AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 13:20:07 +00:00
Code Issues Releases Wiki Activity

make standalone versions (console, tinyrender, opengl) of InverseDynamics/InverseDynamicsExample

Browse Source
This commit is contained in:
erwin coumans 2016-05-06 13:57:48 -07:00
parent 8360e2e66d
commit 0a3efbe349
18 changed files with 246 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
build3/premake4.lua
View File

@ -193,7 +193,7 @@
include "../examples/HelloWorld"
include "../examples/BasicDemo"
include "../examples/InverseDynamics"
include "../examples/SharedMemory"
include "../examples/MultiThreading"

1
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@ -501,6 +501,7 @@ CommonParameterInterface* OpenGLGuiHelper::getParameterInterface()
void OpenGLGuiHelper::setUpAxis(int axis)
{
m_data->m_glApp->setUpAxis(axis);
}
void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)

2
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
View File

@ -20,7 +20,7 @@ subject to the following restrictions:
#include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
#include "tinyxml/tinyxml.h"
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
#include "Bullet3Common/b3FileUtils.h"
#include "LinearMath/btHashMap.h"

2
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
View File

@ -21,7 +21,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "ColladaGraphicsInstance.h"

4
examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
View File

@ -1,6 +1,6 @@
#include "LoadMeshFromObj.h"
#include"Wavefront/tiny_obj_loader.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>

10
examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
View File

@ -1,12 +1,12 @@
#include "Wavefront2GLInstanceGraphicsShape.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../../OpenGLWindow/GLInstancingRenderer.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "btBulletDynamicsCommon.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include "../../OpenGLWindow/SimpleOpenGL3App.h"
#include "Wavefront2GLInstanceGraphicsShape.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../../OpenGLWindow/GLInstancingRenderer.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
{

2
examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
View File

@ -1,7 +1,7 @@
#ifndef WAVEFRONT2GRAPHICS_H
#define WAVEFRONT2GRAPHICS_H
#include"Wavefront/tiny_obj_loader.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include <vector>
struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes);

2
examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
View File

@ -2,7 +2,7 @@
#ifndef LOAD_MESH_FROM_STL_H
#define LOAD_MESH_FROM_STL_H
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@ -21,7 +21,7 @@ subject to the following restrictions:
#include "../ImportSTLDemo/LoadMeshFromSTL.h"
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3FileUtils.h"
#include <string>
#include "../../Utils/b3ResourcePath.h"

2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
View File

@ -1,6 +1,6 @@
#include "MyMultiBodyCreator.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"

2
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@ -1,6 +1,6 @@
#include "UrdfParser.h"
#include "tinyxml/tinyxml.h"
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
#include "urdfStringSplit.h"
#include "urdfLexicalCast.h"

56
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@ -129,13 +129,15 @@ void InverseDynamicsExample::initPhysics()
SliderParams slider("Kp",&kp);
slider.m_minVal=0;
slider.m_maxVal=2000;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Kd",&kd);
slider.m_minVal=0;
slider.m_maxVal=50;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (m_option == BT_ID_PROGRAMMATICALLY)
@ -148,6 +150,7 @@ void InverseDynamicsExample::initPhysics()
switch (m_option)
{
case 0:
case BT_ID_LOAD_URDF:
{
BulletURDFImporter u2b(m_guiHelper);
@ -189,9 +192,11 @@ void InverseDynamicsExample::initPhysics()
if(m_multiBody) {
{
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "Joint Space Trajectory");
m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
if (m_guiHelper->getAppInterface() && m_guiHelper->getParameterInterface())
{
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "Joint Space Trajectory");
m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
}
}
// construct inverse model
@ -203,23 +208,30 @@ void InverseDynamicsExample::initPhysics()
}
// add joint target controls
qd.resize(m_multiBody->getNumDofs());
qd[3]=B3_HALF_PI;
qd_name.resize(m_multiBody->getNumDofs());
q_name.resize(m_multiBody->getNumDofs());
for(std::size_t dof=0;dof<qd.size();dof++) {
qd[dof] = 0;
char tmp[25];
sprintf(tmp,"q_desired[%zu]",dof);
qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14;
slider.m_maxVal=3.14;
sprintf(tmp,"q[%zu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
btVector4 color = sJointCurveColors[dof&7];
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
}
if (m_timeSeriesCanvas && m_guiHelper->getParameterInterface())
{
for(std::size_t dof=0;dof<qd.size();dof++)
{
qd[dof] = 0;
char tmp[25];
sprintf(tmp,"q_desired[%zu]",dof);
qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14;
slider.m_maxVal=3.14;
sprintf(tmp,"q[%zu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
btVector4 color = sJointCurveColors[dof&7];
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
}
}
}
@ -246,7 +258,8 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
const btScalar qd_dot=0;
const btScalar qd_ddot=0;
m_timeSeriesCanvas->insertDataAtCurrentTime(q[dof],dof,true);
if (m_timeSeriesCanvas)
m_timeSeriesCanvas->insertDataAtCurrentTime(q[dof],dof,true);
// pd_control is either desired joint torque for pd control,
// or the feedback contribution to nu
@ -330,3 +343,4 @@ CommonExampleInterface* InverseDynamicsExampleCreateFunc(CommonExampleOptions
B3_STANDALONE_EXAMPLE(InverseDynamicsExampleCreateFunc)

