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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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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "InverseDynamicsExample.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "Bullet3Common/b3FileUtils.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../Utils/b3ResourcePath.h"
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#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
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#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
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#include "../RenderingExamples/TimeSeriesCanvas.h"
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#include <vector>
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// the UI interface makes it easier to use static variables & free functions
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// as parameters and callbacks
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static btScalar kp =10*10;
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static btScalar kd = 2*10;
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static bool useInverseModel = true;
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static std::vector<btScalar> qd;
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static std::vector<std::string> qd_name;
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static std::vector<std::string> q_name;
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static btVector4 sJointCurveColors[8] =
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{
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btVector4(1,0.3,0.3,1),
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btVector4(0.3,1,0.3,1),
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btVector4(0.3,0.3,1,1),
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btVector4(0.3,1,1,1),
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btVector4(1,0.3,1,1),
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btVector4(1,1,0.3,1),
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btVector4(1,0.7,0.7,1),
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btVector4(0.7,1,1,1),
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};
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void toggleUseInverseModel(int buttonId, bool buttonState, void* userPointer){
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useInverseModel=!useInverseModel;
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// todo(thomas) is there a way to get a toggle button with changing text?
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b3Printf("switched inverse model %s", useInverseModel?"on":"off");
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}
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class InverseDynamicsExample : public CommonMultiBodyBase
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{
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btInverseDynamicsExampleOptions m_option;
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btMultiBody* m_multiBody;
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btInverseDynamics::MultiBodyTree *m_inverseModel;
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TimeSeriesCanvas* m_timeSeriesCanvas;
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public:
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InverseDynamicsExample(struct GUIHelperInterface* helper, btInverseDynamicsExampleOptions option);
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virtual ~InverseDynamicsExample();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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void setFileName(const char* urdfFileName);
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virtual void resetCamera()
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{
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float dist = 1.5;
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float pitch = -80;
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float yaw = 10;
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float targetPos[3]={0,0,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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InverseDynamicsExample::InverseDynamicsExample(struct GUIHelperInterface* helper, btInverseDynamicsExampleOptions option)
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:CommonMultiBodyBase(helper),
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m_option(option),
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m_multiBody(0),
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m_inverseModel(0),
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m_timeSeriesCanvas(0)
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{
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}
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InverseDynamicsExample::~InverseDynamicsExample()
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{
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delete m_inverseModel;
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delete m_timeSeriesCanvas;
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}
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//todo(erwincoumans) Quick hack, reference to InvertedPendulumPDControl implementation. Will create a separate header/source file for this.
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btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase);
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void InverseDynamicsExample::initPhysics()
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{
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//roboticists like Z up
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int upAxis = 2;
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m_guiHelper->setUpAxis(upAxis);
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createEmptyDynamicsWorld();
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btVector3 gravity(0,0,0);
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// gravity[upAxis]=-9.8;
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m_dynamicsWorld->setGravity(gravity);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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{
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SliderParams slider("Kp",&kp);
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slider.m_minVal=0;
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slider.m_maxVal=2000;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Kd",&kd);
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slider.m_minVal=0;
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slider.m_maxVal=50;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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if (m_option == BT_ID_PROGRAMMATICALLY)
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{
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ButtonParams button("toggle inverse model",0,true);
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button.m_callback = toggleUseInverseModel;
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m_guiHelper->getParameterInterface()->registerButtonParameter(button);
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}
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switch (m_option)
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{
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case BT_ID_LOAD_URDF:
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{
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BulletURDFImporter u2b(m_guiHelper,0);
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bool loadOk = u2b.loadURDF("kuka_iiwa/model.urdf");// lwr / kuka.urdf");
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if (loadOk)
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{
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int rootLinkIndex = u2b.getRootLinkIndex();
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b3Printf("urdf root link index = %d\n",rootLinkIndex);
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MyMultiBodyCreator creation(m_guiHelper);
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btTransform identityTrans;
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identityTrans.setIdentity();
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ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,true,u2b.getPathPrefix());
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for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
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{
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m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
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}
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m_multiBody = creation.getBulletMultiBody();
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if (m_multiBody)
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{
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//kuka without joint control/constraints will gain energy explode soon due to timestep/integrator
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//temporarily set some extreme damping factors until we have some joint control or constraints
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m_multiBody->setAngularDamping(0*0.99);
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m_multiBody->setLinearDamping(0*0.99);
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b3Printf("Root link name = %s",u2b.getLinkName(u2b.getRootLinkIndex()).c_str());
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}
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}
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break;
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}
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case BT_ID_PROGRAMMATICALLY:
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{
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btTransform baseWorldTrans;
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baseWorldTrans.setIdentity();
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m_multiBody = createInvertedPendulumMultiBody(m_dynamicsWorld, m_guiHelper, baseWorldTrans, false);
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break;
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}
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default:
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{
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b3Error("Unknown option in InverseDynamicsExample::initPhysics");
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b3Assert(0);
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}
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};
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if(m_multiBody) {
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{
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if (m_guiHelper->getAppInterface() && m_guiHelper->getParameterInterface())
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{
