(0) = 0;
|
||||
link.body_axis_of_motion(1) = 0;
|
||||
link.body_axis_of_motion(2) = 1;
|
||||
|
||||
// for fixed joints, m_dVector = thisPivotToThisComOffset;
|
||||
// m_eVector = parentComToThisPivotOffset;
|
||||
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
|
||||
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
|
||||
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
|
||||
break;
|
||||
default:
|
||||
error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
|
||||
bt_link.m_jointType);
|
||||
return -1;
|
||||
}
|
||||
if (link.parent_index > 0) { // parent body isn't the root
|
||||
const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1);
|
||||
// from parent pivot to parent com, in parent frame
|
||||
link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0];
|
||||
link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1];
|
||||
link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2];
|
||||
} else {
|
||||
// parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies,
|
||||
// whose link frame is in the CoM (ie, no notion of a pivot point)
|
||||
}
|
||||
|
||||
if (verbose) {
|
||||
id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0],
|
||||
link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]);
|
||||
}
|
||||
}
|
||||
|
||||
m_initialized = true;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const {
|
||||
if (false == m_initialized) {
|
||||
error_message("btMultiBody not converted yet\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
*num_bodies = static_cast<int>(m_data.size());
|
||||
return 0;
|
||||
}
|
||||
|
||||
int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, JointType *joint_type,
|
||||
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
|
||||
vec3 *body_axis_of_motion, idScalar *mass,
|
||||
vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
|
||||
void **user_ptr) const {
|
||||
if (false == m_initialized) {
|
||||
error_message("MultiBodyTree not created yet\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (body_index < 0 || body_index >= static_cast<int>(m_data.size())) {
|
||||
error_message("index out of range (got %d but only %zu bodies)\n", body_index,
|
||||
m_data.size());
|
||||
return -1;
|
||||
}
|
||||
|
||||
*parent_index = m_data[body_index].parent_index;
|
||||
*joint_type = m_data[body_index].joint_type;
|
||||
*parent_r_parent_body_ref = m_data[body_index].parent_r_parent_body_ref;
|
||||
*body_T_parent_ref = m_data[body_index].body_T_parent_ref;
|
||||
*body_axis_of_motion = m_data[body_index].body_axis_of_motion;
|
||||
*mass = m_data[body_index].mass;
|
||||
*body_r_body_com = m_data[body_index].body_r_body_com;
|
||||
*body_I_body = m_data[body_index].body_I_body;
|
||||
|
||||
*user_int = -1;
|
||||
*user_ptr = 0x0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
#ifndef BTMULTIBODYTREECREATOR_HPP_
|
||||
#define BTMULTIBODYTREECREATOR_HPP_
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "MultiBodyTreeCreator.hpp"
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
|
||||
/// MultiBodyTreeCreator implementation for converting
|
||||
/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
|
||||
class btMultiBodyTreeCreator : public MultiBodyTreeCreator {
|
||||
public:
|
||||
/// ctor
|
||||
btMultiBodyTreeCreator();
|
||||
/// dtor
|
||||
~btMultiBodyTreeCreator() {}
|
||||
/// extract model data from a btMultiBody
|
||||
/// @param btmb pointer to btMultiBody to convert
|
||||
/// @param verbose if true, some information is printed
|
||||
/// @return -1 on error, 0 on success
|
||||
int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
|
||||
/// \copydoc MultiBodyTreeCreator::getNumBodies
|
||||
int getNumBodies(int *num_bodies) const;
|
||||
///\copydoc MultiBodyTreeCreator::getBody
|
||||
int getBody(const int body_index, int *parent_index, JointType *joint_type,
|
||||
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
|
||||
vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com,
|
||||
mat33 *body_I_body, int *user_int, void **user_ptr) const;
|
||||
|
||||
private:
|
||||
// internal struct holding data extracted from btMultiBody
|
||||
struct LinkData {
|
||||
int parent_index;
|
