mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF
add an example using 'direct' fix the send-desired-state commands, to add flags for arguments set, using default values. Start exposing SDF loading in shared memory api, not fully implemented yet.
This commit is contained in:
erwin coumans
parent
0b69ba7f61
commit
4b2c0f6d89
@ -86,6 +86,7 @@
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<model name='unit_box_0'>
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<static>1</static>
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<pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
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<link name='unit_box_0::link'>
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<inertial>
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@ -242,7 +242,10 @@ static ExampleEntry gDefaultExamples[]=
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ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
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PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
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ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
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ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
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ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
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#ifdef ENABLE_LUA
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@ -5,6 +5,29 @@
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#include "SharedMemoryCommands.h"
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b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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b3Assert(cl);
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b3Assert(cl->canSubmitCommand());
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struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
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b3Assert(command);
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command->m_type = CMD_LOAD_SDF;
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int len = strlen(sdfFileName);
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if (len<MAX_SDF_FILENAME_LENGTH)
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{
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strcpy(command->m_sdfArguments.m_sdfFileName,sdfFileName);
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} else
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{
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command->m_sdfArguments.m_sdfFileName[0] = 0;
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}
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command->m_updateFlags = SDF_ARGS_FILE_NAME;
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return (b3SharedMemoryCommandHandle) command;
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}
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b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
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{
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@ -146,6 +169,8 @@ int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle,
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
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command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q;
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return 0;
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}
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@ -154,6 +179,7 @@ int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value;
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command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
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return 0;
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}
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@ -162,6 +188,8 @@ int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
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command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
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return 0;
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}
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@ -170,6 +198,7 @@ int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle,
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value;
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command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT;
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return 0;
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}
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@ -179,6 +208,7 @@ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int
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struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
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b3Assert(command);
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command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
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command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
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return 0;
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}
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@ -88,6 +88,8 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
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int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
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int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
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b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
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///Set joint control variables such as desired position/angle, desired velocity,
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///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
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b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
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@ -156,16 +156,12 @@ protected:
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{
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for (int i=0;i<m_numMotors;i++)
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{
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// btScalar targetVel = m_motorTargetVelocities[i].m_velTarget;
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// int uIndex = m_motorTargetVelocities[i].m_uIndex;
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// b3JointControlSetDesiredVelocity(commandHandle, uIndex,targetVel);
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btScalar targetPos = m_motorTargetPositions[i].m_posTarget;
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int qIndex = m_motorTargetPositions[i].m_qIndex;
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int uIndex = m_motorTargetPositions[i].m_uIndex;
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b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
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b3JointControlSetKp(commandHandle, uIndex, 0.1);
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b3JointControlSetKd(commandHandle, uIndex, 0.0);
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b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
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}
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@ -430,6 +426,11 @@ PhysicsClientExample::~PhysicsClientExample()
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bool deInitializeSharedMemory = true;
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m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
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}
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if (m_canvas && (m_canvasIndex>=0))
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{
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m_canvas->destroyCanvas(m_canvasIndex);
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}
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b3Printf("~PhysicsClientExample\n");
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}
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@ -563,9 +564,14 @@ void PhysicsClientExample::initPhysics()
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m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
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}
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m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
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//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
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//m_physicsClientHandle = b3ConnectPhysicsDirect();
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if (m_options == eCLIENTEXAMPLE_DIRECT)
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{
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m_physicsClientHandle = b3ConnectPhysicsDirect();
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} else
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{
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m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
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//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
