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Code Issues Releases Wiki Activity

reduced deformable is now working with pybullet

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This commit is contained in:
jingyuc 2021-11-05 18:02:15 -04:00
parent e386b55543
commit 7fafbd7718
7 changed files with 60 additions and 116 deletions
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3
data/reduced_cube/reduced_cube.urdf
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@ -5,7 +5,10 @@
<mass value="1"/> <mass value="1"/>
<stiffness_scale value="100"/> <stiffness_scale value="100"/>
<collision_margin value="0.01"/> <collision_margin value="0.01"/>
<erp value= "0.2"/>
<cfm value= "0.2"/>
<friction value= "0.5"/> <friction value= "0.5"/>
<damping_coefficient value="0.0001"/>
<visual filename="cube_mesh.vtk"/> <visual filename="cube_mesh.vtk"/>
</reduced_deformable> </reduced_deformable>
</robot> </robot>

39
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@ -1345,6 +1345,45 @@ bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement*
} }
} }
{
XMLElement* erp_xml = config->FirstChildElement("erp");
if (erp_xml)
{
if (!erp_xml->Attribute("value"))
{
logger->reportError("friction element must have value attribute");
return false;
}
reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value"));
}
}
{
XMLElement* cfm_xml = config->FirstChildElement("cfm");
if (cfm_xml)
{
if (!cfm_xml->Attribute("value"))
{
logger->reportError("cfm element must have value attribute");
return false;
}
reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value"));
}
}
{
XMLElement* damping_xml = config->FirstChildElement("damping_coefficient");
if (damping_xml)
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("damping_coefficient element must have value attribute");
return false;
}
reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
}
}
{ {
XMLElement* friction_xml = config->FirstChildElement("friction"); XMLElement* friction_xml = config->FirstChildElement("friction");
if (friction_xml) if (friction_xml)

2
examples/Importers/ImportURDFDemo/UrdfParser.h
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@ -257,6 +257,7 @@ struct UrdfReducedDeformable
double m_cfm; double m_cfm;
double m_friction; double m_friction;
double m_collisionMargin; double m_collisionMargin;
double m_damping;
std::string m_visualFileName; std::string m_visualFileName;
std::string m_simFileName; std::string m_simFileName;
@ -271,6 +272,7 @@ struct UrdfReducedDeformable
m_mass(1), m_mass(1),
m_stiffnessScale(100), m_stiffnessScale(100),
m_collisionMargin(0.02), m_collisionMargin(0.02),
m_damping(0),
m_visualFileName(""), m_visualFileName(""),
m_simFileName("") m_simFileName("")
{} {}

