mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
436 lines
12 KiB
C++
436 lines
12 KiB
C++
|
|
#include "PhysicsClientExample.h"
|
|
|
|
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
|
|
|
#include "SharedMemoryCommon.h"
|
|
#include "../CommonInterfaces/CommonParameterInterface.h"
|
|
|
|
#include "PhysicsClient.h"
|
|
#include "SharedMemoryCommands.h"
|
|
|
|
struct MyMotorInfo2
|
|
{
|
|
btScalar m_velTarget;
|
|
btScalar m_maxForce;
|
|
int m_uIndex;
|
|
};
|
|
|
|
#define MAX_NUM_MOTORS 128
|
|
|
|
class PhysicsClientExample : public SharedMemoryCommon
|
|
{
|
|
protected:
|
|
PhysicsClientSharedMemory m_physicsClient;
|
|
|
|
|
|
bool m_wantsTermination;
|
|
btAlignedObjectArray<SharedMemoryCommand> m_userCommandRequests;
|
|
|
|
void createButton(const char* name, int id, bool isTrigger );
|
|
|
|
void createButtons();
|
|
|
|
public:
|
|
|
|
//@todo, add accessor methods
|
|
MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
|
|
int m_numMotors;
|
|
|
|
|
|
PhysicsClientExample(GUIHelperInterface* helper);
|
|
virtual ~PhysicsClientExample();
|
|
|
|
virtual void initPhysics();
|
|
|
|
virtual void stepSimulation(float deltaTime);
|
|
|
|
virtual void resetCamera()
|
|
{
|
|
float dist = 5;
|
|
float pitch = 50;
|
|
float yaw = 35;
|
|
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
|
|
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
|
|
|
}
|
|
|
|
virtual bool wantsTermination()
|
|
{
|
|
return m_wantsTermination;
|
|
}
|
|
|
|
virtual bool isConnected()
|
|
{
|
|
return m_physicsClient.isConnected();
|
|
}
|
|
|
|
void enqueueCommand(const SharedMemoryCommand& orgCommand);
|
|
|
|
virtual void exitPhysics(){};
|
|
virtual void renderScene()
|
|
{
|
|
int numLines = m_physicsClient.getNumDebugLines();
|
|
const btVector3* fromLines = m_physicsClient.getDebugLinesFrom();
|
|
const btVector3* toLines = m_physicsClient.getDebugLinesTo();
|
|
const btVector3* colorLines = m_physicsClient.getDebugLinesColor();
|
|
|
|
int lineWidth = 1;
|
|
|
|
if (1)
|
|
{
|
|
btAlignedObjectArray<btVector3FloatData> points;
|
|
points.resize(numLines*2);
|
|
btAlignedObjectArray<unsigned int> indices;
|
|
indices.resize(numLines*2);
|
|
|
|
for (int i=0;i<numLines;i++)
|
|
{
|
|
points[i*2].m_floats[0] = fromLines[i].x();
|
|
points[i*2].m_floats[1] = fromLines[i].y();
|
|
points[i*2].m_floats[2] = fromLines[i].z();
|
|
points[i*2+1].m_floats[0] = toLines[i].x();
|
|
points[i*2+1].m_floats[1] = toLines[i].y();
|
|
points[i*2+1].m_floats[2] = toLines[i].z();
|
|
indices[i*2] = i*2;
|
|
indices[i*2+1] = i*2+1;
|
|
}
|
|
|
|
|
|
|
|
float color[4] = {1,1,0,1};
|
|
|
|
if (points.size() && indices.size())
|
|
{
|
|
m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0],color,points.size(),sizeof(btVector3FloatData),&indices[0],indices.size(),lineWidth);
|
|
}
|
|
} else
|
|
{
|
|
for (int i=0;i<numLines;i++)
|
|
{
|
|
m_guiHelper->getRenderInterface()->drawLine(fromLines[i],toLines[i],colorLines[i],lineWidth);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void prepareControlCommand(SharedMemoryCommand& command)
|
|
{
|
|
int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
|
|
|
|
command.m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
|
|
|
|
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
|
|
{
|
|
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
|
|
command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
|
|
}
|
|
for (int i=0;i<m_numMotors;i++)
|
|
{
|
|
btScalar targetVel = m_motorTargetVelocities[i].m_velTarget;
|
|
|
|
int uIndex = m_motorTargetVelocities[i].m_uIndex;
|
|
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
|
|
|
|
}
|
|
|
|
}
|
|
virtual void physicsDebugDraw(int debugFlags){}
|
|
virtual bool mouseMoveCallback(float x,float y){return false;};
|
|
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
|
|
virtual bool keyboardCallback(int key, int state){return false;}
|
|
|
|
|
|
virtual void setSharedMemoryKey(int key)
|
|
{
|
|
m_physicsClient.setSharedMemoryKey(key);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
