mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 15:21:06 +00:00
fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects
This commit is contained in:
Erwin Coumans
parent
d503d1442a
commit
31688ffb34
@ -92,6 +92,7 @@ if not _OPTIONS["no-enet"] then
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"../../examples/SharedMemory/IKTrajectoryHelper.h",
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"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
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"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
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"../../examples/SharedMemory/RemoteGUIHelper.cpp",
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"../../examples/OpenGLWindow/SimpleCamera.cpp",
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"../../examples/OpenGLWindow/SimpleCamera.h",
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"../../examples/TinyRenderer/geometry.cpp",
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@ -231,7 +231,7 @@ bool IKTrajectoryHelper::computeIK2(
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deltaC.Set(ne*3+i, deltaS[i]);
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for (int j = 0; j < numQ; ++j)
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{
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completeJacobian.Set(ne * 3 + i, j, linear_jacobians[(ne*3+i * numQ) + j]);
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completeJacobian.Set(ne * 3 + i, j, linear_jacobians[((ne*3+i) * numQ) + j]);
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}
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}
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}
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@ -4744,7 +4744,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi
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command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1];
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command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2];
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int numDofs = cl->getNumDofs(bodyUniqueId);
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int numDofs = b3ComputeDofCount(physClient, bodyUniqueId);
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for (int i = 0; i < numDofs; i++)
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{
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command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
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@ -4646,6 +4646,8 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
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{
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//todo
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}
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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if (bodyHandle->m_softBody)
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{
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btSoftBody* psb = bodyHandle->m_softBody;
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@ -4665,7 +4667,9 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
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serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
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serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
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serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
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}
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}
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#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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}
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serverStatusOut.m_numDataStreamBytes = 0;
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@ -10202,6 +10206,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
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return hasStatus;
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}
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bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
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{
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bool hasStatus = true;
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@ -10210,6 +10215,308 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(con
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SharedMemoryStatus& serverCmd = serverStatusOut;
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serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
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InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateInverseKinematicsArguments.m_bodyUniqueId);
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if (bodyHandle && bodyHandle->m_multiBody)
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{
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IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
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IKTrajectoryHelper* ikHelperPtr = 0;
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if (ikHelperPtrPtr)
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{
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ikHelperPtr = *ikHelperPtrPtr;
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}
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else
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{
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IKTrajectoryHelper* tmpHelper = new IKTrajectoryHelper;
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m_data->m_inverseKinematicsHelpers.insert(bodyHandle->m_multiBody, tmpHelper);
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ikHelperPtr = tmpHelper;
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}
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int endEffectorLinkIndex = clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[0];
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btAlignedObjectArray<double> startingPositions;
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startingPositions.reserve(bodyHandle->m_multiBody->getNumLinks());
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btVector3 targetPosWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[0],
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clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[1],
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clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[2]);
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btQuaternion targetOrnWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[0],
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clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[1],
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clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[2],
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clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[3]);
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btTransform targetBaseCoord;
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if (clientCmd.m_updateFlags & IK_HAS_CURRENT_JOINT_POSITIONS)
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{
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targetBaseCoord.setOrigin(targetPosWorld);
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targetBaseCoord.setRotation(targetOrnWorld);
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}
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else
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{
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btTransform targetWorld;
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targetWorld.setOrigin(targetPosWorld);
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targetWorld.setRotation(targetOrnWorld);
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btTransform tr = bodyHandle->m_multiBody->getBaseWorldTransform();
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targetBaseCoord = tr.inverse() * targetWorld;
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}
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{
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int DofIndex = 0;
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for (int i = 0; i < bodyHandle->m_multiBody->getNumLinks(); ++i)
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{
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if (bodyHandle->m_multiBody->getLink(i).m_jointType >= 0 && bodyHandle->m_multiBody->getLink(i).m_jointType <= 2)
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{
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// 0, 1, 2 represent revolute, prismatic, and spherical joint types respectively. Skip the fixed joints.