||||
JointType joint_type;
|
||||
vec3 parent_r_parent_body_ref;
|
||||
mat33 body_T_parent_ref;
|
||||
vec3 body_axis_of_motion;
|
||||
idScalar mass;
|
||||
vec3 body_r_body_com;
|
||||
mat33 body_I_body;
|
||||
};
|
||||
idArray<LinkData>::type m_data;
|
||||
bool m_initialized;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // BTMULTIBODYTREECREATOR_HPP_
|
||||
39
Engine/lib/bullet/Extras/InverseDynamics/cmake_install.cmake
Normal file
39
Engine/lib/bullet/Extras/InverseDynamics/cmake_install.cmake
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
# Install script for directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/InverseDynamics
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "/Users/ragora/Documents/Test")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "Release")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump")
|
||||
endif()
|
||||
|
||||
|
|
@ -0,0 +1,307 @@
|
|||
#include "invdyn_bullet_comparison.hpp"
|
||||
#include <cmath>
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
#include "BulletInverseDynamics/MultiBodyTree.hpp"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
|
||||
namespace btInverseDynamics {
|
||||
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
|
||||
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
|
||||
double *acc_error) {
|
||||
// call function and return -1 if it does, printing an error_message
|
||||
#define RETURN_ON_FAILURE(x) \
|
||||
do { \
|
||||
if (-1 == x) { \
|
||||
error_message("calling " #x "\n"); \
|
||||
return -1; \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
if (verbose) {
|
||||
printf("\n ===================================== \n");
|
||||
}
|
||||
vecx joint_forces(q.size());
|
||||
|
||||
// set positions and velocities for btMultiBody
|
||||
// base link
|
||||
mat33 world_T_base;
|
||||
vec3 world_pos_base;
|
||||
btTransform base_transform;
|
||||
vec3 base_velocity;
|
||||
vec3 base_angular_velocity;
|
||||
|
||||
RETURN_ON_FAILURE(id_tree->setGravityInWorldFrame(gravity));
|
||||
RETURN_ON_FAILURE(id_tree->getBodyOrigin(0, &world_pos_base));
|
||||
RETURN_ON_FAILURE(id_tree->getBodyTransform(0, &world_T_base));
|
||||
RETURN_ON_FAILURE(id_tree->getBodyAngularVelocity(0, &base_angular_velocity));
|
||||
RETURN_ON_FAILURE(id_tree->getBodyLinearVelocityCoM(0, &base_velocity));
|
||||
|
||||
base_transform.setBasis(world_T_base);
|
||||
base_transform.setOrigin(world_pos_base);
|
||||
btmb->setBaseWorldTransform(base_transform);
|
||||
btmb->setBaseOmega(base_angular_velocity);
|
||||
btmb->setBaseVel(base_velocity);
|
||||
btmb->setLinearDamping(0);
|
||||
btmb->setAngularDamping(0);
|
||||
|
||||
// remaining links
|
||||
int q_index;
|
||||
if (btmb->hasFixedBase()) {
|
||||
q_index = 0;
|
||||
} else {
|
||||
q_index = 6;
|
||||
}
|
||||
if (verbose) {
|
||||
printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs());
|
||||
}
|
||||
for (int l = 0; l < btmb->getNumLinks(); l++) {
|
||||
const btMultibodyLink &link = btmb->getLink(l);
|
||||
if (verbose) {
|
||||
printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount,
|
||||
link.m_dofCount);
|
||||
}
|
||||
if (link.m_posVarCount == 1) {
|
||||
btmb->setJointPosMultiDof(l, &q(q_index));
|
||||
btmb->setJointVelMultiDof(l, &u(q_index));
|
||||
if (verbose) {
|
||||
printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index));
|
||||
}
|
||||
q_index++;
|
||||
}
|
||||
}
|
||||
// sanity check
|
||||
if (q_index != q.size()) {
|
||||
error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// run inverse dynamics to determine joint_forces for given q, u, dot_u
|
||||
if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces)) {
|
||||
error_message("calculating inverse dynamics\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// set up bullet forward dynamics model
|
||||
btScalar dt = 0;
|
||||
btAlignedObjectArray<btScalar> scratch_r;
|
||||
btAlignedObjectArray<btVector3> scratch_v;
|
||||
btAlignedObjectArray<btMatrix3x3> scratch_m;
|
||||
// this triggers switch between using either appliedConstraintForce or appliedForce
|
||||
bool isConstraintPass = false;
|
||||
// apply gravity forces for btMultiBody model. Must be done manually.
