mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-11 22:54:34 +00:00
* 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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#include "GripperGraspExample.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include <string>
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#include "b3RobotSimAPI.h"
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#include "../Utils/b3Clock.h"
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static btScalar sGripperVerticalVelocity = -0.2f;
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static btScalar sGripperClosingTargetVelocity = 0.5f;
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class GripperGraspExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimAPI m_robotSim;
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int m_options;
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int m_r2d2Index;
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int m_gripperIndex;
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float m_x;
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float m_y;
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float m_z;
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b3AlignedObjectArray<int> m_movingInstances;
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enum
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{
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numCubesX = 20,
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numCubesY = 20
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};
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public:
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GripperGraspExample(GUIHelperInterface* helper, int options)
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:m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options),
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m_r2d2Index(-1),
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m_gripperIndex(-1),
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m_x(0),
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m_y(0),
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m_z(0)
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{
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m_app->setUpAxis(2);
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}
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virtual ~GripperGraspExample()
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{
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m_app->m_renderer->enableBlend(false);
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
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virtual void initPhysics()
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{
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bool connected = m_robotSim.connect(m_guiHelper);
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b3Printf("robotSim connected = %d",connected);
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if ((m_options & eGRIPPER_GRASP)!=0)
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{
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{
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SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
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slider.m_minVal=-2;
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slider.m_maxVal=2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
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);
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slider.m_minVal=-1;
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slider.m_maxVal=1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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args.m_fileName = "cube_small.urdf";
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args.m_startPosition.setValue(0, 0, .107);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args, results);
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
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args.m_fileType = B3_SDF_FILE;
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args.m_useMultiBody = true;
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b3RobotSimLoadFileResults results;
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if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d",numJoints);
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
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b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
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}
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/*
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int fingerJointIndices[2]={1,3};
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double fingerTargetPositions[2]={-0.04,0.04};
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for (int i=0;i<2;i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
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controlArgs.m_targetPosition = fingerTargetPositions[i];
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controlArgs.m_kp = 5.0;
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controlArgs.m_kd = 3.0;
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controlArgs.m_maxTorqueValue = 1.0;
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m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
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}
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*/
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int fingerJointIndices[3]={0,1,3};
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double fingerTargetVelocities[3]={-0.2,.5,-.5};
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double maxTorqueValues[3]={40.0,50.0,50.0};
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for (int i=0;i<3;i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = fingerTargetVelocities[i];
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controlArgs.m_maxTorqueValue = maxTorqueValues[i];
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
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}
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}
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}
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if (1)
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_startOrientation.setEulerZYX(0,0,0);
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args.m_forceOverrideFixedBase = true;
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args.m_useMultiBody = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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}
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m_robotSim.setGravity(b3MakeVector3(0,0,-10));
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m_robotSim.setNumSimulationSubSteps(4);
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}
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if ((m_options & eTWO_POINT_GRASP)!=0)
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{
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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args.m_fileName = "cube_small.urdf";
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args.m_startPosition.setValue(0, 0, .107);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args, results);
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}
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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args.m_fileName = "cube_gripper_left.urdf";
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args.m_startPosition.setValue(0.068, 0.02, 0.11);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args, results);
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = -0.1;
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controlArgs.m_maxTorqueValue = 10.0;
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(1,0,controlArgs);
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}
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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args.m_fileName = "cube_gripper_right.urdf";
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args.m_startPosition.setValue(-0.068, 0.02, 0.11);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args, results);
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = 0.1;
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controlArgs.m_maxTorqueValue = 10.0;
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(2,0,controlArgs);
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}
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if (1)
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_startOrientation.setEulerZYX(0,0,0);
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args.m_forceOverrideFixedBase = true;
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args.m_useMultiBody = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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}
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m_robotSim.setGravity(b3MakeVector3(0,0,-10));
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m_robotSim.setNumSimulationSubSteps(4);
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}
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if ((m_options & eONE_MOTOR_GRASP)!=0)
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{
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{
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SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
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slider.m_minVal=-2;
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slider.m_maxVal=2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
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);
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slider.m_minVal=-1;
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slider.m_maxVal=1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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b3RobotSimLoadFileArgs args("");
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b3RobotSimLoadFileResults results;
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args.m_fileName = "sphere_small.urdf";
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args.m_startPosition.setValue(0, 0, .107);
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args.m_startOrientation.setEulerZYX(0, 0, 0);
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args.m_useMultiBody = true;
