mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
567 lines
16 KiB
C++
567 lines
16 KiB
C++
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#include "PhysicsClientExample.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "SharedMemoryCommon.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "PhysicsClientC_API.h"
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#include "PhysicsClient.h"
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//#include "SharedMemoryCommands.h"
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#include "PhysicsLoopBackC_API.h"
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#include "PhysicsDirectC_API.h"
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#include "PhysicsClientC_API.h"
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struct MyMotorInfo2
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{
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btScalar m_velTarget;
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btScalar m_maxForce;
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int m_uIndex;
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};
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#define MAX_NUM_MOTORS 128
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class PhysicsClientExample : public SharedMemoryCommon
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{
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protected:
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b3PhysicsClientHandle m_physicsClientHandle;
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bool m_wantsTermination;
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btAlignedObjectArray<int> m_userCommandRequests;
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int m_sharedMemoryKey;
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int m_selectedBody;
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int m_prevSelectedBody;
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void createButton(const char* name, int id, bool isTrigger );
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void createButtons();
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public:
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//@todo, add accessor methods
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MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
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int m_numMotors;
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PhysicsClientExample(GUIHelperInterface* helper);
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virtual ~PhysicsClientExample();
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virtual void initPhysics();
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void selectComboBox(int comboIndex, const char* name)
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{
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if (m_guiHelper && m_guiHelper->getParameterInterface())
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{
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int bodyIndex = comboIndex;
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if (m_selectedBody != bodyIndex)
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{
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m_selectedBody = bodyIndex;
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}
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}
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}
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 5;
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float pitch = 50;
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float yaw = 35;
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float targetPos[3]={0,0,0};//-3,2.8,-2.5};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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virtual bool wantsTermination()
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{
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return m_wantsTermination;
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}
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virtual bool isConnected()
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{
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return (m_physicsClientHandle!=0);
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}
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void enqueueCommand(int commandId);
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void prepareAndSubmitCommand(int commandId);
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virtual void exitPhysics(){};
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virtual void renderScene()
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{
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b3DebugLines debugLines;
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b3GetDebugLines(m_physicsClientHandle,&debugLines);
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int numLines = debugLines.m_numDebugLines;
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int lineWidth = 1;
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if (1)
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{
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btAlignedObjectArray<btVector3FloatData> points;
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points.resize(numLines*2);
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btAlignedObjectArray<unsigned int> indices;
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indices.resize(numLines*2);
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for (int i=0;i<numLines;i++)
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{
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points[i*2].m_floats[0] = debugLines.m_linesFrom[i*3+0];
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points[i*2].m_floats[1] = debugLines.m_linesFrom[i*3+1];
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points[i*2].m_floats[2] = debugLines.m_linesFrom[i*3+2];
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points[i*2+1].m_floats[0] = debugLines.m_linesTo[i*3+0];
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points[i*2+1].m_floats[1] = debugLines.m_linesTo[i*3+1];
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points[i*2+1].m_floats[2] = debugLines.m_linesTo[i*3+2];
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indices[i*2] = i*2;
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indices[i*2+1] = i*2+1;
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}
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float color[4] = {0.2,0.2,1,1};
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if (points.size() && indices.size())
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{
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m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0],color,points.size(),sizeof(btVector3FloatData),&indices[0],indices.size(),lineWidth);
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}
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} else
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{
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for (int i=0;i<numLines;i++)
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{
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m_guiHelper->getRenderInterface()->drawLine(debugLines.m_linesFrom,debugLines.m_linesTo,debugLines.m_linesColor,lineWidth);
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}
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}
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}
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void prepareControlCommand(b3SharedMemoryCommandHandle commandHandle)
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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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b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
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}
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}
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virtual void physicsDebugDraw(int debugFlags){}
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virtual bool mouseMoveCallback(float x,float y){return false;};
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virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
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virtual bool keyboardCallback(int key, int state){return false;}
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virtual void setSharedMemoryKey(int key)
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{
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m_sharedMemoryKey = key;
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}
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};
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void MyComboBoxCallback (int combobox, const char* item, void* userPointer)
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{
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b3Printf("Item selected %s", item);
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PhysicsClientExample* cl = (PhysicsClientExample*) userPointer;
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b3Assert(cl);
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if (cl)
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{
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cl->selectComboBox(combobox,item);
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}
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}
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void MyCallback(int buttonId, bool buttonState, void* userPtr)
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{
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PhysicsClientExample* cl = (PhysicsClientExample*) userPtr;
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b3Assert(cl);
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if (cl && buttonState)
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{
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cl->enqueueCommand(buttonId);
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}
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}
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void PhysicsClientExample::enqueueCommand(int commandId)
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{
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m_userCommandRequests.push_back(commandId);
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}
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void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
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{
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switch (commandId)
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{
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case CMD_LOAD_URDF:
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{
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b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_lwr/kuka.urdf");
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//setting the initial position, orientation and other arguments are optional
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double startPosX = 0;
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static double startPosY = 0;
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double startPosZ = 0;
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b3LoadUrdfCommandSetStartPosition(commandHandle, startPosX,startPosY,startPosZ);
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startPosY += 2.f;
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// ret = b3LoadUrdfCommandSetUseFixedBase(commandHandle, 1);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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break;
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}
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case CMD_CREATE_BOX_COLLISION_SHAPE:
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{
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b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
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b3CreateBoxCommandSetStartPosition(commandHandle,0,0,-3);
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b3CreateBoxCommandSetColorRGBA(commandHandle,0,0,1,1);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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break;
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}
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case CMD_CREATE_RIGID_BODY:
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{
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b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
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b3CreateBoxCommandSetStartPosition(commandHandle,0,0,0);
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b3CreateBoxCommandSetMass(commandHandle,1);
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b3CreateBoxCommandSetCollisionShapeType(commandHandle,COLLISION_SHAPE_TYPE_CYLINDER_Y);
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b3CreateBoxCommandSetColorRGBA(commandHandle,1,1,0,1);
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double radius = 0.2;
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double halfHeight = 0.5;
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b3CreateBoxCommandSetHalfExtents(commandHandle,radius,halfHeight,radius);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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break;
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}
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case CMD_REQUEST_ACTUAL_STATE:
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{
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if (m_selectedBody>=0)
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{
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b3SharedMemoryCommandHandle commandHandle = b3RequestActualStateCommandInit(m_physicsClientHandle,m_selectedBody);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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}
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break;
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};
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case CMD_INIT_POSE:
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{
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if (m_selectedBody>=0)
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{
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b3SharedMemoryCommandHandle commandHandle = b3CreatePoseCommandInit(m_physicsClientHandle,m_selectedBody);
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static int toggle = 0;
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double pos[3] = {0,0,0};
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pos[toggle] = 2;
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toggle++;
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if (toggle>2)
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toggle=0;
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btQuaternion orn;
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orn.setValue(0,0,0,1);
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switch (toggle)
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{
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case 0:
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orn = btQuaternion(btVector3(1,0,0),SIMD_HALF_PI);
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break;
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case 1:
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orn = btQuaternion(btVector3(0,1,0),SIMD_HALF_PI);
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break;
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case 2:
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orn = btQuaternion(btVector3(0,0,1),SIMD_HALF_PI);
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break;
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default:
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orn.setValue(0,0,0,1);
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};
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b3CreatePoseCommandSetBaseOrientation(commandHandle,orn[0],orn[1],orn[2],orn[3]);
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b3CreatePoseCommandSetBasePosition(commandHandle, pos[0],pos[1],pos[2]);
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int numJoints = b3GetNumJoints(m_physicsClientHandle,m_selectedBody);
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static double jointPos = SIMD_PI/2.f;
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo info;
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b3GetJointInfo(m_physicsClientHandle, m_selectedBody,i, &info);
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if ((info.m_jointType == 0) || (info.m_jointType == 1)) //revolute or prismatic
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{
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b3CreatePoseCommandSetJointPosition(m_physicsClientHandle,commandHandle,i,jointPos);
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}
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}
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jointPos += SIMD_PI/8.0;
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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}
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break;
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}
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case CMD_STEP_FORWARD_SIMULATION:
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{
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b3SharedMemoryCommandHandle commandHandle = b3InitStepSimulationCommand(m_physicsClientHandle);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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break;
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}
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case CMD_REQUEST_DEBUG_LINES:
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{
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b3SharedMemoryCommandHandle commandHandle = b3InitRequestDebugLinesCommand(m_physicsClientHandle, btIDebugDraw::DBG_DrawWireframe);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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break;
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}
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case CMD_SEND_DESIRED_STATE:
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{
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b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, CONTROL_MODE_VELOCITY);
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prepareControlCommand(command);
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b3SubmitClientCommand(m_physicsClientHandle, command);
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break;
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}
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case CMD_RESET_SIMULATION:
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{
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b3SharedMemoryCommandHandle commandHandle = b3InitResetSimulationCommand(m_physicsClientHandle);
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b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
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break;
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}
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case CMD_SEND_BULLET_DATA_STREAM:
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{
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#if 0
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//this worked, but needs C-API and a streaming options, similar to debug lines
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command.m_type = buttonId;
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cl->enqueueCommand(command);
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#endif
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break;
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}
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default:
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{
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b3Error("Unknown buttonId");
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btAssert(0);
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}
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};
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}
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PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
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:SharedMemoryCommon(helper),
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m_physicsClientHandle(0),
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m_wantsTermination(false),
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m_sharedMemoryKey(SHARED_MEMORY_KEY),
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m_selectedBody(-1),
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m_prevSelectedBody(-1),
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m_numMotors(0)
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{
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b3Printf("Started PhysicsClientExample\n");
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}
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PhysicsClientExample::~PhysicsClientExample()
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{
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if (m_physicsClientHandle)
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{
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b3ProcessServerStatus(m_physicsClientHandle);
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b3DisconnectSharedMemory(m_physicsClientHandle);
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}
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b3Printf("~PhysicsClientExample\n");
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}
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void PhysicsClientExample::createButton(const char* name, int buttonId, bool isTrigger )
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{
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ButtonParams button(name,buttonId, isTrigger);
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button.m_callback = MyCallback;
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button.m_userPointer = this;
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m_guiHelper->getParameterInterface()->registerButtonParameter(button);
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}
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void PhysicsClientExample::createButtons()
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{
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bool isTrigger = false;
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if (m_guiHelper && m_guiHelper->getParameterInterface())
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{
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m_guiHelper->getParameterInterface()->removeAllParameters();
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createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
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createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
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createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
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createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
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createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
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createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
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createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
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createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
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createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
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if (m_physicsClientHandle && m_selectedBody>=0)
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{
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int numJoints = b3GetNumJoints(m_physicsClientHandle,m_selectedBody);
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo info;
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b3GetJointInfo(m_physicsClientHandle,m_selectedBody,i,&info);
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b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
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if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
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{
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if (m_numMotors<MAX_NUM_MOTORS)
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{
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char motorName[1024];
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sprintf(motorName,"%s q'", info.m_jointName);
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MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
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motorInfo->m_velTarget = 0.f;
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motorInfo->m_uIndex = info.m_uIndex;
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SliderParams slider(motorName,&motorInfo->m_velTarget);
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slider.m_minVal=-4;
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slider.m_maxVal=4;
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if (m_guiHelper && m_guiHelper->getParameterInterface())
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{
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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m_numMotors++;
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}
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}
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}
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}
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}
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}
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void PhysicsClientExample::initPhysics()
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{
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if (m_guiHelper && m_guiHelper->getParameterInterface())
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{
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int upAxis = 2;
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m_guiHelper->setUpAxis(upAxis);
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createButtons();
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} else
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{
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MyCallback(CMD_LOAD_URDF, true, this);
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MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
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MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
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MyCallback(CMD_RESET_SIMULATION,true,this);
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}
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m_selectedBody = -1;
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m_prevSelectedBody = -1;
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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 (!b3CanSubmitCommand(m_physicsClientHandle))
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{
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b3Warning("Cannot connect to physics client");
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}
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}
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void PhysicsClientExample::stepSimulation(float deltaTime)
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{
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if (m_prevSelectedBody != m_selectedBody)
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{
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createButtons();
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m_prevSelectedBody = m_selectedBody;
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}
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//while (!b3CanSubmitCommand(m_physicsClientHandle))
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{
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b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
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bool hasStatus = (status != 0);
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if (hasStatus)
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{
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int statusType = b3GetStatusType(status);
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if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
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{
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//b3Printf("bla\n");
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}
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if (statusType == CMD_URDF_LOADING_COMPLETED)
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{
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int bodyIndex = b3GetStatusBodyIndex(status);
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if (bodyIndex>=0)
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{
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int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex);
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for (int i=0;i<numJoints;i++)
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{
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b3JointInfo info;
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b3GetJointInfo(m_physicsClientHandle,bodyIndex,i,&info);
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b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
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}
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ComboBoxParams comboParams;
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comboParams.m_comboboxId = bodyIndex;
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comboParams.m_numItems = 1;
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comboParams.m_startItem = 0;
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comboParams.m_callback = MyComboBoxCallback;
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comboParams.m_userPointer = this;
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const char* bla = "bla";
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const char* blarray[1];
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blarray[0] = bla;
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comboParams.m_items=blarray;//{&bla};
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m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
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}
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}
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}
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}
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if (b3CanSubmitCommand(m_physicsClientHandle))
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{
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if (m_userCommandRequests.size())
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{
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//b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
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int commandId = m_userCommandRequests[0];
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//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
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for (int i=1;i<m_userCommandRequests.size();i++)
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{
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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 (commandId ==CMD_RESET_SIMULATION)
|
|
{
|
|
m_selectedBody = -1;
|
|
m_numMotors=0;
|
|
createButtons();
|
|
}
|
|
|
|
|
|
prepareAndSubmitCommand(commandId);
|
|
|
|
} else
|
|
{
|
|
if (m_numMotors)
|
|
{
|
|
enqueueCommand(CMD_SEND_DESIRED_STATE);
|
|
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
|
|
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
|
|
//enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
|
|
extern int gSharedMemoryKey;
|
|
|
|
|
|
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
|
|
if (gSharedMemoryKey>=0)
|
|
{
|
|
example->setSharedMemoryKey(gSharedMemoryKey);
|
|
}
|
|
return example;
|
|
}
|