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

build3/premake4.lua

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

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -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)

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -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"

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h

@@ -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"
 
 

examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp

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

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

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

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h

@@ -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);

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -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"
 

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -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"

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -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"

examples/Importers/ImportURDFDemo/UrdfParser.cpp

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

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -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");
+			if (m_guiHelper->getAppInterface() && m_guiHelper->getParameterInterface())
-            m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
+			{
-           
+				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;
+		if (m_timeSeriesCanvas && m_guiHelper->getParameterInterface())
-            char tmp[25];
+		{
-            sprintf(tmp,"q_desired[%zu]",dof);
+			for(std::size_t dof=0;dof<qd.size();dof++) 
-            qd_name[dof] = tmp;
+			{
-            SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
+				qd[dof] = 0;
-            slider.m_minVal=-3.14;
+				char tmp[25];
-            slider.m_maxVal=3.14;
+				sprintf(tmp,"q_desired[%zu]",dof);
-         sprintf(tmp,"q[%zu]",dof); 
+				qd_name[dof] = tmp;
-		q_name[dof] = tmp;   
+				SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+				slider.m_minVal=-3.14;
-		btVector4 color = sJointCurveColors[dof&7];
+				slider.m_maxVal=3.14;
-		m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
+				
-         }
+				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)

examples/InverseDynamics/premake4.lua

@@ -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
+                          

examples/RenderingExamples/TimeSeriesCanvas.cpp

@@ -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;

examples/StandaloneMain/main_console_single_example.cpp

@@ -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;

examples/StandaloneMain/main_opengl_single_example.cpp

@@ -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());
 

examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp

@@ -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->registerMeshShape(vertices,numvertices,indices,numIndices);
-						swObj->createCube(1,1,1);//MeshShape(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());
 

examples/TinyRenderer/TinyRenderer.cpp

@@ -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 = 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 = b3Max(0.f, n*m_light_dir_local);
         color = m_model->diffuse(uv)*diff;
 
         return false;