void MyCallback(int buttonId, bool buttonState, void* userPtr)
|
|
{
|
|
PhysicsClientExample* cl = (PhysicsClientExample*) userPtr;
|
|
|
|
SharedMemoryCommand command;
|
|
|
|
switch (buttonId)
|
|
{
|
|
case CMD_LOAD_URDF:
|
|
{
|
|
command.m_type =CMD_LOAD_URDF;
|
|
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf");
|
|
command.m_urdfArguments.m_initialPosition[0] = 0.0;
|
|
command.m_updateFlags =
|
|
URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE;
|
|
|
|
command.m_urdfArguments.m_initialPosition[1] = 0.0;
|
|
command.m_urdfArguments.m_initialPosition[2] = 0.0;
|
|
command.m_urdfArguments.m_initialOrientation[0] = 0.0;
|
|
command.m_urdfArguments.m_initialOrientation[1] = 0.0;
|
|
command.m_urdfArguments.m_initialOrientation[2] = 0.0;
|
|
command.m_urdfArguments.m_initialOrientation[3] = 1.0;
|
|
command.m_urdfArguments.m_useFixedBase = false;
|
|
command.m_urdfArguments.m_useMultiBody = true;
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
}
|
|
case CMD_CREATE_BOX_COLLISION_SHAPE:
|
|
{
|
|
command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
|
|
command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
|
|
command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
|
|
command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
|
|
command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
|
|
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
}
|
|
case CMD_REQUEST_ACTUAL_STATE:
|
|
{
|
|
command.m_type =CMD_REQUEST_ACTUAL_STATE;
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
};
|
|
case CMD_STEP_FORWARD_SIMULATION:
|
|
{
|
|
command.m_type =CMD_STEP_FORWARD_SIMULATION;
|
|
cl->enqueueCommand(command);
|
|
command.m_type =CMD_REQUEST_DEBUG_LINES;
|
|
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//:DBG_DrawConstraints;
|
|
command.m_requestDebugLinesArguments.m_startingLineIndex = 0;
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
}
|
|
|
|
case CMD_SEND_DESIRED_STATE:
|
|
{
|
|
|
|
command.m_type =CMD_SEND_DESIRED_STATE;
|
|
|
|
cl->prepareControlCommand(command);
|
|
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
}
|
|
case CMD_RESET_SIMULATION:
|
|
{
|
|
command.m_type = CMD_RESET_SIMULATION;
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
}
|
|
case CMD_SEND_BULLET_DATA_STREAM:
|
|
{
|
|
command.m_type = buttonId;
|
|
cl->enqueueCommand(command);
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
b3Error("Unknown buttonId");
|
|
btAssert(0);
|
|
}
|
|
};
|
|
}
|
|
|
|
void PhysicsClientExample::enqueueCommand(const SharedMemoryCommand& orgCommand)
|
|
{
|
|
m_userCommandRequests.push_back(orgCommand);
|
|
SharedMemoryCommand& cmd = m_userCommandRequests[m_userCommandRequests.size()-1];
|
|
|
|
//b3Printf("User put command request %d on queue (queue length = %d)\n",cmd.m_type, m_userCommandRequests.size());
|
|
}
|
|
|
|
|
|
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
|
|
:SharedMemoryCommon(helper),
|
|
m_wantsTermination(false),
|
|
m_numMotors(0)
|
|
{
|
|
b3Printf("Started PhysicsClientExample\n");
|
|
}
|
|
|
|
PhysicsClientExample::~PhysicsClientExample()
|
|
{
|
|
b3Printf("~PhysicsClientExample\n");
|
|
}
|
|
|
|
void PhysicsClientExample::createButton(const char* name, int buttonId, bool isTrigger )
|
|
{
|
|
ButtonParams button(name,buttonId, isTrigger);
|
|
button.m_callback = MyCallback;
|
|
button.m_userPointer = this;
|
|
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
|
|
}
|
|
|
|
void PhysicsClientExample::createButtons()
|
|
{
|
|
bool isTrigger = false;
|
|
|
|
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
|
|
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
|
|
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
|
|
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
|
|
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
|
|
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
|
|
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
|
|
|
|
}
|
|
|
|
void PhysicsClientExample::initPhysics()
|
|
{
|
|