|
||||
btmb->addBaseForce(btmb->getBaseMass() * gravity);
|
||||
|
||||
for (int link = 0; link < btmb->getNumLinks(); link++) {
|
||||
btmb->addLinkForce(link, gravity * btmb->getLinkMass(link));
|
||||
if (verbose) {
|
||||
printf("link %d, applying gravity %f %f %f\n", link,
|
||||
gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link),
|
||||
gravity[2] * btmb->getLinkMass(link));
|
||||
}
|
||||
}
|
||||
|
||||
// apply generalized forces
|
||||
if (btmb->hasFixedBase()) {
|
||||
q_index = 0;
|
||||
} else {
|
||||
vec3 base_force;
|
||||
base_force(0) = joint_forces(3);
|
||||
base_force(1) = joint_forces(4);
|
||||
base_force(2) = joint_forces(5);
|
||||
|
||||
vec3 base_moment;
|
||||
base_moment(0) = joint_forces(0);
|
||||
base_moment(1) = joint_forces(1);
|
||||
base_moment(2) = joint_forces(2);
|
||||
|
||||
btmb->addBaseForce(world_T_base * base_force);
|
||||
btmb->addBaseTorque(world_T_base * base_moment);
|
||||
if (verbose) {
|
||||
printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4),
|
||||
joint_forces(5));
|
||||
printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1),
|
||||
joint_forces(2));
|
||||
}
|
||||
q_index = 6;
|
||||
}
|
||||
|
||||
for (int l = 0; l < btmb->getNumLinks(); l++) {
|
||||
const btMultibodyLink &link = btmb->getLink(l);
|
||||
if (link.m_posVarCount == 1) {
|
||||
if (verbose) {
|
||||
printf("id:joint_force[%d]= %f, applied to link %d\n", q_index,
|
||||
joint_forces(q_index), l);
|
||||
}
|
||||
btmb->addJointTorque(l, joint_forces(q_index));
|
||||
q_index++;
|
||||
}
|
||||
}
|
||||
|
||||
// sanity check
|
||||
if (q_index != q.size()) {
|
||||
error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// run forward kinematics & forward dynamics
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
btmb->forwardKinematics(world_to_local, local_origin);
|
||||
btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass);
|
||||
|
||||
// read generalized accelerations back from btMultiBody
|
||||
// the mapping from scratch variables to accelerations is taken from the implementation
|
||||
// of stepVelocitiesMultiDof
|
||||
btScalar *base_accel = &scratch_r[btmb->getNumDofs()];
|
||||
btScalar *joint_accel = base_accel + 6;
|
||||
*acc_error = 0;
|
||||
int dot_u_offset = 0;
|
||||
if (btmb->hasFixedBase()) {
|
||||
dot_u_offset = 0;
|
||||
} else {
|
||||
dot_u_offset = 6;
|
||||
}
|
||||
|
||||
if (true == btmb->hasFixedBase()) {
|
||||
for (int i = 0; i < btmb->getNumDofs(); i++) {
|
||||
if (verbose) {
|
||||
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
|
||||
dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
|
||||
}
|
||||
*acc_error += std::pow(joint_accel[i] - dot_u(i + dot_u_offset), 2);
|
||||
}
|
||||
} else {
|
||||
vec3 base_dot_omega;
|
||||
vec3 world_dot_omega;
|
||||
world_dot_omega(0) = base_accel[0];
|
||||
world_dot_omega(1) = base_accel[1];
|
||||
world_dot_omega(2) = base_accel[2];
|
||||
base_dot_omega = world_T_base.transpose() * world_dot_omega;
|
||||
|
||||
// com happens to coincide with link origin here. If that changes, we need to calculate
|
||||
// ddot_com
|
||||
vec3 base_ddot_com;
|
||||
vec3 world_ddot_com;
|
||||
world_ddot_com(0) = base_accel[3];
|
||||
world_ddot_com(1) = base_accel[4];
|
||||
world_ddot_com(2) = base_accel[5];
|
||||
base_ddot_com = world_T_base.transpose()*world_ddot_com;