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m_robotSim.loadFile(args, results);
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}
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
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args.m_fileType = B3_SDF_FILE;
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args.m_useMultiBody = true;
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b3RobotSimLoadFileResults results;
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if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
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{
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m_gripperIndex = results.m_uniqueObjectIds[0];
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int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
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b3Printf("numJoints = %d",numJoints);
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo jointInfo;
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m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
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b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
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}
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for (int i=0;i<8;i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_maxTorqueValue = 0.0;
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m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
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}
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}
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}
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if (1)
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{
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b3RobotSimLoadFileArgs args("");
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args.m_fileName = "plane.urdf";
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args.m_startPosition.setValue(0,0,0);
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args.m_startOrientation.setEulerZYX(0,0,0);
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args.m_forceOverrideFixedBase = true;
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args.m_useMultiBody = true;
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b3RobotSimLoadFileResults results;
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m_robotSim.loadFile(args,results);
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}
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m_robotSim.setGravity(b3MakeVector3(0,0,-10));
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/*
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b3JointInfo sliderJoint1;
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sliderJoint1.m_parentFrame[0] = 0;
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sliderJoint1.m_parentFrame[1] = 0;
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sliderJoint1.m_parentFrame[2] = 0.06;
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sliderJoint1.m_parentFrame[3] = 0;
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sliderJoint1.m_parentFrame[4] = 0;
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sliderJoint1.m_parentFrame[5] = 0;
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sliderJoint1.m_parentFrame[6] = 1.0;
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sliderJoint1.m_childFrame[0] = 0;
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sliderJoint1.m_childFrame[1] = 0;
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sliderJoint1.m_childFrame[2] = 0;
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sliderJoint1.m_childFrame[3] = 0;
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sliderJoint1.m_childFrame[4] = 0;
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sliderJoint1.m_childFrame[5] = 0;
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sliderJoint1.m_childFrame[6] = 1.0;
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sliderJoint1.m_jointAxis[0] = 1.0;
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sliderJoint1.m_jointAxis[1] = 0.0;
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sliderJoint1.m_jointAxis[2] = 0.0;
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sliderJoint1.m_jointType = ePrismaticType;
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b3JointInfo sliderJoint2;
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sliderJoint2.m_parentFrame[0] = 0;
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sliderJoint2.m_parentFrame[1] = 0;
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sliderJoint2.m_parentFrame[2] = 0.06;
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sliderJoint2.m_parentFrame[3] = 0;
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sliderJoint2.m_parentFrame[4] = 0;
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sliderJoint2.m_parentFrame[5] = 0;
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sliderJoint2.m_parentFrame[6] = 1.0;
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sliderJoint2.m_childFrame[0] = 0;
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sliderJoint2.m_childFrame[1] = 0;
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sliderJoint2.m_childFrame[2] = 0;
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sliderJoint2.m_childFrame[3] = 0;
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sliderJoint2.m_childFrame[4] = 0;
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sliderJoint2.m_childFrame[5] = 1.0;
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sliderJoint2.m_childFrame[6] = 0;
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sliderJoint2.m_jointAxis[0] = 1.0;
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sliderJoint2.m_jointAxis[1] = 0.0;
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sliderJoint2.m_jointAxis[2] = 0.0;
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sliderJoint2.m_jointType = ePrismaticType;
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m_robotSim.createJoint(1, 0, 1, 3, &sliderJoint1);
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m_robotSim.createJoint(1, 0, 1, 6, &sliderJoint2);
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*/
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b3JointInfo revoluteJoint1;
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revoluteJoint1.m_parentFrame[0] = -0.055;
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revoluteJoint1.m_parentFrame[1] = 0;
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revoluteJoint1.m_parentFrame[2] = 0.02;
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revoluteJoint1.m_parentFrame[3] = 0;
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revoluteJoint1.m_parentFrame[4] = 0;
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revoluteJoint1.m_parentFrame[5] = 0;
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revoluteJoint1.m_parentFrame[6] = 1.0;
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revoluteJoint1.m_childFrame[0] = 0;
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revoluteJoint1.m_childFrame[1] = 0;
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revoluteJoint1.m_childFrame[2] = 0;
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revoluteJoint1.m_childFrame[3] = 0;
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revoluteJoint1.m_childFrame[4] = 0;
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revoluteJoint1.m_childFrame[5] = 0;
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revoluteJoint1.m_childFrame[6] = 1.0;
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revoluteJoint1.m_jointAxis[0] = 1.0;
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revoluteJoint1.m_jointAxis[1] = 0.0;
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revoluteJoint1.m_jointAxis[2] = 0.0;
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revoluteJoint1.m_jointType = ePoint2PointType;
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b3JointInfo revoluteJoint2;
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revoluteJoint2.m_parentFrame[0] = 0.055;
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revoluteJoint2.m_parentFrame[1] = 0;
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revoluteJoint2.m_parentFrame[2] = 0.02;
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revoluteJoint2.m_parentFrame[3] = 0;
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revoluteJoint2.m_parentFrame[4] = 0;
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revoluteJoint2.m_parentFrame[5] = 0;
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revoluteJoint2.m_parentFrame[6] = 1.0;
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revoluteJoint2.m_childFrame[0] = 0;
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revoluteJoint2.m_childFrame[1] = 0;
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revoluteJoint2.m_childFrame[2] = 0;
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revoluteJoint2.m_childFrame[3] = 0;
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revoluteJoint2.m_childFrame[4] = 0;
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revoluteJoint2.m_childFrame[5] = 0;
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revoluteJoint2.m_childFrame[6] = 1.0;
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revoluteJoint2.m_jointAxis[0] = 1.0;
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revoluteJoint2.m_jointAxis[1] = 0.0;
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revoluteJoint2.m_jointAxis[2] = 0.0;
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revoluteJoint2.m_jointType = ePoint2PointType;
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m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
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m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
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}
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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virtual void stepSimulation(float deltaTime)
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{
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if ((m_options & eGRIPPER_GRASP)!=0)
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{
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if ((m_gripperIndex>=0))
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{
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int fingerJointIndices[3]={0,1,3};
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double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