if (m_guiHelper && m_guiHelper->getParameterInterface())
|
|
{
|
|
int upAxis = 2;
|
|
m_guiHelper->setUpAxis(upAxis);
|
|
|
|
createButtons();
|
|
|
|
} else
|
|
{
|
|
/*
|
|
m_userCommandRequests.push_back(CMD_LOAD_URDF);
|
|
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
|
|
m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
|
|
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
|
|
//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
|
|
m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
|
|
//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
|
|
m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
|
|
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
|
|
m_userCommandRequests.push_back(CMD_SHUTDOWN);
|
|
*/
|
|
|
|
}
|
|
|
|
if (!m_physicsClient.connect())
|
|
{
|
|
b3Warning("Cannot connect to physics client");
|
|
}
|
|
|
|
}
|
|
|
|
|
|
void PhysicsClientExample::stepSimulation(float deltaTime)
|
|
{
|
|
|
|
if (m_physicsClient.isConnected())
|
|
{
|
|
SharedMemoryStatus status;
|
|
bool hasStatus = m_physicsClient.processServerStatus(status);
|
|
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
|
|
{
|
|
for (int i=0;i<m_physicsClient.getNumJoints();i++)
|
|
{
|
|
b3JointInfo info;
|
|
m_physicsClient.getJointInfo(i,info);
|
|
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
|
|
|
|
}
|
|
|
|
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
|
|
{
|
|
for (int i=0;i<m_physicsClient.getNumJoints();i++)
|
|
{
|
|
b3JointInfo info;
|
|
m_physicsClient.getJointInfo(i,info);
|
|
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
|
|
|
|
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
|
|
{
|
|
if (m_numMotors<MAX_NUM_MOTORS)
|
|
{
|
|
char motorName[1024];
|
|
sprintf(motorName,"%s q'", info.m_jointName);
|
|
MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
|
|
motorInfo->m_velTarget = 0.f;
|
|
motorInfo->m_uIndex = info.m_uIndex;
|
|
|
|
SliderParams slider(motorName,&motorInfo->m_velTarget);
|
|
slider.m_minVal=-4;
|
|
slider.m_maxVal=4;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
m_numMotors++;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
if (hasStatus && status.m_type ==CMD_DEBUG_LINES_COMPLETED)
|
|
{
|
|
SharedMemoryCommand command;
|
|
if (status.m_sendDebugLinesArgs.m_numRemainingDebugLines>0)
|
|
{
|
|
//continue requesting debug lines for drawing
|
|
command.m_type =CMD_REQUEST_DEBUG_LINES;
|
|
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//DBG_DrawConstraints;
|
|
command.m_requestDebugLinesArguments.m_startingLineIndex = status.m_sendDebugLinesArgs.m_numDebugLines+status.m_sendDebugLinesArgs.m_startingLineIndex;
|
|
enqueueCommand(command);
|
|
}
|
|
}
|
|
if (m_physicsClient.canSubmitCommand())
|
|
{
|
|
if (m_userCommandRequests.size())
|
|
{
|
|
//b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
|
|
SharedMemoryCommand command = m_userCommandRequests[0];
|
|
|
|
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
|
|
for (int i=1;i<m_userCommandRequests.size();i++)
|
|
{
|
|
m_userCommandRequests[i-1] = m_userCommandRequests[i];
|
|
}
|
|
|
|
m_userCommandRequests.pop_back();
|
|
|
|
//for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders
|
|
if (command.m_type==CMD_RESET_SIMULATION)
|
|
{
|
|
m_guiHelper->getParameterInterface()->removeAllParameters();
|
|
m_numMotors=0;
|
|
createButtons();
|
|
}
|
|
|
|
m_physicsClient.submitClientCommand(command);
|
|
} else
|
|
{
|
|
if (m_numMotors)
|
|
{
|
|
SharedMemoryCommand command;
|
|
command.m_type =CMD_SEND_DESIRED_STATE;
|
|
prepareControlCommand(command);
|
|
enqueueCommand(command);
|
|
|
|
command.m_type =CMD_STEP_FORWARD_SIMULATION;
|
|
enqueueCommand(command);
|
|
|
|
command.m_type = CMD_REQUEST_ACTUAL_STATE;
|
|
enqueueCommand(command);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
|
|
extern int gSharedMemoryKey;
|
|
|
|
|
|
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
|
|
if (gSharedMemoryKey>=0)
|
|
{
|
|
example->setSharedMemoryKey(gSharedMemoryKey);
|
|
}
|
|
return example;
|
|
}
|