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (verbose) {
|
||||
printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
|
||||
i, dot_u[i], base_dot_omega(i) - dot_u[i]);
|
||||
}
|
||||
*acc_error += std::pow(base_dot_omega(i) - dot_u(i), 2);
|
||||
}
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (verbose) {
|
||||
printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
|
||||
i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
|
||||
}
|
||||
*acc_error += std::pow(base_ddot_com(i) - dot_u(i + 3), 2);
|
||||
}
|
||||
|
||||
for (int i = 0; i < btmb->getNumDofs(); i++) {
|
||||
if (verbose) {
|
||||
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
|
||||
dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
|
||||
}
|
||||
*acc_error += std::pow(joint_accel[i] - dot_u(i + 6), 2);
|
||||
}
|
||||
}
|
||||
*acc_error = std::sqrt(*acc_error);
|
||||
if (verbose) {
|
||||
printf("======dynamics-err: %e\n", *acc_error);
|
||||
}
|
||||
*pos_error = 0.0;
|
||||
|
||||
{
|
||||
mat33 world_T_body;
|
||||
if (-1 == id_tree->getBodyTransform(0, &world_T_body)) {
|
||||
error_message("getting transform for body %d\n", 0);
|
||||
return -1;
|
||||
}
|
||||
vec3 world_com;
|
||||
if (-1 == id_tree->getBodyCoM(0, &world_com)) {
|
||||
error_message("getting com for body %d\n", 0);
|
||||
return -1;
|
||||
}
|
||||
if (verbose) {
|
||||
printf("id:com: %f %f %f\n", world_com(0), world_com(1), world_com(2));
|
||||
|
||||
printf("id:transform: %f %f %f\n"
|
||||
" %f %f %f\n"
|
||||
" %f %f %f\n",
|
||||
world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0),
|
||||
world_T_body(1, 1), world_T_body(1, 2), world_T_body(2, 0), world_T_body(2, 1),
|
||||
world_T_body(2, 2));
|
||||
}
|
||||
}
|
||||
|
||||
for (int l = 0; l < btmb->getNumLinks(); l++) {
|
||||
const btMultibodyLink &bt_link = btmb->getLink(l);
|
||||
|
||||
vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin();
|
||||
mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis();
|
||||
if (verbose) {
|
||||
printf("------------- link %d\n", l + 1);
|
||||
printf("bt:com: %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2));
|
||||
printf("bt:transform: %f %f %f\n"
|
||||
" %f %f %f\n"
|
||||
" %f %f %f\n",
|
||||
bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1),
|
||||
bt_basis(1, 2), bt_basis(2, 0), bt_basis(2, 1), bt_basis(2, 2));
|
||||
}
|
||||
mat33 id_world_T_body;
|
||||
vec3 id_world_com;
|
||||
|
||||
if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body)) {
|
||||
error_message("getting transform for body %d\n", l);
|
||||
return -1;
|
||||
}
|
||||
if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com)) {
|
||||
error_message("getting com for body %d\n", l);
|
||||
return -1;
|
||||
}
|
||||
if (verbose) {
|
||||
printf("id:com: %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2));
|
||||
|
||||
printf("id:transform: %f %f %f\n"
|
||||
" %f %f %f\n"
|
||||
" %f %f %f\n",
|
||||
id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2),
|
||||
id_world_T_body(1, 0), id_world_T_body(1, 1), id_world_T_body(1, 2),
|
||||
id_world_T_body(2, 0), id_world_T_body(2, 1), id_world_T_body(2, 2));
|
||||
}
|
||||
vec3 diff_com = bt_origin - id_world_com;
|
||||
mat33 diff_basis = bt_basis - id_world_T_body;
|
||||
if (verbose) {
|
||||