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}
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if (!b3CanSubmitCommand(m_physicsClientHandle))
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{
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@ -4,7 +4,7 @@
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enum ClientExampleOptions
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{
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eCLIENTEXAMPLE_LOOPBACK=1,
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eCLIENTEAXMPLE_DIRECT=2,
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eCLIENTEXAMPLE_DIRECT=2,
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eCLIENTEXAMPLE_SERVER=3,
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};
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@ -33,6 +33,12 @@ struct PhysicsDirectInternalData
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char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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int m_cachedCameraPixelsWidth;
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int m_cachedCameraPixelsHeight;
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btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
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btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
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PhysicsServerCommandProcessor* m_commandProcessor;
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PhysicsDirectInternalData()
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@ -167,6 +173,73 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
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return m_data->m_hasStatus;
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}
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bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
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{
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SharedMemoryCommand command = orgCommand;
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const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
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do
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{
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bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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m_data->m_hasStatus = hasStatus;
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if (hasStatus)
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{
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btAssert(m_data->m_serverStatus.m_type == CMD_CAMERA_IMAGE_COMPLETED);
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if (m_data->m_verboseOutput)
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{
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b3Printf("Camera image OK\n");
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}
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int numBytesPerPixel = 4;//RGBA
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int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex+
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serverCmd.m_sendPixelDataArguments.m_numPixelsCopied+
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serverCmd.m_sendPixelDataArguments.m_numRemainingPixels;
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m_data->m_cachedCameraPixelsWidth = 0;
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m_data->m_cachedCameraPixelsHeight = 0;
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int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight;
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m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
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m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
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m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
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unsigned char* rgbaPixelsReceived =
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(unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];
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printf("pixel = %d\n", rgbaPixelsReceived[0]);
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for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
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{
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m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
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= rgbaPixelsReceived[i];
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}
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if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0)
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{
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// continue requesting remaining pixels
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command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
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command.m_requestPixelDataArguments.m_startPixelIndex =
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serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
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serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
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} else
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{
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m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;
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m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
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}
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}
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} while (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0);
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return m_data->m_hasStatus;
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}
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bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
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{
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if (command.m_type==CMD_REQUEST_DEBUG_LINES)
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@ -174,6 +247,11 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
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return processDebugLines(command);
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}
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if (command.m_type==CMD_REQUEST_CAMERA_IMAGE_DATA)
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{
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return processCamera(command);
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}
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bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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m_data->m_hasStatus = hasStatus;
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if (hasStatus)
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@ -333,9 +411,9 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
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{
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if (cameraData)
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{
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cameraData->m_pixelHeight = 0;
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cameraData->m_pixelWidth = 0;
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cameraData->m_depthValues = 0;
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cameraData->m_rgbColorData = 0;
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cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
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cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
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cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
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cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
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}
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}
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@ -19,6 +19,8 @@ protected:
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bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
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bool processCamera(const struct SharedMemoryCommand& orgCommand);
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public:
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PhysicsDirect();
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@ -1192,12 +1192,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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mb->clearForcesAndTorques();
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int torqueIndex = 0;
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btVector3 f(clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[0],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[1],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[2]);
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btVector3 t(clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[3],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[4],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[5]);