162
examples/InverseDynamics/premake4.lua Normal file
View File

@ -0,0 +1,162 @@
project "App_InverseDynamicsExample"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
files {
"**.cpp",
"**.h",
"../StandaloneMain/main_console_single_example.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
project "App_InverseDynamicsExampleGui"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"InverseDynamicsExample.cpp",
"*.h",
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_InverseDynamicsExampleGuiWithSoftwareRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"InverseDynamicsExample.cpp",
"*.h",
"../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end

15
examples/RenderingExamples/TimeSeriesCanvas.cpp
View File

@ -72,13 +72,14 @@ struct TimeSeriesInternalData
TimeSeriesCanvas::TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle)
{
btAssert(canvasInterface);
m_internalData = new TimeSeriesInternalData(width,height);
m_internalData->m_canvasInterface = canvasInterface;
m_internalData->m_canvasIndex = m_internalData->m_canvasInterface->createCanvas(windowTitle,m_internalData->m_width,m_internalData->m_height);
if (canvasInterface)
{
m_internalData->m_canvasIndex = m_internalData->m_canvasInterface->createCanvas(windowTitle,m_internalData->m_width,m_internalData->m_height);
}
}
void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue)
@ -105,6 +106,9 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
}
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime)
{
if (0==m_internalData->m_canvasInterface)
return;
m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/yScale;
m_internalData->m_ticksPerSecond = ticksPerSecond;
m_internalData->m_yScale = yScale;
@ -282,6 +286,9 @@ void TimeSeriesCanvas::shift1PixelToLeft()
void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex, bool connectToPrevious)
{
if (0==m_internalData->m_canvasInterface)
return;
btAssert(dataSourceIndex < m_internalData->m_dataSources.size());
float zero = m_internalData->m_zero;

6
examples/StandaloneMain/main_console_single_example.cpp
View File

@ -35,7 +35,11 @@ int main(int argc, char* argv[])
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->stepSimulation(1.f/60.f);
for (int i=0;i<1000;i++)
{
printf("Simulating step %d\n",i);
example->stepSimulation(1.f/60.f);
}
example->exitPhysics();
delete example;

13
examples/StandaloneMain/main_opengl_single_example.cpp
View File

@ -41,19 +41,22 @@ int main(int argc, char* argv[])
CommonExampleOptions options(&gui);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->initPhysics();
example->resetCamera();
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
app->m_instancingRenderer->updateCamera(app->getUpAxis());
example->stepSimulation(1./60.);
example->renderScene();
app->drawGrid();
DrawGridData dg;
dg.upAxis = app->getUpAxis();
app->drawGrid(dg);
app->swapBuffer();
} while (!app->m_window->requestedExit());

12
examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
View File

@ -111,8 +111,8 @@ public:
if (shapeIndex>=0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
//swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
}
return shapeIndex;
@ -242,18 +242,20 @@ int main(int argc, char* argv[])
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->resetCamera();
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
app->m_instancingRenderer->updateCamera(app->getUpAxis());
example->stepSimulation(1./60.);
example->renderScene();
app->drawGrid();
DrawGridData dg;
dg.upAxis = app->getUpAxis();
app->drawGrid(dg);
app->swapBuffer();
} while (!app->m_window->requestedExit());

4
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -69,8 +69,8 @@ struct Shader : public IShader {
Vec3f n = (B*m_model->normal(uv)).normalize();
//float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
float diff = b3Max(0.f, n*m_light_dir_local);
float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
//float diff = b3Max(0.f, n*m_light_dir_local);
color = m_model->diffuse(uv)*diff;
return false;