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m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "Joint Space Trajectory");
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m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
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}
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}
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// construct inverse model
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btInverseDynamics::btMultiBodyTreeCreator id_creator;
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if (-1 == id_creator.createFromBtMultiBody(m_multiBody, false)) {
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b3Error("error creating tree\n");
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} else {
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m_inverseModel = btInverseDynamics::CreateMultiBodyTree(id_creator);
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}
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// add joint target controls
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qd.resize(m_multiBody->getNumDofs());
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qd_name.resize(m_multiBody->getNumDofs());
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q_name.resize(m_multiBody->getNumDofs());
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if (m_timeSeriesCanvas && m_guiHelper->getParameterInterface())
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{
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for(std::size_t dof=0;dof<qd.size();dof++)
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{
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qd[dof] = 0;
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char tmp[25];
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sprintf(tmp,"q_desired[%u]",dof);
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qd_name[dof] = tmp;
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SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
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slider.m_minVal=-3.14;
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slider.m_maxVal=3.14;
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sprintf(tmp,"q[%u]",dof);
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q_name[dof] = tmp;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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btVector4 color = sJointCurveColors[dof&7];
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m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
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}
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void InverseDynamicsExample::stepSimulation(float deltaTime)
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{
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if(m_multiBody) {
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const int num_dofs=m_multiBody->getNumDofs();
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btInverseDynamics::vecx nu(num_dofs), qdot(num_dofs), q(num_dofs),joint_force(num_dofs);
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btInverseDynamics::vecx pd_control(num_dofs);
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// compute joint forces from one of two control laws:
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// 1) "computed torque" control, which gives perfect, decoupled,
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// linear second order error dynamics per dof in case of a
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// perfect model and (and negligible time discretization effects)
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// 2) decoupled PD control per joint, without a model
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for(int dof=0;dof<num_dofs;dof++) {
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q(dof) = m_multiBody->getJointPos(dof);
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qdot(dof)= m_multiBody->getJointVel(dof);
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const btScalar qd_dot=0;
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const btScalar qd_ddot=0;
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if (m_timeSeriesCanvas)
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m_timeSeriesCanvas->insertDataAtCurrentTime(q[dof],dof,true);
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// pd_control is either desired joint torque for pd control,
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// or the feedback contribution to nu
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pd_control(dof) = kd*(qd_dot-qdot(dof)) + kp*(qd[dof]-q(dof));
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// nu is the desired joint acceleration for computed torque control
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nu(dof) = qd_ddot + pd_control(dof);
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}
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if(useInverseModel)
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{
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// calculate joint forces corresponding to desired accelerations nu
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if (m_multiBody->hasFixedBase())
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{
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if(-1 != m_inverseModel->calculateInverseDynamics(q,qdot,nu,&joint_force))
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{
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//joint_force(dof) += damping*dot_q(dof);
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// use inverse model: apply joint force corresponding to
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// desired acceleration nu
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for(int dof=0;dof<num_dofs;dof++)
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{
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m_multiBody->addJointTorque(dof,joint_force(dof));
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}
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}
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} else
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{
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//the inverse dynamics model represents the 6 DOFs of the base, unlike btMultiBody.
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//append some dummy values to represent the 6 DOFs of the base
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btInverseDynamics::vecx nu6(num_dofs+6), qdot6(num_dofs+6), q6(num_dofs+6),joint_force6(num_dofs+6);
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for (int i=0;i<num_dofs;i++)
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{
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nu6[6+i] = nu[i];
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qdot6[6+i] = qdot[i];
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q6[6+i] = q[i];
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joint_force6[6+i] = joint_force[i];
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}
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if(-1 != m_inverseModel->calculateInverseDynamics(q6,qdot6,nu6,&joint_force6))
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{
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//joint_force(dof) += damping*dot_q(dof);
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// use inverse model: apply joint force corresponding to
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// desired acceleration nu
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for(int dof=0;dof<num_dofs;dof++)
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{
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m_multiBody->addJointTorque(dof,joint_force6(dof+6));
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}
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}
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}
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} else
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{
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for(int dof=0;dof<num_dofs;dof++)
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{
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// no model: just apply PD control law
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m_multiBody->addJointTorque(dof,pd_control(dof));
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}
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}
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}
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if (m_timeSeriesCanvas)
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m_timeSeriesCanvas->nextTick();
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//todo: joint damping for btMultiBody, tune parameters
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// step the simulation
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if (m_dynamicsWorld)
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{
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// todo(thomas) check that this is correct:
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// want to advance by 10ms, with 1ms timesteps
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m_dynamicsWorld->stepSimulation(1e-3,0);//,1e-3);
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btAlignedObjectArray<btQuaternion> scratch_q;
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btAlignedObjectArray<btVector3> scratch_m;
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m_multiBody->forwardKinematics(scratch_q, scratch_m);
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for (int i = 0; i < m_multiBody->getNumLinks(); i++)
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{
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//btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin();
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btTransform tr = m_multiBody->getLink(i).m_cachedWorldTransform;
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btVector3 pos = tr.getOrigin() - quatRotate(tr.getRotation(), m_multiBody->getLink(i).m_dVector);
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btVector3 localAxis = m_multiBody->getLink(i).m_axes[0].m_topVec;
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//printf("link %d: %f,%f,%f, local axis:%f,%f,%f\n", i, pos.x(), pos.y(), pos.z(), localAxis.x(), localAxis.y(), localAxis.z());
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}
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}
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}
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CommonExampleInterface* InverseDynamicsExampleCreateFunc(CommonExampleOptions& options)
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{
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return new InverseDynamicsExample(options.m_guiHelper, btInverseDynamicsExampleOptions(options.m_option));
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}
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B3_STANDALONE_EXAMPLE(InverseDynamicsExampleCreateFunc)
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