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,-sGripperClosingTargetVelocity
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};
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double maxTorqueValues[3]={40.0,50.0,50.0};
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for (int i=0;i<3;i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = fingerTargetVelocities[i];
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controlArgs.m_maxTorqueValue = maxTorqueValues[i];
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
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}
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}
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}
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if ((m_options & eONE_MOTOR_GRASP)!=0)
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{
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int fingerJointIndices[2]={0,1};
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double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
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};
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double maxTorqueValues[2]={50.0,50.0};
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for (int i=0;i<2;i++)
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{
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b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
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controlArgs.m_targetVelocity = fingerTargetVelocities[i];
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controlArgs.m_maxTorqueValue = maxTorqueValues[i];
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controlArgs.m_kd = 1.;
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m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
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}
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}
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|
||||
m_robotSim.stepSimulation();
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
|
||||
}
|
||||
|
||||
|
||||
virtual void physicsDebugDraw()
|
||||
{
|
||||
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 1.5;
|
||||
float pitch = 12;
|
||||
float yaw = -10;
|
||||
float targetPos[3]={-0.2,0.8,0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new GripperGraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef GRIPPER_GRASP_EXAMPLE_H
|
||||
#define GRIPPER_GRASP_EXAMPLE_H
|
||||
|
||||
enum GripperGraspExampleOptions
|
||||
{
|
||||
eGRIPPER_GRASP=1,
|
||||
eTWO_POINT_GRASP=2,
|
||||
eONE_MOTOR_GRASP=4,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //GRIPPER_GRASP_EXAMPLE_H
|
||||
319
Engine/lib/bullet/examples/RoboticsLearning/KukaGraspExample.cpp
Normal file
319
Engine/lib/bullet/examples/RoboticsLearning/KukaGraspExample.cpp
Normal file
|
|
@ -0,0 +1,319 @@
|
|||
|
||||
#include "KukaGraspExample.h"
|
||||
#include "../SharedMemory/IKTrajectoryHelper.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../SharedMemory/PhysicsServerSharedMemory.h"
|
||||
#include "../SharedMemory/PhysicsClientC_API.h"
|
||||
#include <string>
|
||||
|
||||
#include "b3RobotSimAPI.h"
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
///quick demo showing the right-handed coordinate system and positive rotations around each axis
|
||||
class KukaGraspExample : public CommonExampleInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
GUIHelperInterface* m_guiHelper;
|
||||
b3RobotSimAPI m_robotSim;
|
||||
int m_kukaIndex;
|
||||
|
||||
IKTrajectoryHelper m_ikHelper;
|
||||
int m_targetSphereInstance;
|
||||
b3Vector3 m_targetPos;
|
||||
b3Vector3 m_worldPos;
|
||||
b3Vector4 m_targetOri;
|
||||
b3Vector4 m_worldOri;
|
||||
double m_time;
|
||||
int m_options;
|
||||
|
||||
b3AlignedObjectArray<int> m_movingInstances;
|
||||
enum
|
||||
{
|
||||
numCubesX = 20,
|
||||
numCubesY = 20
|
||||
};
|
||||
public:
|
||||
|
||||
KukaGraspExample(GUIHelperInterface* helper, int options)
|
||||
:m_app(helper->getAppInterface()),
|
||||
m_guiHelper(helper),
|
||||
m_options(options),
|
||||
m_kukaIndex(-1),
|
||||
m_time(0)
|
||||
{
|
||||
m_targetPos.setValue(0.5,0,1);
|
||||
m_worldPos.setValue(0, 0, 0);
|
||||
m_app->setUpAxis(2);
|
||||
}
|
||||
virtual ~KukaGraspExample()
|
||||
{
|
||||
m_app->m_renderer->enableBlend(false);
|
||||
}
|
||||
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawMode)
|
||||
{
|
||||
|
||||
}
|
||||
virtual void initPhysics()
|
||||
{
|
||||
|
||||
///create some graphics proxy for the tracking target
|
||||
///the endeffector tries to track it using Inverse Kinematics
|
||||
{
|
||||
int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
|
||||
b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
|
||||
m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
|
||||
}
|
||||
m_app->m_renderer->writeTransforms();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
bool connected = m_robotSim.connect(m_guiHelper);
|
||||
b3Printf("robotSim connected = %d",connected);
|
||||
|
||||
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "kuka_iiwa/model.urdf";
|
||||
args.m_startPosition.setValue(0,0,0);
|
||||
b3RobotSimLoadFileResults results;
|
||||
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
|
||||
{
|
||||
m_kukaIndex = results.m_uniqueObjectIds[0];
|
||||
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
|
||||
b3Printf("numJoints = %d",numJoints);
|
||||
|
||||
for (int i=0;i<numJoints;i++)
|
||||
{
|
||||
b3JointInfo jointInfo;
|
||||
m_robotSim.getJointInfo(m_kukaIndex,i,&jointInfo);
|
||||
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
|
||||
}
|
||||
/*
|
||||
int wheelJointIndices[4]={2,3,6,7};
|
||||
int wheelTargetVelocities[4]={-10,-10,-10,-10};
|
||||
for (int i=0;i<4;i++)
|
||||
{
|
||||
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = 1e30;
|
||||
m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
if (0)
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "kiva_shelf/model.sdf";
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
args.m_fileType = B3_SDF_FILE;
|
||||
args.m_startOrientation = b3Quaternion(0,0,0,1);
|
||||
b3RobotSimLoadFileResults results;
|
||||
m_robotSim.loadFile(args,results);
|
||||
}
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "plane.urdf";
|
||||
args.m_startPosition.setValue(0,0,0);
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
b3RobotSimLoadFileResults results;
|
||||
m_robotSim.loadFile(args,results);
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,0));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
m_robotSim.disconnect();
|
||||
}
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
float dt = deltaTime;
|
||||
btClamp(dt,0.0001f,0.01f);
|
||||
|
||||
m_time+=dt;
|
||||
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
|
||||
m_targetOri.setValue(0, 1.0, 0, 0);
|
||||
|
||||
|
||||
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
|
||||
|
||||
if (numJoints==7)
|
||||
{
|
||||
double q_current[7]={0,0,0,0,0,0,0};
|
||||
|
||||
double world_position[3]={0,0,0};
|
||||
double world_orientation[4]={0,0,0,0};
|
||||
b3JointStates jointStates;
|
||||
|
||||
if (m_robotSim.getJointStates(m_kukaIndex,jointStates))
|
||||
{
|
||||
//skip the base positions (7 values)
|
||||
b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
|
||||
for (int i=0;i<numJoints;i++)
|
||||
{
|
||||
q_current[i] = jointStates.m_actualStateQ[i+7];
|
||||
}
|
||||
}
|
||||
// compute body position and orientation
|
||||
m_robotSim.getLinkState(0, 6, world_position, world_orientation);
|
||||
m_worldPos.setValue(world_position[0], world_position[1], world_position[2]);
|
||||
m_worldOri.setValue(world_orientation[0], world_orientation[1], world_orientation[2], world_orientation[3]);
|
||||
|
||||
b3Vector3DoubleData targetPosDataOut;
|
||||
m_targetPos.serializeDouble(targetPosDataOut);
|
||||
b3Vector3DoubleData worldPosDataOut;
|
||||
m_worldPos.serializeDouble(worldPosDataOut);
|
||||
b3Vector3DoubleData targetOriDataOut;
|
||||
m_targetOri.serializeDouble(targetOriDataOut);
|
||||
b3Vector3DoubleData worldOriDataOut;
|
||||
m_worldOri.serializeDouble(worldOriDataOut);
|
||||
|
||||
|
||||
b3RobotSimInverseKinematicArgs ikargs;
|
||||
b3RobotSimInverseKinematicsResults ikresults;
|
||||
|
||||
|
||||
ikargs.m_bodyUniqueId = m_kukaIndex;
|
||||
// ikargs.m_currentJointPositions = q_current;
|
||||
// ikargs.m_numPositions = 7;
|
||||
ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
|
||||
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
|
||||
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
|
||||
|
||||
ikargs.m_flags |= /*B3_HAS_IK_TARGET_ORIENTATION +*/ B3_HAS_NULL_SPACE_VELOCITY;
|
||||
|
||||
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
|
||||
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
|
||||
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
|
||||
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
|
||||
ikargs.m_endEffectorLinkIndex = 6;
|
||||
|
||||
// Settings based on default KUKA arm setting
|
||||
ikargs.m_lowerLimits.resize(numJoints);
|
||||
ikargs.m_upperLimits.resize(numJoints);
|
||||
ikargs.m_jointRanges.resize(numJoints);
|
||||
ikargs.m_restPoses.resize(numJoints);
|
||||
ikargs.m_lowerLimits[0] = -2.32;
|
||||
ikargs.m_lowerLimits[1] = -1.6;
|
||||
ikargs.m_lowerLimits[2] = -2.32;
|
||||
ikargs.m_lowerLimits[3] = -1.6;
|
||||
ikargs.m_lowerLimits[4] = -2.32;
|
||||
ikargs.m_lowerLimits[5] = -1.6;
|
||||
ikargs.m_lowerLimits[6] = -2.4;
|
||||
ikargs.m_upperLimits[0] = 2.32;
|
||||
ikargs.m_upperLimits[1] = 1.6;
|
||||
ikargs.m_upperLimits[2] = 2.32;
|
||||
ikargs.m_upperLimits[3] = 1.6;
|
||||
ikargs.m_upperLimits[4] = 2.32;
|
||||
ikargs.m_upperLimits[5] = 1.6;
|
||||
ikargs.m_upperLimits[6] = 2.4;
|
||||
ikargs.m_jointRanges[0] = 5.8;
|
||||
ikargs.m_jointRanges[1] = 4;
|
||||
ikargs.m_jointRanges[2] = 5.8;
|
||||
ikargs.m_jointRanges[3] = 4;
|
||||
ikargs.m_jointRanges[4] = 5.8;
|
||||
ikargs.m_jointRanges[5] = 4;
|
||||
ikargs.m_jointRanges[6] = 6;
|
||||
ikargs.m_restPoses[0] = 0;
|
||||
ikargs.m_restPoses[1] = 0;
|
||||
ikargs.m_restPoses[2] = 0;
|
||||
ikargs.m_restPoses[3] = SIMD_HALF_PI;
|
||||
ikargs.m_restPoses[4] = 0;
|
||||
ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
|
||||
ikargs.m_restPoses[6] = 0;
|
||||
ikargs.m_numDegreeOfFreedom = numJoints;
|
||||
|
||||
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
|
||||
{
|
||||
//copy the IK result to the desired state of the motor/actuator
|
||||
for (int i=0;i<numJoints;i++)
|
||||
{
|
||||
b3JointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
|
||||
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