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double curPos = 0;
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if (clientCmd.m_updateFlags & IK_HAS_CURRENT_JOINT_POSITIONS)
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{
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curPos = clientCmd.m_calculateInverseKinematicsArguments.m_currentPositions[DofIndex];
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}
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else
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{
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curPos = bodyHandle->m_multiBody->getJointPos(i);
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}
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startingPositions.push_back(curPos);
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DofIndex++;
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}
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}
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}
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int numIterations = 20;
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if (clientCmd.m_updateFlags & IK_HAS_MAX_ITERATIONS)
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{
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numIterations = clientCmd.m_calculateInverseKinematicsArguments.m_maxNumIterations;
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}
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double residualThreshold = 1e-4;
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if (clientCmd.m_updateFlags & IK_HAS_RESIDUAL_THRESHOLD)
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{
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residualThreshold = clientCmd.m_calculateInverseKinematicsArguments.m_residualThreshold;
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}
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btScalar currentDiff = 1e30f;
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b3AlignedObjectArray<double> jacobian_linear;
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b3AlignedObjectArray<double> jacobian_angular;
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btAlignedObjectArray<double> q_current;
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btAlignedObjectArray<double> q_new;
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btAlignedObjectArray<double> lower_limit;
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btAlignedObjectArray<double> upper_limit;
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btAlignedObjectArray<double> joint_range;
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btAlignedObjectArray<double> rest_pose;
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const int numDofs = bodyHandle->m_multiBody->getNumDofs();
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int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
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btInverseDynamics::vecx nu(numDofs + baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs);
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for (int i = 0; i < numIterations && currentDiff > residualThreshold; i++)
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{
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BT_PROFILE("InverseKinematics1Step");
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if (ikHelperPtr && (endEffectorLinkIndex < bodyHandle->m_multiBody->getNumLinks()))
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{
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jacobian_linear.resize(3 * numDofs);
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jacobian_angular.resize(3 * numDofs);
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int jacSize = 0;
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btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
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q_current.resize(numDofs);
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if (tree && ((numDofs + baseDofs) == tree->numDoFs()))
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{
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btInverseDynamics::vec3 world_origin;
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btInverseDynamics::mat33 world_rot;
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jacSize = jacobian_linear.size();
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// Set jacobian value
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int DofIndex = 0;
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for (int i = 0; i < bodyHandle->m_multiBody->getNumLinks(); ++i)
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{
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if (bodyHandle->m_multiBody->getLink(i).m_jointType >= 0 && bodyHandle->m_multiBody->getLink(i).m_jointType <= 2)
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{
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// 0, 1, 2 represent revolute, prismatic, and spherical joint types respectively. Skip the fixed joints.
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double curPos = startingPositions[DofIndex];
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q_current[DofIndex] = curPos;
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q[DofIndex + baseDofs] = curPos;
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qdot[DofIndex + baseDofs] = 0;
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nu[DofIndex + baseDofs] = 0;
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DofIndex++;
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}
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} // Set the gravity to correspond to the world gravity
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btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
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{
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BT_PROFILE("calculateInverseDynamics");
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if (-1 != tree->setGravityInWorldFrame(id_grav) &&
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-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
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{
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tree->calculateJacobians(q);
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btInverseDynamics::mat3x jac_t(3, numDofs + baseDofs);
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btInverseDynamics::mat3x jac_r(3, numDofs + baseDofs);
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// Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link.
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tree->getBodyJacobianTrans(endEffectorLinkIndex + 1, &jac_t);
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tree->getBodyJacobianRot(endEffectorLinkIndex + 1, &jac_r);
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//calculatePositionKinematics is already done inside calculateInverseDynamics
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tree->getBodyOrigin(endEffectorLinkIndex + 1, &world_origin);
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tree->getBodyTransform(endEffectorLinkIndex + 1, &world_rot);
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for (int i = 0; i < 3; ++i)
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{
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for (int j = 0; j < numDofs; ++j)
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{
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jacobian_linear[i * numDofs + j] = jac_t(i, (baseDofs + j));
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jacobian_angular[i * numDofs + j] = jac_r(i, (baseDofs + j));
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}
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}
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}
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}
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q_new.resize(numDofs);
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int ikMethod = 0;
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if ((clientCmd.m_updateFlags & IK_HAS_TARGET_ORIENTATION) && (clientCmd.m_updateFlags & IK_HAS_NULL_SPACE_VELOCITY))
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{
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//Nullspace task only works with DLS now. TODO: add nullspace task to SDLS.
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ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
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}
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else if (clientCmd.m_updateFlags & IK_HAS_TARGET_ORIENTATION)
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{
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if (clientCmd.m_updateFlags & IK_SDLS)
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{
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ikMethod = IK2_VEL_SDLS_WITH_ORIENTATION;
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}
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else
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{
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ikMethod = IK2_VEL_DLS_WITH_ORIENTATION;
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}
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}
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else if (clientCmd.m_updateFlags & IK_HAS_NULL_SPACE_VELOCITY)
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{
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//Nullspace task only works with DLS now. TODO: add nullspace task to SDLS.