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btVector3 f(0,0,0);
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btVector3 t(0,0,0);
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if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
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{
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f = btVector3 (clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[0],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[1],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[2]);
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t = btVector3 (clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[3],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[4],
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clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[5]);
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}
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torqueIndex+=6;
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mb->addBaseForce(f);
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mb->addBaseTorque(t);
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@ -1206,7 +1212,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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for (int dof=0;dof<mb->getLink(link).m_dofCount;dof++)
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{
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double torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex];
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double torque = 0.f;
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if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
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torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex];
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mb->addJointTorqueMultiDof(link,dof,torque);
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torqueIndex++;
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}
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@ -1233,10 +1241,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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if (motorPtr)
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{
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btMultiBodyJointMotor* motor = *motorPtr;
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btScalar desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex];
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btScalar desiredVelocity = 0.f;
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if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_QDOT)!=0)
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desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex];
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motor->setVelocityTarget(desiredVelocity);
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btScalar maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime;
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btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;
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if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
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maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime;
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motor->setMaxAppliedImpulse(maxImp);
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numMotors++;
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@ -1247,6 +1260,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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}
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break;
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}
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case CONTROL_MODE_POSITION_VELOCITY_PD:
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{
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if (m_data->m_verboseOutput)
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@ -1271,11 +1285,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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{
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btMultiBodyJointMotor* motor = *motorPtr;
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btScalar desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex];
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btScalar desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex];
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btScalar desiredVelocity = 0.f;
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if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_QDOT)!=0)
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desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex];
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btScalar desiredPosition = 0.f;
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if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_Q)!=0)
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desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex];
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btScalar kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex];
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btScalar kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex];
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btScalar kp = 0.f;
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if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_KP)!=0)
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kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex];
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btScalar kd = 0.f;
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if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_KD)!=0)
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kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex];
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int dof1 = 0;
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btScalar currentPosition = mb->getJointPosMultiDof(link)[dof1];
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@ -1288,9 +1310,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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motor->setVelocityTarget(desiredVelocity);
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btScalar maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime;
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btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;
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motor->setMaxAppliedImpulse(1000);//maxImp);
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if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
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maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime;
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motor->setMaxAppliedImpulse(maxImp);
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numMotors++;
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}
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@ -30,6 +30,7 @@
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#define MAX_DEGREE_OF_FREEDOM 64
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#define MAX_NUM_SENSORS 256
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#define MAX_URDF_FILENAME_LENGTH 1024
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#define MAX_SDF_FILENAME_LENGTH 1024
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#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
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#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
|
||||
|
||||
@ -54,6 +55,16 @@ TmpFloat3 CreateTmpFloat3(float x, float y, float z)
|
||||
return tmp;
|
||||
}
|
||||
|
||||
enum EnumSdfArgsUpdateFlags
|
||||
{
|
||||
SDF_ARGS_FILE_NAME=1,
|
||||
};
|
||||
|
||||
struct SdfArgs
|
||||
{
|
||||
char m_sdfFileName[MAX_URDF_FILENAME_LENGTH];
|
||||
};
|
||||
|
||||
enum EnumUrdfArgsUpdateFlags
|
||||
{
|
||||
URDF_ARGS_FILE_NAME=1,
|
||||
@ -179,6 +190,15 @@ struct SendDesiredStateArgs
|
||||
|
||||
};
|
||||
|
||||
enum EnumSimDesiredStateUpdateFlags
|
||||
{
|
||||
SIM_DESIRED_STATE_HAS_Q=1,
|
||||
SIM_DESIRED_STATE_HAS_QDOT=2,
|
||||
SIM_DESIRED_STATE_HAS_KD=4,
|
||||
SIM_DESIRED_STATE_HAS_KP=8,
|
||||
SIM_DESIRED_STATE_HAS_MAX_FORCE=16,
|
||||
};
|
||||
|
||||
|
||||
enum EnumSimParamUpdateFlags
|
||||
{
|
||||
@ -287,6 +307,7 @@ struct SharedMemoryCommand
|
||||
union
|
||||
{
|
||||
struct UrdfArgs m_urdfArguments;
|
||||
struct SdfArgs m_sdfArguments;
|
||||
struct InitPoseArgs m_initPoseArgs;
|
||||
struct SendPhysicsSimulationParameters m_physSimParamArgs;
|
||||
struct BulletDataStreamArgs m_dataStreamArguments;
|
||||
|
||||
@ -5,7 +5,8 @@
|
||||
|
||||
enum EnumSharedMemoryClientCommand
|
||||
{
|
||||
CMD_LOAD_URDF,
|
||||
CMD_LOAD_SDF,
|
||||
CMD_LOAD_URDF,
|
||||
CMD_SEND_BULLET_DATA_STREAM,
|
||||
CMD_CREATE_BOX_COLLISION_SHAPE,
|
||||
// CMD_DELETE_BOX_COLLISION_SHAPE,
|
||||
@ -35,7 +36,8 @@ enum EnumSharedMemoryServerStatus
|
||||
CMD_CLIENT_COMMAND_COMPLETED,
|
||||
//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
|
||||
CMD_UNKNOWN_COMMAND_FLUSHED,
|
||||
|
||||
CMD_SDF_LOADING_COMPLETED,
|
||||
CMD_SDF_LOADING_FAILED,
|
||||
CMD_URDF_LOADING_COMPLETED,
|
||||
CMD_URDF_LOADING_FAILED,
|
||||
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user