|
||||
t.m_maxTorqueValue = 100.0;
|
||||
t.m_kp= 1.0;
|
||||
t.m_targetVelocity = 0;
|
||||
t.m_kd = 1.0;
|
||||
m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
m_robotSim.stepSimulation();
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
|
||||
|
||||
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
|
||||
m_app->m_renderer->writeTransforms();
|
||||
|
||||
//draw the end-effector target sphere
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
|
||||
|
||||
virtual void physicsDebugDraw()
|
||||
{
|
||||
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 3;
|
||||
float pitch = 0;
|
||||
float yaw = 30;
|
||||
float targetPos[3]={-0.2,0.8,0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new KukaGraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef KUKA_GRASP_EXAMPLE_H
|
||||
#define KUKA_GRASP_EXAMPLE_H
|
||||
|
||||
enum KukaGraspExampleOptions
|
||||
{
|
||||
eKUKA_GRASP_DLS_IK=1,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //KUKA_GRASP_EXAMPLE_H
|
||||
233
Engine/lib/bullet/examples/RoboticsLearning/R2D2GraspExample.cpp
Normal file
233
Engine/lib/bullet/examples/RoboticsLearning/R2D2GraspExample.cpp
Normal file
|
|
@ -0,0 +1,233 @@
|
|||
|
||||
#include "R2D2GraspExample.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../SharedMemory/PhysicsServerSharedMemory.h"
|
||||
#include "../SharedMemory/PhysicsClientC_API.h"
|
||||
#include <string>
|
||||
|
||||
#include "b3RobotSimAPI.h"
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
///quick demo showing the right-handed coordinate system and positive rotations around each axis
|
||||
class R2D2GraspExample : public CommonExampleInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
GUIHelperInterface* m_guiHelper;
|
||||
b3RobotSimAPI m_robotSim;
|
||||
int m_options;
|
||||
int m_r2d2Index;
|
||||
|
||||
float m_x;
|
||||
float m_y;
|
||||
float m_z;
|
||||
b3AlignedObjectArray<int> m_movingInstances;
|
||||
enum
|
||||
{
|
||||
numCubesX = 20,
|
||||
numCubesY = 20
|
||||
};
|
||||
public:
|
||||
|
||||
R2D2GraspExample(GUIHelperInterface* helper, int options)
|
||||
:m_app(helper->getAppInterface()),
|
||||
m_guiHelper(helper),
|
||||
m_options(options),
|
||||
m_r2d2Index(-1),
|
||||
m_x(0),
|
||||
m_y(0),
|
||||
m_z(0)
|
||||
{
|
||||
m_app->setUpAxis(2);
|
||||
}
|
||||
virtual ~R2D2GraspExample()
|
||||
{
|
||||
m_app->m_renderer->enableBlend(false);
|
||||
}
|
||||
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawMode)
|
||||
{
|
||||
|
||||
}
|
||||
virtual void initPhysics()
|
||||
{
|
||||
bool connected = m_robotSim.connect(m_guiHelper);
|
||||
b3Printf("robotSim connected = %d",connected);
|
||||
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
|
||||
{
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "r2d2.urdf";
|
||||
args.m_startPosition.setValue(0,0,.5);
|
||||
b3RobotSimLoadFileResults results;
|
||||
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
|
||||
{
|
||||
int m_r2d2Index = results.m_uniqueObjectIds[0];
|
||||
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
|
||||
b3Printf("numJoints = %d",numJoints);
|
||||
|
||||
for (int i=0;i<numJoints;i++)
|
||||
{
|
||||
b3JointInfo jointInfo;
|
||||
m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
|
||||
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
|
||||
}
|
||||
int wheelJointIndices[4]={2,3,6,7};
|
||||
int wheelTargetVelocities[4]={-10,-10,-10,-10};
|
||||
for (int i=0;i<4;i++)
|
||||
{
|
||||
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
|
||||
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
|
||||
controlArgs.m_maxTorqueValue = 1e30;
|
||||
m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
|
||||
}
|
||||
}
|
||||
}
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "kiva_shelf/model.sdf";
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
args.m_fileType = B3_SDF_FILE;
|
||||
args.m_startOrientation = b3Quaternion(0,0,0,1);
|
||||
b3RobotSimLoadFileResults results;
|
||||
m_robotSim.loadFile(args,results);
|
||||
}
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "plane.urdf";
|
||||
args.m_startPosition.setValue(0,0,0);
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
b3RobotSimLoadFileResults results;
|
||||
m_robotSim.loadFile(args,results);
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
b3RobotSimLoadFileResults results;
|
||||
{
|
||||
args.m_fileName = "cube_soft.urdf";
|
||||
args.m_startPosition.setValue(0,0,2.5);
|
||||
args.m_startOrientation.setEulerZYX(0,0.2,0);
|
||||
m_robotSim.loadFile(args,results);
|
||||
}
|
||||
{
|
||||
args.m_fileName = "cube_no_friction.urdf";
|
||||
args.m_startPosition.setValue(0,2,2.5);
|
||||
args.m_startOrientation.setEulerZYX(0,0.2,0);
|
||||
m_robotSim.loadFile(args,results);
|
||||
}
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "plane.urdf";
|
||||
args.m_startPosition.setValue(0,0,0);
|
||||
args.m_startOrientation.setEulerZYX(0,0.2,0);
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
b3RobotSimLoadFileResults results;
|
||||
m_robotSim.loadFile(args,results);
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
b3RobotSimLoadFileResults results;
|
||||
{
|
||||
args.m_fileName = "sphere2_rolling_friction.urdf";
|
||||
args.m_startPosition.setValue(0,0,2.5);
|
||||
args.m_startOrientation.setEulerZYX(0,0,0);
|
||||
args.m_useMultiBody = true;
|
||||
m_robotSim.loadFile(args,results);
|
||||
}
|
||||
{
|
||||
args.m_fileName = "sphere2.urdf";
|
||||
args.m_startPosition.setValue(0,2,2.5);
|
||||
args.m_startOrientation.setEulerZYX(0,0,0);
|
||||
args.m_useMultiBody = true;
|
||||
m_robotSim.loadFile(args,results);
|
||||
}
|
||||
{
|
||||
b3RobotSimLoadFileArgs args("");
|
||||
args.m_fileName = "plane.urdf";
|
||||
args.m_startPosition.setValue(0,0,0);
|
||||
args.m_startOrientation.setEulerZYX(0,0.2,0);
|
||||
args.m_useMultiBody = true;
|
||||
args.m_forceOverrideFixedBase = true;
|
||||
b3RobotSimLoadFileResults results;
|
||||
m_robotSim.loadFile(args,results);
|
||||
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
m_robotSim.disconnect();
|
||||
}
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
m_robotSim.stepSimulation();
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
m_robotSim.renderScene();
|
||||
|
||||
//m_app->m_renderer->renderScene();
|
||||
}
|
||||
|
||||
|
||||
virtual void physicsDebugDraw()
|
||||
{
|
||||
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 3;
|
||||
float pitch = -75;
|
||||
float yaw = 30;
|
||||
float targetPos[3]={-0.2,0.8,0.3};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new R2D2GraspExample(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef R2D2_GRASP_EXAMPLE_H
|
||||
#define R2D2_GRASP_EXAMPLE_H
|
||||
|
||||
enum RobotLearningExampleOptions
|
||||
{
|
||||
eROBOTIC_LEARN_GRASP=1,
|
||||
eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
|
||||
eROBOTIC_LEARN_ROLLING_FRICTION=4,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //R2D2_GRASP_EXAMPLE_H
|
||||
999
Engine/lib/bullet/examples/RoboticsLearning/b3RobotSimAPI.cpp
Normal file
999
Engine/lib/bullet/examples/RoboticsLearning/b3RobotSimAPI.cpp
Normal file
|
|
@ -0,0 +1,999 @@
|
|||
#include "b3RobotSimAPI.h"
|
||||
|
||||
//#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
//#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../SharedMemory/PhysicsServerSharedMemory.h"
|
||||
#include "../SharedMemory/PhysicsServerSharedMemory.h"
|
||||
#include "../SharedMemory/PhysicsClientC_API.h"
|
||||
#include "../SharedMemory/PhysicsDirectC_API.h"
|
||||
#include "../SharedMemory/PhysicsDirect.h"
|
||||
|
||||
#include <string>
|
||||
#include "../Utils/b3Clock.h"
|
||||
|
||||
|
||||
#include "../MultiThreading/b3ThreadSupportInterface.h"
|
||||
|
||||
|
||||
void RobotThreadFunc(void* userPtr,void* lsMemory);
|
||||
void* RobotlsMemoryFunc();
|
||||
#define MAX_ROBOT_NUM_THREADS 1
|
||||
enum
|
||||
{
|
||||
numCubesX = 20,
|
||||
numCubesY = 20
|
||||
};
|
||||
|
||||
|
||||
enum TestRobotSimCommunicationEnums
|
||||
{
|
||||
eRequestTerminateRobotSim= 13,
|
||||
eRobotSimIsUnInitialized,
|
||||
eRobotSimIsInitialized,
|
||||
eRobotSimInitializationFailed,
|
||||
eRobotSimHasTerminated
|
||||
};
|
||||
|
||||
enum MultiThreadedGUIHelperCommunicationEnums
|
||||
{
|
||||
eRobotSimGUIHelperIdle= 13,
|
||||
eRobotSimGUIHelperRegisterTexture,
|
||||
eRobotSimGUIHelperRegisterGraphicsShape,
|
||||
eRobotSimGUIHelperRegisterGraphicsInstance,
|
||||
eRobotSimGUIHelperCreateCollisionShapeGraphicsObject,
|
||||
eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
|
||||
eRobotSimGUIHelperRemoveAllGraphicsInstances,
|
||||
eRobotSimGUIHelperCopyCameraImageData,
|
||||
};
|
||||
|
||||
#include <stdio.h>
|
||||
//#include "BulletMultiThreaded/PlatformDefinitions.h"
|
||||
|
||||
#ifndef _WIN32
|
||||
#include "../MultiThreading/b3PosixThreadSupport.h"
|
||||
|
||||
b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
|
||||
{
|
||||
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("RobotSimThreads",
|
||||
RobotThreadFunc,
|
||||
RobotlsMemoryFunc,
|
||||
numThreads);
|
||||
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
|
||||
|
||||
return threadSupport;
|
||||
|
||||
}
|
||||
|
||||
|
||||
#elif defined( _WIN32)
|
||||
#include "../MultiThreading/b3Win32ThreadSupport.h"
|
||||
|
||||
b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
|
||||
{
|
||||
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("RobotSimThreads",RobotThreadFunc,RobotlsMemoryFunc,numThreads);
|
||||
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
|
||||
return threadSupport;
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
struct RobotSimArgs
|
||||
{
|
||||
RobotSimArgs()
|
||||
:m_physicsServerPtr(0)
|
||||
{
|
||||
}
|
||||
b3CriticalSection* m_cs;
|
||||
|
||||
PhysicsServerSharedMemory* m_physicsServerPtr;
|
||||
b3AlignedObjectArray<b3Vector3> m_positions;
|
||||
};
|
||||
|
||||
struct RobotSimThreadLocalStorage
|
||||
{
|
||||
int threadId;
|
||||
};
|
||||
|
||||
|
||||
void RobotThreadFunc(void* userPtr,void* lsMemory)
|
||||
{
|
||||
printf("RobotThreadFunc thread started\n");
|
||||
RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
|
||||
|
||||
RobotSimArgs* args = (RobotSimArgs*) userPtr;
|
||||
int workLeft = true;
|
||||
b3Clock clock;
|
||||
clock.reset();
|
||||
bool init = true;
|
||||
if (init)
|
||||
{
|
||||
|
||||
args->m_cs->lock();
|
||||
args->m_cs->setSharedParam(0,eRobotSimIsInitialized);
|
||||
args->m_cs->unlock();
|
||||
|
||||
do
|
||||
{
|
||||
//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
|
||||
#if 0
|
||||
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
|
||||
if (deltaTimeInSeconds<(1./260.))
|
||||
{
|
||||
if (deltaTimeInSeconds<.001)
|
||||
continue;
|
||||
}
|
||||
|
||||
clock.reset();
|
||||
#endif //
|
||||
args->m_physicsServerPtr->processClientCommands();
|
||||
|
||||
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateRobotSim);
|
||||
} else
|
||||
{
|
||||
args->m_cs->lock();
|
||||
args->m_cs->setSharedParam(0,eRobotSimInitializationFailed);
|
||||
args->m_cs->unlock();
|
||||
}
|
||||
//do nothing
|
||||
}
|
||||
|
||||
|
||||
|
||||
void* RobotlsMemoryFunc()
|
||||
{
|
||||
//don't create local store memory, just return 0
|
||||
return new RobotSimThreadLocalStorage;
|
||||
}
|
||||
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
|
||||
b3CriticalSection* m_cs;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
GUIHelperInterface* m_childGuiHelper;
|
||||
|
||||
const unsigned char* m_texels;
|
||||
int m_textureWidth;
|
||||
int m_textureHeight;
|
||||
|
||||
|
||||
int m_shapeIndex;
|
||||
const float* m_position;
|
||||
const float* m_quaternion;
|
||||
const float* m_color;
|
||||
const float* m_scaling;
|
||||
|
||||
const float* m_vertices;
|
||||
int m_numvertices;
|
||||
const int* m_indices;
|
||||
int m_numIndices;
|
||||
int m_primitiveType;
|
||||
int m_textureId;
|
||||
int m_instanceId;
|
||||
|
||||
|
||||
MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
|
||||
:m_app(app)
|
||||
,m_cs(0),
|
||||
m_texels(0),
|
||||
m_textureId(-1)
|
||||
{
|
||||
m_childGuiHelper = guiHelper;;
|
||||
|
||||
}
|
||||
|
||||
virtual ~MultiThreadedOpenGLGuiHelper2()
|
||||
{
|
||||
delete m_childGuiHelper;
|
||||
}
|
||||
|
||||
void setCriticalSection(b3CriticalSection* cs)
|
||||
{
|
||||
m_cs = cs;
|
||||
}
|
||||
|
||||
b3CriticalSection* getCriticalSection()
|
||||
{
|
||||
return m_cs;
|
||||
}
|
||||
|
||||
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
|
||||
{
|
||||
createCollisionObjectGraphicsObject((btCollisionObject*)body, color);
|
||||
}
|
||||
|
||||
btCollisionObject* m_obj;
|
||||
btVector3 m_color2;
|
||||
|
||||
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
|
||||
{
|
||||
m_obj = obj;
|
||||
m_color2 = color;
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionObjectGraphicsObject);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btCollisionShape* m_colShape;
|
||||
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
|
||||
{
|
||||
m_colShape = collisionShape;
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionShapeGraphicsObject);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
|
||||
//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
|
||||
if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
|
||||
{
|
||||
m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
m_childGuiHelper->render(0);
|
||||
}
|
||||
|
||||
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)
|
||||
{
|
||||
m_texels = texels;
|
||||
m_textureWidth = width;
|
||||
m_textureHeight = height;
|
||||
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterTexture);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
return m_textureId;
|
||||
}
|
||||
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
|
||||
{
|
||||
m_vertices = vertices;
|
||||
m_numvertices = numvertices;
|
||||
m_indices = indices;
|
||||
m_numIndices = numIndices;
|
||||
m_primitiveType = primitiveType;
|
||||
m_textureId = textureId;
|
||||
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsShape);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
return m_shapeIndex;
|
||||
}
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
|
||||
{
|
||||
m_shapeIndex = shapeIndex;
|
||||
m_position = position;
|
||||
m_quaternion = quaternion;
|
||||
m_color = color;
|
||||
m_scaling = scaling;
|
||||
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsInstance);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
return m_instanceId;
|
||||
}
|
||||
|
||||
virtual void removeAllGraphicsInstances()
|
||||
{
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperRemoveAllGraphicsInstances);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
virtual Common2dCanvasInterface* get2dCanvasInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonParameterInterface* getParameterInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonRenderInterface* getRenderInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonGraphicsApp* getAppInterface()
|
||||
{
|
||||
return m_childGuiHelper->getAppInterface();
|
||||
}
|
||||
|
||||
|
||||
virtual void setUpAxis(int axis)
|
||||
{
|
||||
m_childGuiHelper->setUpAxis(axis);
|
||||
}
|
||||
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
|
||||
{
|
||||
}
|
||||
|
||||
float m_viewMatrix[16];
|
||||
float m_projectionMatrix[16];
|
||||
unsigned char* m_pixelsRGBA;
|
||||
int m_rgbaBufferSizeInPixels;
|
||||
float* m_depthBuffer;
|
||||
int m_depthBufferSizeInPixels;
|
||||
int* m_segmentationMaskBuffer;
|
||||
int m_segmentationMaskBufferSizeInPixels;
|
||||
int m_startPixelIndex;
|
||||
int m_destinationWidth;
|
||||
int m_destinationHeight;
|
||||
int* m_numPixelsCopied;
|
||||
|
||||
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
||||
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
||||
float* depthBuffer, int depthBufferSizeInPixels,
|
||||
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
|
||||
int startPixelIndex, int destinationWidth,
|
||||
int destinationHeight, int* numPixelsCopied)
|
||||
{
|
||||
m_cs->lock();
|
||||
for (int i=0;i<16;i++)
|
||||
{
|
||||
m_viewMatrix[i] = viewMatrix[i];
|
||||
m_projectionMatrix[i] = projectionMatrix[i];
|
||||
}
|
||||
m_pixelsRGBA = pixelsRGBA;
|
||||
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
|
||||
m_depthBuffer = depthBuffer;
|
||||
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
|
||||
m_segmentationMaskBuffer = segmentationMaskBuffer;
|
||||
m_segmentationMaskBufferSizeInPixels = segmentationMaskBufferSizeInPixels;
|
||||
m_startPixelIndex = startPixelIndex;
|
||||
m_destinationWidth = destinationWidth;
|
||||
m_destinationHeight = destinationHeight;
|
||||
m_numPixelsCopied = numPixelsCopied;
|
||||
|
||||
m_cs->setSharedParam(1,eRobotSimGUIHelperCopyCameraImageData);
|
||||
m_cs->unlock();
|
||||
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
struct b3RobotSimAPI_InternalData
|
||||
{
|
||||
//GUIHelperInterface* m_guiHelper;
|
||||
PhysicsServerSharedMemory m_physicsServer;
|
||||
b3PhysicsClientHandle m_physicsClient;
|
||||
|
||||
|
||||
b3ThreadSupportInterface* m_threadSupport;
|
||||
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
|
||||
MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
|
||||
PhysicsDirect* m_clientServerDirect;
|
||||
|
||||
bool m_useMultiThreading;
|
||||
bool m_connected;
|
||||
|
||||
b3RobotSimAPI_InternalData()
|
||||
:m_threadSupport(0),
|
||||
m_multiThreadedHelper(0),
|
||||
m_clientServerDirect(0),
|
||||
m_physicsClient(0),
|
||||
m_useMultiThreading(false),
|
||||
m_connected(false)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
b3RobotSimAPI::b3RobotSimAPI()
|
||||
{
|
||||
m_data = new b3RobotSimAPI_InternalData;
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::stepSimulation()