printf("diff-com: %e %e %e\n", diff_com(0), diff_com(1), diff_com(2));
|
||||
|
||||
printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0),
|
||||
diff_basis(0, 1), diff_basis(0, 2), diff_basis(1, 0), diff_basis(1, 1),
|
||||
diff_basis(1, 2), diff_basis(2, 0), diff_basis(2, 1), diff_basis(2, 2));
|
||||
}
|
||||
double total_pos_err =
|
||||
std::sqrt(std::pow(diff_com(0), 2) + std::pow(diff_com(1), 2) +
|
||||
std::pow(diff_com(2), 2) + std::pow(diff_basis(0, 0), 2) +
|
||||
std::pow(diff_basis(0, 1), 2) + std::pow(diff_basis(0, 2), 2) +
|
||||
std::pow(diff_basis(1, 0), 2) + std::pow(diff_basis(1, 1), 2) +
|
||||
std::pow(diff_basis(1, 2), 2) + std::pow(diff_basis(2, 0), 2) +
|
||||
std::pow(diff_basis(2, 1), 2) + std::pow(diff_basis(2, 2), 2));
|
||||
if (verbose) {
|
||||
printf("======kin-pos-err: %e\n", total_pos_err);
|
||||
}
|
||||
if (total_pos_err > *pos_error) {
|
||||
*pos_error = total_pos_err;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,35 @@
|
|||
#ifndef INVDYN_BULLET_COMPARISON_HPP
|
||||
#define INVDYN_BULLET_COMPARISON_HPP
|
||||
|
||||
#include "BulletInverseDynamics/IDConfig.hpp"
|
||||
|
||||
class btMultiBody;
|
||||
class btVector3;
|
||||
|
||||
namespace btInverseDynamics {
|
||||
class MultiBodyTree;
|
||||
|
||||
/// this function compares the forward dynamics computations implemented in btMultiBody to
|
||||
/// the inverse dynamics implementation in MultiBodyTree. This is done in three steps
|
||||
/// 1. run inverse dynamics for (q, u, dot_u) to obtain joint forces f
|
||||
/// 2. run forward dynamics (btMultiBody) for (q,u,f) to obtain dot_u_bullet
|
||||
/// 3. compare dot_u with dot_u_bullet for cross check of forward and inverse dynamics computations
|
||||
/// @param btmb the bullet forward dynamics model
|
||||
/// @param id_tree the inverse dynamics model
|
||||
/// @param q vector of generalized coordinates (matches id_tree)
|
||||
/// @param u vector of generalized speeds (matches id_tree)
|
||||
/// @param gravity gravitational acceleration in world frame
|
||||
/// @param dot_u vector of generalized accelerations (matches id_tree)
|
||||
/// @param gravity gravitational acceleration in world frame
|
||||
/// @param base_fixed set base joint to fixed or
|
||||
/// @param pos_error is set to the maximum of the euclidean norm of position+rotation errors of all
|
||||
/// center of gravity positions and link frames
|
||||
/// @param acc_error is set to the square root of the sum of squared differences of generalized
|
||||
/// accelerations
|
||||
/// computed in step 3 relative to dot_u
|
||||
/// @return -1 on error, 0 on success
|
||||
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
|
||||
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
|
||||
double *acc_error);
|
||||
}
|
||||
#endif // INVDYN_BULLET_COMPARISON_HPP
|
||||
Binary file not shown.
|
|
@ -0,0 +1 @@
|
|||
libBulletInverseDynamicsUtils.2.85.dylib
|
||||
12
Engine/lib/bullet/Extras/InverseDynamics/premake4.lua
Normal file
12
Engine/lib/bullet/Extras/InverseDynamics/premake4.lua
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
project "BulletInverseDynamicsUtils"
|
||||
|
||||
kind "StaticLib"
|
||||
|
||||
includedirs {
|
||||
"../../src"
|
||||
}
|
||||
|
||||
files {
|
||||
"*.cpp",
|
||||
"*.hpp"
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue