mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
548 lines
21 KiB
C++
548 lines
21 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ReducedMotorGrasp.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
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#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../Utils/b3BulletDefaultFileIO.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../CommonInterfaces/CommonFileIOInterface.h"
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#include "Bullet3Common/b3FileUtils.h"
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///The ReducedMotorGrasp shows grasping a volumetric deformable objects with multibody gripper with moter constraints.
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static btScalar sGripperVerticalVelocity = 0.f;
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static btScalar sGripperClosingTargetVelocity = 0.f;
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static btScalar damping_alpha = 0.0;
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static btScalar damping_beta = 0.0;
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static int start_mode = 6;
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static int num_modes = 1;
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static float friction = 1.;
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struct TetraCube
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{
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#include "../SoftDemo/cube.inl"
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};
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struct TetraBunny
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{
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#include "../SoftDemo/bunny.inl"
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};
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static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
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{
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bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute
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|| mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic);
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return canHaveMotor;
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}
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class ReducedMotorGrasp : public CommonDeformableBodyBase
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{
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btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
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public:
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ReducedMotorGrasp(struct GUIHelperInterface* helper)
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:CommonDeformableBodyBase(helper)
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{
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}
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virtual ~ReducedMotorGrasp()
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{
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}
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void initPhysics();
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void exitPhysics();
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void Ctor_RbUpStack()
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{
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float mass = 8;
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btCollisionShape* shape = new btBoxShape(btVector3(2, 0.25, 0.5));
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,0.25,0));
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btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
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rb1->setLinearVelocity(btVector3(0, 0, 0));
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rb1->setFriction(0.7);
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}
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void resetCamera()
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{
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// float dist = 0.3;
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// float pitch = -45;
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// float yaw = 100;
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// float targetPos[3] = {0, -0.1, 0};
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float dist = 8;
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float pitch = -20;
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float yaw = 100;
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float targetPos[3] = {0, 0, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating);
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void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating);
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void stepSimulation(float deltaTime)
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{
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double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
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int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies();
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for (int i = 0; i < num_multiBody; ++i)
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{
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btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i);
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mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0));
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int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base
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for (int link = 0; link < mb->getNumLinks(); link++)
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{
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if (supportsJointMotor(mb, link))
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{
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btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
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if (motor)
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{
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if (dofIndex == 6)
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{
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motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
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motor->setMaxAppliedImpulse(20);
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}
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if (dofIndex == 7)
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{
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motor->setVelocityTarget(fingerTargetVelocities[1], 1);
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motor->setMaxAppliedImpulse(20);
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}
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motor->setMaxAppliedImpulse(1);
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}
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}
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dofIndex += mb->getLink(link).m_dofCount;
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}
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}
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//use a smaller internal timestep, there are stability issues
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// float internalTimeStep = 1. / 240.f;
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// m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
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float internalTimeStep = 1. / 60.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
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}
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void createGrip()
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{
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int count = 2;
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float mass = 2;
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btCollisionShape* shape[] = {
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new btBoxShape(btVector3(3, 3, 0.5)),
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};
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static const int nshapes = sizeof(shape) / sizeof(shape[0]);
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for (int i = 0; i < count; ++i)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(10, 0, 0));
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startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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createRigidBody(mass, startTransform, shape[i % nshapes]);
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}
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}
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virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
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{
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
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{
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
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{
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btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
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}
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for (int p = 0; p < rsb->m_contactNodesList.size(); ++p)
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{
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int index = rsb->m_contactNodesList[p];
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deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0));
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}
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}
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}
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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return false;
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}
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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return false;
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}
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virtual void removePickingConstraint(){}
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};
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void ReducedMotorGrasp::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
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// btVector3 gravity = btVector3(0, 0, 0);
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// btVector3 gravity = btVector3(0, -9.81, 0);
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btVector3 gravity = btVector3(0, 1, 0);
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reducedSoftBodySolver->setGravity(gravity);
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(reducedSoftBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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// getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1;
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// getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0;
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// getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_maxPickingForce = 0.001;
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// build a gripper
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{
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bool damping = true;
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bool gyro = false;
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bool canSleep = false;
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bool selfCollide = true;
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int numLinks = 2;
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// btVector3 linkHalfExtents(0.02, 0.018, .003);
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// btVector3 baseHalfExtents(0.02, 0.002, .002);
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btVector3 linkHalfExtents(0.5, 0.5, 0.1);
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btVector3 baseHalfExtents(0.5, 0.1, 0.1);
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// btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), linkHalfExtents, baseHalfExtents, false);
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btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 3.f,0.f), linkHalfExtents, baseHalfExtents, false);
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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for (int i = 0; i < numLinks; i++)
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{
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int mbLinkIndex = i;
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double maxMotorImpulse = 1;
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if (supportsJointMotor(mbC, mbLinkIndex))
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{
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int dof = 0;
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btScalar desiredVelocity = 0.f;
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btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
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motor->setPositionTarget(0, 0);
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motor->setVelocityTarget(0, 1);
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mbC->getLink(mbLinkIndex).m_userPtr = motor;
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getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
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motor->finalizeMultiDof();
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}
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}
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if (!damping)
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{
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mbC->setLinearDamping(0.0f);
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mbC->setAngularDamping(0.0f);
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}
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else
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{
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mbC->setLinearDamping(0.04f);
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mbC->setAngularDamping(0.04f);
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}
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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if (numLinks > 0)
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mbC->setJointPosMultiDof(0, &q0);
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addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
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}
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//create a ground
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.)));
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groundShape->setMargin(0.001);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -5.1, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(0.5);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body,1,1+2);
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}
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// create volumetric reduced deformable body
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{
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btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.1);
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(btVector3(0, 0.25, 0));
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init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
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rsb->transform(init_transform);
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rsb->setStiffnessScale(100);
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rsb->setDamping(damping_alpha, damping_beta);
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rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
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rsb->m_cfg.kDF = 0;
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rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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rsb->m_sleepingThreshold = 0;
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btSoftBodyHelpers::generateBoundaryFaces(rsb);
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}
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// Ctor_RbUpStack();
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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getDeformableDynamicsWorld()->setUseProjection(false);
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.3;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
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getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
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getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
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getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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{
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SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
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// slider.m_minVal = -.02;
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// slider.m_maxVal = .02;
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slider.m_minVal = -.2;
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slider.m_maxVal = .2;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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}
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void ReducedMotorGrasp::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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removePickingConstraint();
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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// delete forces
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for (int j = 0; j < m_forces.size(); j++)
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{
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btDeformableLagrangianForce* force = m_forces[j];
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delete force;
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}
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m_forces.clear();
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//delete collision shapes
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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btMultiBody* ReducedMotorGrasp::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating)
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{
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 0.1;
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float linkMass = 0.1;
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int numLinks = 2;
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if (baseMass)
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{
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btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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}
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bool canSleep = false;
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete pTempBox;
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//y-axis assumed up
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btAlignedObjectArray<btVector3> parentComToCurrentCom;
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parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 2.f));
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parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset
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|
|
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0); //cur body's COM to cur body's PIV offset
|
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|
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btAlignedObjectArray<btVector3> parentComToCurrentPivot;
|
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parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom));
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parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset
|
|
|
|
//////
|
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btScalar q0 = 0.f * SIMD_PI / 180.f;
|
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btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
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quat0.normalize();
|
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/////
|
|
|
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for (int i = 0; i < numLinks; ++i)
|
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{
|
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true);
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}
|
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pMultiBody->finalizeMultiDof();
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///
|
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pWorld->addMultiBody(pMultiBody);
|
|
///
|
|
return pMultiBody;
|
|
}
|
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|
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void ReducedMotorGrasp::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
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{
|
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btAlignedObjectArray<btQuaternion> world_to_local;
|
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
|
|
|
btAlignedObjectArray<btVector3> local_origin;
|
|
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
|
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
|
local_origin[0] = pMultiBody->getBasePos();
|
|
|
|
{
|
|
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
|
|
|
if (1)
|
|
{
|
|
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
|
box->setMargin(0.001);
|
|
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
|
col->setCollisionShape(box);
|
|
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin(local_origin[0]);
|
|
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
|
col->setWorldTransform(tr);
|
|
|
|
pWorld->addCollisionObject(col, 2, 1 + 2);
|
|
|
|
col->setFriction(friction);
|
|
pMultiBody->setBaseCollider(col);
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
|
{
|
|
const int parent = pMultiBody->getParent(i);
|
|
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
|
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
|
}
|
|
|
|
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
|
{
|
|
btVector3 posr = local_origin[i + 1];
|
|
|
|
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
|
|
|
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
|
box->setMargin(0.001);
|
|
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
|
|
|
col->setCollisionShape(box);
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin(posr);
|
|
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
|
col->setWorldTransform(tr);
|
|
col->setFriction(friction);
|
|
pWorld->addCollisionObject(col, 2, 1 + 2);
|
|
|
|
pMultiBody->getLink(i).m_collider = col;
|
|
}
|
|
}
|
|
|
|
class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new ReducedMotorGrasp(options.m_guiHelper);
|
|
}
|
|
|
|
|