113
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -8955,7 +8955,6 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision) bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
{ {
std::cout << "---process dformable!!\n";
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftBody* psb = NULL; btSoftBody* psb = NULL;
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
@ -9473,13 +9472,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
m_data->m_pluginManager.addNotification(notification); m_data->m_pluginManager.addNotification(notification);
} }
#endif #endif
std::cout << "---deformable processed!!\n";
return true; return true;
} }
bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDeformable& reduced_deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision) bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDeformable& reduced_deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
{ {
std::cout << "---process reduced deformable!!\n";
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btReducedSoftBody* rsb = NULL; btReducedSoftBody* rsb = NULL;
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
@ -9494,9 +9491,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
std::string out_found_filename, out_found_sim_filename; std::string out_found_filename, out_found_sim_filename;
int out_type(0), out_sim_type(0); int out_type(0), out_sim_type(0);
// std::cout << relativeFileName << "\n";
std::cout << pathPrefix << "\n";
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (!reduced_deformable.m_simFileName.empty()) if (!reduced_deformable.m_simFileName.empty())
{ {
@ -9510,64 +9504,8 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
if (out_sim_type == UrdfGeometry::FILE_OBJ) if (out_sim_type == UrdfGeometry::FILE_OBJ)
{ {
// std::vector<tinyobj::shape_t> shapes; printf("Obj file is currently unsupported\n");
// tinyobj::attrib_t attribute; return false;
// std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
// if (!shapes.empty())
// {
// const tinyobj::shape_t& shape = shapes[0];
// btAlignedObjectArray<btScalar> vertices;
// btAlignedObjectArray<int> indices;
// for (int i = 0; i < attribute.vertices.size(); i++)
// {
// vertices.push_back(attribute.vertices[i]);
// }
// for (int i = 0; i < shape.mesh.indices.size(); i++)
// {
// indices.push_back(shape.mesh.indices[i].vertex_index);
// }
// int numTris = shape.mesh.indices.size() / 3;
// if (numTris > 0)
// {
// {
// btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
// if (softWorld)
// {
// psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
// if (!psb)
// {
// printf("Load deformable failed\n");
// return false;
// }
// }
// }
// {
// btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
// if (deformWorld)
// {
// psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
// if (!psb)
// {
// printf("Load deformable failed\n");
// return false;
// }
// }
// }
// }
// }
// #ifndef SKIP_DEFORMABLE_BODY
// btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
// if (deformWorld && deformable.m_springCoefficients.elastic_stiffness > 0.)
// {
// btDeformableLagrangianForce* springForce =
// new btDeformableMassSpringForce(deformable.m_springCoefficients.elastic_stiffness,
// deformable.m_springCoefficients.damping_stiffness,
// !deformable.m_springCoefficients.damp_all_directions,
// deformable.m_springCoefficients.bending_stiffness);
// deformWorld->addForce(psb, springForce);
// m_data->m_lf.push_back(springForce);
// }
// #endif
} }
else if (out_sim_type == UrdfGeometry::FILE_VTK) else if (out_sim_type == UrdfGeometry::FILE_VTK)
{ {
@ -9575,7 +9513,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld) if (deformWorld)
{ {
std::cout << "out_found_sim_filename = " << out_found_sim_filename << "\n";
rsb = btReducedSoftBodyHelpers::createFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); rsb = btReducedSoftBodyHelpers::createFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
if (!rsb) if (!rsb)
{ {
@ -9584,40 +9521,10 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
} }
// load modes, reduced stiffness matrix // load modes, reduced stiffness matrix
rsb->setReducedModes(reduced_deformable.m_startMode, reduced_deformable.m_numModes, rsb->m_nodes.size()); // TODO: add modes info to URDF rsb->setReducedModes(reduced_deformable.m_startMode, reduced_deformable.m_numModes, rsb->m_nodes.size());
rsb->setStiffnessScale(100); rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix); btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);
// btScalar corotated_mu(0.), corotated_lambda(0.);
// corotated_mu = deformable.m_corotatedCoefficients.mu;
// corotated_lambda = deformable.m_corotatedCoefficients.lambda;
// if (corotated_mu > 0 || corotated_lambda > 0)
// {
// btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda);
// deformWorld->addForce(psb, corotatedForce);
// m_data->m_lf.push_back(corotatedForce);
// }
// btScalar neohookean_mu, neohookean_lambda, neohookean_damping;
// neohookean_mu = deformable.m_neohookeanCoefficients.mu;
// neohookean_lambda = deformable.m_neohookeanCoefficients.lambda;
// neohookean_damping = deformable.m_neohookeanCoefficients.damping;
// if (neohookean_mu > 0 || neohookean_lambda > 0)
// {
// btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping);
// deformWorld->addForce(psb, neohookeanForce);
// m_data->m_lf.push_back(neohookeanForce);
// }
// btScalar spring_elastic_stiffness, spring_damping_stiffness, spring_bending_stiffness;
// spring_elastic_stiffness = deformable.m_springCoefficients.elastic_stiffness;
// spring_damping_stiffness = deformable.m_springCoefficients.damping_stiffness;
// spring_bending_stiffness = deformable.m_springCoefficients.bending_stiffness;
// if (spring_elastic_stiffness > 0.)
// {
// btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
// deformWorld->addForce(psb, springForce);
// m_data->m_lf.push_back(springForce);
// }
} }
#endif #endif
} }
@ -9717,11 +9624,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld) if (deformWorld)
{ {
// btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
// btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
// deformWorld->addForce(rsb, gravityForce);
// m_data->m_lf.push_back(gravityForce);
btScalar collision_hardness = 1; btScalar collision_hardness = 1;
rsb->m_cfg.kKHR = collision_hardness; rsb->m_cfg.kKHR = collision_hardness;
rsb->m_cfg.kCHR = collision_hardness; rsb->m_cfg.kCHR = collision_hardness;
@ -9762,8 +9664,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
// } // }
// #endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD // #endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
rsb->scale(btVector3(scale, scale, scale)); rsb->scale(btVector3(scale, scale, scale));
// rsb->rotate(orn);
// rsb->translate(pos);
btTransform init_transform; btTransform init_transform;
init_transform.setOrigin(pos); init_transform.setOrigin(pos);
init_transform.setRotation(orn); init_transform.setRotation(orn);
@ -9789,7 +9689,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
} }
*bodyUniqueId = m_data->m_bodyHandles.allocHandle(); *bodyUniqueId = m_data->m_bodyHandles.allocHandle();
std::cout << "bodyUniqueId: " << *bodyUniqueId;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId); InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
bodyHandle->m_softBody = rsb; bodyHandle->m_softBody = rsb;
rsb->setUserIndex2(*bodyUniqueId); rsb->setUserIndex2(*bodyUniqueId);
@ -10008,8 +9907,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
m_data->m_pluginManager.addNotification(notification); m_data->m_pluginManager.addNotification(notification);
} }
#endif #endif
std::cout << "---reduced deformable processed!!\n";
// exit(123);
return true; return true;
} }

12
examples/pybullet/examples/reduced_deformable_cube.py
View File

@ -7,19 +7,15 @@ physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath()) p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.resetDebugVisualizerCamera(3,-420,-30,[0.3,0.9,-2]) p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0])
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)
tex = p.loadTexture("uvmap.png") tex = p.loadTexture("uvmap.png")
planeId = p.loadURDF("plane.urdf", [0,0,-2]) planeId = p.loadURDF("plane.urdf", [0,0,-2])
# boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_cube.mp4")
cube = p.loadURDF("reduced_cube/reduced_cube.urdf", [1,1,1])
# bunnyId = p.loadSoftBody("torus/torus_textured.obj", simFileName="torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800) p.changeVisualShape(cube, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
# p.changeVisualShape(bunnyId, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
bunny2 = p.loadURDF("reduced_cube/reduced_cube.urdf", [0,1,0.5], flags=p.URDF_USE_SELF_COLLISION)
p.changeVisualShape(bunny2, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(0) p.setRealTimeSimulation(0)

5
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@ -461,6 +461,11 @@ void btReducedSoftBody::scale(const btVector3& scl)
internalInitialization(); internalInitialization();
} }
void btReducedSoftBody::setTotalMass(btScalar mass, bool fromfaces)
{
//
}
void btReducedSoftBody::updateRestNodalPositions() void btReducedSoftBody::updateRestNodalPositions()
{ {
// update reset nodal position // update reset nodal position

2
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
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@ -124,6 +124,8 @@ class btReducedSoftBody : public btSoftBody
void setDamping(const btScalar alpha, const btScalar beta); void setDamping(const btScalar alpha, const btScalar beta);
virtual void setTotalMass(btScalar mass, bool fromfaces = false);
// //
// various internal updates // various internal updates
// //