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ikMethod = IK2_VEL_DLS_WITH_NULLSPACE;
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}
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else
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{
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if (clientCmd.m_updateFlags & IK_SDLS)
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{
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ikMethod = IK2_VEL_SDLS;
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}
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else
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{
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ikMethod = IK2_VEL_DLS;
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;
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}
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}
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if (clientCmd.m_updateFlags & IK_HAS_NULL_SPACE_VELOCITY)
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{
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lower_limit.resize(numDofs);
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upper_limit.resize(numDofs);
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joint_range.resize(numDofs);
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rest_pose.resize(numDofs);
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for (int i = 0; i < numDofs; ++i)
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{
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lower_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_lowerLimit[i];
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upper_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_upperLimit[i];
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joint_range[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointRange[i];
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rest_pose[i] = clientCmd.m_calculateInverseKinematicsArguments.m_restPose[i];
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}
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{
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BT_PROFILE("computeNullspaceVel");
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ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
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}
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}
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//btTransform endEffectorTransformWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform * bodyHandle->m_linkLocalInertialFrames[endEffectorLinkIndex].inverse();
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btVector3DoubleData endEffectorWorldPosition;
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btQuaternionDoubleData endEffectorWorldOrientation;
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//get the position from the inverse dynamics (based on q) instead of endEffectorTransformWorld
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btVector3 endEffectorPosWorldOrg = world_origin;
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btQuaternion endEffectorOriWorldOrg;
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world_rot.getRotation(endEffectorOriWorldOrg);
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btTransform endEffectorBaseCoord;
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endEffectorBaseCoord.setOrigin(endEffectorPosWorldOrg);
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endEffectorBaseCoord.setRotation(endEffectorOriWorldOrg);
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//don't need the next two lines
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//btTransform linkInertiaInv = bodyHandle->m_linkLocalInertialFrames[endEffectorLinkIndex].inverse();
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//endEffectorBaseCoord = endEffectorBaseCoord * linkInertiaInv;
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//btTransform tr = bodyHandle->m_multiBody->getBaseWorldTransform();
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//endEffectorBaseCoord = tr.inverse()*endEffectorTransformWorld;
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//endEffectorBaseCoord = tr.inverse()*endEffectorTransformWorld;
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btQuaternion endEffectorOriBaseCoord = endEffectorBaseCoord.getRotation();
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//btVector4 endEffectorOri(endEffectorOriBaseCoord.x(), endEffectorOriBaseCoord.y(), endEffectorOriBaseCoord.z(), endEffectorOriBaseCoord.w());
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endEffectorBaseCoord.getOrigin().serializeDouble(endEffectorWorldPosition);
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endEffectorBaseCoord.getRotation().serializeDouble(endEffectorWorldOrientation);
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//diff
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currentDiff = (endEffectorBaseCoord.getOrigin() - targetBaseCoord.getOrigin()).length();
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btVector3DoubleData targetPosBaseCoord;
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btQuaternionDoubleData targetOrnBaseCoord;
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targetBaseCoord.getOrigin().serializeDouble(targetPosBaseCoord);
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targetBaseCoord.getRotation().serializeDouble(targetOrnBaseCoord);
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// Set joint damping coefficents. A small default
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// damping constant is added to prevent singularity
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// with pseudo inverse. The user can set joint damping
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// coefficients differently for each joint. The larger
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// the damping coefficient is, the less we rely on
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// this joint to achieve the IK target.
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btAlignedObjectArray<double> joint_damping;
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joint_damping.resize(numDofs, 0.5);
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if (clientCmd.m_updateFlags & IK_HAS_JOINT_DAMPING)
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{
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for (int i = 0; i < numDofs; ++i)
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{
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joint_damping[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointDamping[i];
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}
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}
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ikHelperPtr->setDampingCoeff(numDofs, &joint_damping[0]);
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double targetDampCoeff[6] = { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
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{
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BT_PROFILE("computeIK");
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ikHelperPtr->computeIK(targetPosBaseCoord.m_floats, targetOrnBaseCoord.m_floats,
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endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
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&q_current[0],
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numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[0],
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&q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize * 2, targetDampCoeff);
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}
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serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
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for (int i = 0; i < numDofs; i++)
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{
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serverCmd.m_inverseKinematicsResultArgs.m_jointPositions[i] = q_new[i];
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}
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serverCmd.m_inverseKinematicsResultArgs.m_dofCount = numDofs;
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serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED;
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for (int i = 0; i < numDofs; i++)
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{
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startingPositions[i] = q_new[i];
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}
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}
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}
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}
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}
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return hasStatus;
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}
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bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
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{
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bool hasStatus = true;
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BT_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS");
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SharedMemoryStatus& serverCmd = serverStatusOut;
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serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
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InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateInverseKinematicsArguments.m_bodyUniqueId);
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if (bodyHandle && bodyHandle->m_multiBody)
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{
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@ -11654,7 +11961,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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}
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case CMD_CALCULATE_INVERSE_KINEMATICS:
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{
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hasStatus = processCalculateInverseKinematicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
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if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices==1)
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{
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hasStatus = processCalculateInverseKinematicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
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} else
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{
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hasStatus = processCalculateInverseKinematicsCommand2(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
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}
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break;
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}
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case CMD_REQUEST_VISUAL_SHAPE_INFO:
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@ -72,6 +72,7 @@ protected:
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bool processRemoveBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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bool processCreateUserConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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bool processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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bool processCalculateInverseKinematicsCommand2(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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bool processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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bool processRequestCollisionShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool processUpdateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
|
||||
@ -379,6 +379,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
|
||||
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.h",
|
||||
"../../examples/SharedMemory/RemoteGUIHelper.cpp",
|
||||
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
|
||||
"../../examples/SharedMemory/InProcessMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.cpp",
|
||||
|
||||
Loading…
Reference in New Issue
Block a user