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
|
||||
if (b3CanSubmitCommand(m_data->m_physicsClient))
|
||||
{
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3InitStepSimulationCommand(m_data->m_physicsClient));
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
b3Assert(statusType==CMD_STEP_FORWARD_SIMULATION_COMPLETED);
|
||||
}
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3PhysicsParamSetGravity(command, gravityAcceleration[0],gravityAcceleration[1],gravityAcceleration[2]);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
|
||||
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
|
||||
}
|
||||
|
||||
/*
|
||||
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
|
||||
const double* jointPositionsQ, double targetPosition[3]);
|
||||
|
||||
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
|
||||
int* bodyUniqueId,
|
||||
int* dofCount,
|
||||
double* jointPositions);
|
||||
*/
|
||||
bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results)
|
||||
{
|
||||
btAssert(args.m_endEffectorLinkIndex>=0);
|
||||
btAssert(args.m_bodyUniqueId>=0);
|
||||
|
||||
|
||||
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId);
|
||||
if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
|
||||
{
|
||||
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
|
||||
} else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
|
||||
{
|
||||
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition,args.m_endEffectorTargetOrientation);
|
||||
} else if (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY)
|
||||
{
|
||||
b3CalculateInverseKinematicsPosWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
|
||||
} else
|
||||
{
|
||||
b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);
|
||||
}
|
||||
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
|
||||
|
||||
|
||||
int numPos=0;
|
||||
|
||||
bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
|
||||
&results.m_bodyUniqueId,
|
||||
&numPos,
|
||||
0);
|
||||
if (result && numPos)
|
||||
{
|
||||
results.m_calculatedJointPositions.resize(numPos);
|
||||
result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
|
||||
&results.m_bodyUniqueId,
|
||||
&numPos,
|
||||
&results.m_calculatedJointPositions[0]);
|
||||
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
b3RobotSimAPI::~b3RobotSimAPI()
|
||||
{
|
||||
delete m_data;
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
|
||||
{
|
||||
if (0==m_data->m_multiThreadedHelper)
|
||||
return;
|
||||
|
||||
switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
|
||||
{
|
||||
case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_data->m_multiThreadedHelper->m_colShape);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperCreateCollisionObjectGraphicsObject:
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_data->m_multiThreadedHelper->m_obj,
|
||||
m_data->m_multiThreadedHelper->m_color2);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperRegisterTexture:
|
||||
{
|
||||
|
||||
m_data->m_multiThreadedHelper->m_textureId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_data->m_multiThreadedHelper->m_texels,
|
||||
m_data->m_multiThreadedHelper->m_textureWidth,m_data->m_multiThreadedHelper->m_textureHeight);
|
||||
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperRegisterGraphicsShape:
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_shapeIndex = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
|
||||
m_data->m_multiThreadedHelper->m_vertices,
|
||||
m_data->m_multiThreadedHelper->m_numvertices,
|
||||
m_data->m_multiThreadedHelper->m_indices,
|
||||
m_data->m_multiThreadedHelper->m_numIndices,
|
||||
m_data->m_multiThreadedHelper->m_primitiveType,
|
||||
m_data->m_multiThreadedHelper->m_textureId);
|
||||
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperRegisterGraphicsInstance:
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_instanceId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
|
||||
m_data->m_multiThreadedHelper->m_shapeIndex,
|
||||
m_data->m_multiThreadedHelper->m_position,
|
||||
m_data->m_multiThreadedHelper->m_quaternion,
|
||||
m_data->m_multiThreadedHelper->m_color,
|
||||
m_data->m_multiThreadedHelper->m_scaling);
|
||||
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperRemoveAllGraphicsInstances:
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
|
||||
int numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
|
||||
b3Assert(numRenderInstances==0);
|
||||
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperCopyCameraImageData:
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_data->m_multiThreadedHelper->m_viewMatrix,
|
||||
m_data->m_multiThreadedHelper->m_projectionMatrix,
|
||||
m_data->m_multiThreadedHelper->m_pixelsRGBA,
|
||||
m_data->m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
|
||||
m_data->m_multiThreadedHelper->m_depthBuffer,
|
||||
m_data->m_multiThreadedHelper->m_depthBufferSizeInPixels,
|
||||
m_data->m_multiThreadedHelper->m_segmentationMaskBuffer,
|
||||
m_data->m_multiThreadedHelper->m_segmentationMaskBufferSizeInPixels,
|
||||
m_data->m_multiThreadedHelper->m_startPixelIndex,
|
||||
m_data->m_multiThreadedHelper->m_destinationWidth,
|
||||
m_data->m_multiThreadedHelper->m_destinationHeight,
|
||||
m_data->m_multiThreadedHelper->m_numPixelsCopied);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
|
||||
|
||||
break;
|
||||
}
|
||||
case eRobotSimGUIHelperIdle:
|
||||
default:
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
|
||||
{
|
||||
int timeout = 1024*1024*1024;
|
||||
b3SharedMemoryStatusHandle statusHandle=0;
|
||||
|
||||
b3SubmitClientCommand(physClient,commandHandle);
|
||||
|
||||
while ((statusHandle==0) && (timeout-- > 0))
|
||||
{
|
||||
statusHandle =b3ProcessServerStatus(physClient);
|
||||
processMultiThreadedGraphicsRequests();
|
||||
}
|
||||
return (b3SharedMemoryStatusHandle) statusHandle;
|
||||
}
|
||||
|
||||
int b3RobotSimAPI::getNumJoints(int bodyUniqueId) const
|
||||
{
|
||||
return b3GetNumJoints(m_data->m_physicsClient,bodyUniqueId);
|
||||
}
|
||||
|
||||
bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
|
||||
{
|
||||
return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
|
||||
if (b3CanSubmitCommand(m_data->m_physicsClient))
|
||||
{
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3CreateJoint(m_data->m_physicsClient, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool b3RobotSimAPI::getJointStates(int bodyUniqueId, b3JointStates& state)
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClient,bodyUniqueId);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
|
||||
if (statusHandle)
|
||||
{
|
||||
double rootInertialFrame[7];
|
||||
const double* rootLocalInertialFrame;
|
||||
const double* actualStateQ;
|
||||
const double* actualStateQdot;
|
||||
const double* jointReactionForces;
|
||||
|
||||
int stat = b3GetStatusActualState(statusHandle,
|
||||
&state.m_bodyUniqueId,
|
||||
&state.m_numDegreeOfFreedomQ,
|
||||
&state.m_numDegreeOfFreedomU,
|
||||
&rootLocalInertialFrame,
|
||||
&actualStateQ,
|
||||
&actualStateQdot,
|
||||
&jointReactionForces);
|
||||
if (stat)
|
||||
{
|
||||
state.m_actualStateQ.resize(state.m_numDegreeOfFreedomQ);
|
||||
state.m_actualStateQdot.resize(state.m_numDegreeOfFreedomU);
|
||||
|
||||
for (int i=0;i<state.m_numDegreeOfFreedomQ;i++)
|
||||
{
|
||||
state.m_actualStateQ[i] = actualStateQ[i];
|
||||
}
|
||||
for (int i=0;i<state.m_numDegreeOfFreedomU;i++)
|
||||
{
|
||||
state.m_actualStateQdot[i] = actualStateQdot[i];
|
||||
}
|
||||
int numJoints = getNumJoints(bodyUniqueId);
|
||||
state.m_jointReactionForces.resize(6*numJoints);
|
||||
for (int i=0;i<numJoints*6;i++)
|
||||
{
|
||||
state.m_jointReactionForces[i] = jointReactionForces[i];
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
//rootInertialFrame,
|
||||
// &state.m_actualStateQ[0],
|
||||
// &state.m_actualStateQdot[0],
|
||||
// &state.m_jointReactionForces[0]);
|
||||
|
||||
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3JointMotorArgs& args)
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
switch (args.m_controlMode)
|
||||
{
|
||||
case CONTROL_MODE_VELOCITY:
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_VELOCITY);
|
||||
b3JointInfo jointInfo;
|
||||
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
|
||||
int uIndex = jointInfo.m_uIndex;
|
||||
b3JointControlSetKd(command,uIndex,args.m_kd);
|
||||
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
|
||||
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
break;
|
||||
}
|
||||
case CONTROL_MODE_POSITION_VELOCITY_PD:
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
|
||||
b3JointInfo jointInfo;
|
||||
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
|
||||
int uIndex = jointInfo.m_uIndex;
|
||||
int qIndex = jointInfo.m_qIndex;
|
||||
|
||||
b3JointControlSetDesiredPosition(command,qIndex,args.m_targetPosition);
|
||||
b3JointControlSetKp(command,uIndex,args.m_kp);
|
||||
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
|
||||
b3JointControlSetKd(command,uIndex,args.m_kd);
|
||||
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
break;
|
||||
}
|
||||
case CONTROL_MODE_TORQUE:
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_TORQUE);
|
||||
b3JointInfo jointInfo;
|
||||
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
|
||||
int uIndex = jointInfo.m_uIndex;
|
||||
b3JointControlSetDesiredForceTorque(command,uIndex,args.m_maxTorqueValue);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Error("Unknown control command in b3RobotSimAPI::setJointMotorControl");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotSimLoadFileResults& results)
|
||||
{
|
||||
bool statusOk = false;
|
||||
|
||||
int robotUniqueId = -1;
|
||||
b3Assert(m_data->m_connected);
|
||||
switch (args.m_fileType)
|
||||
{
|
||||
case B3_URDF_FILE:
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
|
||||
|
||||
//setting the initial position, orientation and other arguments are optional
|
||||
|
||||
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
|
||||
args.m_startPosition[1],
|
||||
args.m_startPosition[2]);
|
||||
b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
|
||||
,args.m_startOrientation[1]
|
||||
,args.m_startOrientation[2]
|
||||
,args.m_startOrientation[3]);
|
||||
if (args.m_forceOverrideFixedBase)
|
||||
{
|
||||
b3LoadUrdfCommandSetUseFixedBase(command,true);
|
||||
}
|
||||
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
|
||||
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
|
||||
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
|
||||
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
|
||||
results.m_uniqueObjectIds.push_back(robotUniqueId);
|
||||
statusOk = true;
|
||||
break;
|
||||
}
|
||||
case B3_SDF_FILE:
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
|
||||
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
|
||||
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);
|
||||
if (statusType == CMD_SDF_LOADING_COMPLETED)
|
||||
{
|
||||
int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
|
||||
if (numBodies)
|
||||
{
|
||||
results.m_uniqueObjectIds.resize(numBodies);
|
||||
int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
|
||||
|
||||
}
|
||||
statusOk = true;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Warning("Unknown file type in b3RobotSimAPI::loadFile");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return statusOk;
|
||||
}
|
||||
|
||||
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
|
||||
{
|
||||
if (m_data->m_useMultiThreading)
|
||||
{
|
||||
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
|
||||
|
||||
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
|
||||
|
||||
|
||||
|
||||
|
||||
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
|
||||
|
||||
for (int i = 0; i < m_data->m_threadSupport->getNumTasks(); i++)
|
||||
{
|
||||
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*)m_data->m_threadSupport->getThreadLocalMemory(i);
|
||||
b3Assert(storage);
|
||||
storage->threadId = i;
|
||||
//storage->m_sharedMem = data->m_sharedMem;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
for (int w = 0; w < MAX_ROBOT_NUM_THREADS; w++)
|
||||
{
|
||||
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
|
||||
m_data->m_args[w].m_cs->setSharedParam(0, eRobotSimIsUnInitialized);
|
||||
int numMoving = 0;
|
||||
m_data->m_args[w].m_positions.resize(numMoving);
|
||||
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
|
||||
int index = 0;
|
||||
|
||||
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
|
||||
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
|
||||
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
|
||||
|
||||
bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
|
||||
b3Assert(serverConnected);
|
||||
|
||||
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_data->m_clientServerDirect = new PhysicsDirect();
|
||||
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
|
||||
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
|
||||
|
||||
}
|
||||
|
||||
//client connected
|
||||
m_data->m_connected = b3CanSubmitCommand(m_data->m_physicsClient);
|
||||
|
||||
b3Assert(m_data->m_connected);
|
||||
return m_data->m_connected && m_data->m_connected;
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::disconnect()
|
||||
{
|
||||
if (m_data->m_useMultiThreading)
|
||||
{
|
||||
for (int i = 0; i < MAX_ROBOT_NUM_THREADS; i++)
|
||||
{
|
||||
m_data->m_args[i].m_cs->lock();
|
||||
m_data->m_args[i].m_cs->setSharedParam(0, eRequestTerminateRobotSim);
|
||||
m_data->m_args[i].m_cs->unlock();
|
||||
}
|
||||
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
|
||||
|
||||
while (numActiveThreads)
|
||||
{
|
||||
int arg0, arg1;
|
||||
if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
|
||||
{
|
||||
numActiveThreads--;
|
||||
printf("numActiveThreads = %d\n", numActiveThreads);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
printf("stopping threads\n");
|
||||
|
||||
delete m_data->m_threadSupport;
|
||||
m_data->m_threadSupport = 0;
|
||||
}
|
||||
b3DisconnectSharedMemory(m_data->m_physicsClient);
|
||||
m_data->m_physicsServer.disconnectSharedMemory(true);
|
||||
|
||||
m_data->m_connected = false;
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimAPI::debugDraw(int debugDrawMode)
|
||||
{
|
||||
if (m_data->m_clientServerDirect)
|
||||
{
|
||||
m_data->m_clientServerDirect->debugDraw(debugDrawMode);
|
||||
}
|
||||
}
|
||||
void b3RobotSimAPI::renderScene()
|
||||
{
|
||||
if (m_data->m_useMultiThreading)
|
||||
{
|
||||
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
|
||||
{
|
||||
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
|
||||
}
|
||||
}
|
||||
|
||||
if (m_data->m_clientServerDirect)
|
||||
{
|
||||
m_data->m_clientServerDirect->renderScene();
|
||||
}
|
||||
m_data->m_physicsServer.renderScene();
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3CalculateJacobianCommandInit(m_data->m_physicsClient, bodyUniqueId, linkIndex, localPosition, jointPositions, jointVelocities, jointAccelerations);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
|
||||
if (b3GetStatusType(statusHandle) == CMD_CALCULATED_JACOBIAN_COMPLETED)
|
||||
{
|
||||
b3GetStatusJacobian(statusHandle, linearJacobian, angularJacobian);
|
||||
}
|
||||
}
|
||||
|
||||
void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation)
|
||||
{
|
||||
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClient,bodyUniqueId);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
|
||||
|
||||
if (b3GetStatusType(statusHandle) == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
|
||||
{
|
||||
b3LinkState linkState;
|
||||
b3GetLinkState(m_data->m_physicsClient, statusHandle, linkIndex, &linkState);
|
||||
worldPosition[0] = linkState.m_worldPosition[0];
|
||||
worldPosition[1] = linkState.m_worldPosition[1];
|
||||
worldPosition[2] = linkState.m_worldPosition[2];
|
||||
worldOrientation[0] = linkState.m_worldOrientation[0];
|
||||
worldOrientation[1] = linkState.m_worldOrientation[1];
|
||||
worldOrientation[2] = linkState.m_worldOrientation[2];
|
||||
worldOrientation[3] = linkState.m_worldOrientation[3];
|
||||
}
|
||||
}
|
||||
169
Engine/lib/bullet/examples/RoboticsLearning/b3RobotSimAPI.h
Normal file
169
Engine/lib/bullet/examples/RoboticsLearning/b3RobotSimAPI.h
Normal file
|
|
@ -0,0 +1,169 @@
|
|||
#ifndef B3_ROBOT_SIM_API_H
|
||||
#define B3_ROBOT_SIM_API_H
|
||||
|
||||
///todo: remove those includes from this header
|
||||
#include "../SharedMemory/PhysicsClientC_API.h"
|
||||
#include "../SharedMemory/SharedMemoryPublic.h"
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3Transform.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
enum b3RigidSimFileType
|
||||
{
|
||||
B3_URDF_FILE=1,
|
||||
B3_SDF_FILE,
|
||||
B3_AUTO_DETECT_FILE//todo based on extension
|
||||
};
|
||||
|
||||
struct b3JointStates
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
int m_numDegreeOfFreedomQ;
|
||||
int m_numDegreeOfFreedomU;
|
||||
b3Transform m_rootLocalInertialFrame;
|
||||
b3AlignedObjectArray<double> m_actualStateQ;
|
||||
b3AlignedObjectArray<double> m_actualStateQdot;
|
||||
b3AlignedObjectArray<double> m_jointReactionForces;
|
||||
};
|
||||
|
||||
struct b3RobotSimLoadFileArgs
|
||||
{
|
||||
std::string m_fileName;
|
||||
b3Vector3 m_startPosition;
|
||||
b3Quaternion m_startOrientation;
|
||||
bool m_forceOverrideFixedBase;
|
||||
bool m_useMultiBody;
|
||||
int m_fileType;
|
||||
|
||||
|
||||
b3RobotSimLoadFileArgs(const std::string& fileName)
|
||||
:m_fileName(fileName),
|
||||
m_startPosition(b3MakeVector3(0,0,0)),
|
||||
m_startOrientation(b3Quaternion(0,0,0,1)),
|
||||
m_forceOverrideFixedBase(false),
|
||||
m_useMultiBody(true),
|
||||
m_fileType(B3_URDF_FILE)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
struct b3RobotSimLoadFileResults
|
||||
{
|
||||
b3AlignedObjectArray<int> m_uniqueObjectIds;
|
||||
b3RobotSimLoadFileResults()
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
struct b3JointMotorArgs
|
||||
{
|
||||
int m_controlMode;
|
||||
|
||||
double m_targetPosition;
|
||||
double m_kp;
|
||||
|
||||
double m_targetVelocity;
|
||||
double m_kd;
|
||||
|
||||
double m_maxTorqueValue;
|
||||
|
||||
b3JointMotorArgs(int controlMode)
|
||||
:m_controlMode(controlMode),
|
||||
m_targetPosition(0),
|
||||
m_kp(0.1),
|
||||
m_targetVelocity(0),
|
||||
m_kd(0.9),
|
||||
m_maxTorqueValue(1000)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
enum b3InverseKinematicsFlags
|
||||
{
|
||||
B3_HAS_IK_TARGET_ORIENTATION=1,
|
||||
B3_HAS_NULL_SPACE_VELOCITY=2,
|
||||
};
|
||||
|
||||
struct b3RobotSimInverseKinematicArgs
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
// double* m_currentJointPositions;
|
||||
// int m_numPositions;
|
||||
double m_endEffectorTargetPosition[3];
|
||||
double m_endEffectorTargetOrientation[4];
|
||||
int m_endEffectorLinkIndex;
|
||||
int m_flags;
|
||||
int m_numDegreeOfFreedom;
|
||||
b3AlignedObjectArray<double> m_lowerLimits;
|
||||
b3AlignedObjectArray<double> m_upperLimits;
|
||||
b3AlignedObjectArray<double> m_jointRanges;
|
||||
b3AlignedObjectArray<double> m_restPoses;
|
||||
|
||||
b3RobotSimInverseKinematicArgs()
|
||||
:m_bodyUniqueId(-1),
|
||||
m_endEffectorLinkIndex(-1),
|
||||
m_flags(0)
|
||||
{
|
||||
m_endEffectorTargetPosition[0]=0;
|
||||
m_endEffectorTargetPosition[1]=0;
|
||||
m_endEffectorTargetPosition[2]=0;
|
||||
|
||||
m_endEffectorTargetOrientation[0]=0;
|
||||
m_endEffectorTargetOrientation[1]=0;
|
||||
m_endEffectorTargetOrientation[2]=0;
|
||||
m_endEffectorTargetOrientation[3]=1;
|
||||
}
|
||||
};
|
||||
|
||||
struct b3RobotSimInverseKinematicsResults
|
||||
{
|
||||
int m_bodyUniqueId;
|
||||
b3AlignedObjectArray<double> m_calculatedJointPositions;
|
||||
};
|
||||
|
||||
class b3RobotSimAPI
|
||||
{
|
||||
struct b3RobotSimAPI_InternalData* m_data;
|
||||
void processMultiThreadedGraphicsRequests();
|
||||
b3SharedMemoryStatusHandle submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
|
||||
|
||||
public:
|
||||
b3RobotSimAPI();
|
||||
virtual ~b3RobotSimAPI();
|
||||
|
||||
bool connect(struct GUIHelperInterface* guiHelper);
|
||||
void disconnect();
|
||||
|
||||
bool loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotSimLoadFileResults& results);
|
||||
|
||||
int getNumJoints(int bodyUniqueId) const;
|
||||
|
||||
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
|
||||
|
||||
void createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
|
||||
|
||||
bool getJointStates(int bodyUniqueId, b3JointStates& state);
|
||||
|
||||
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args);
|
||||
|
||||
void stepSimulation();
|
||||
|
||||
void setGravity(const b3Vector3& gravityAcceleration);
|
||||
|
||||
void setNumSimulationSubSteps(int numSubSteps);
|
||||
|
||||
bool calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results);
|
||||
|
||||
void renderScene();
|
||||
void debugDraw(int debugDrawMode);
|
||||
|
||||
void getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
|
||||
|
||||
void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation);
|
||||
};
|
||||
|
||||
#endif //B3_ROBOT_SIM_API_H
|
||||
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Add table
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Reference in a new issue