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Diffstat (limited to 'examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp')
| -rw-r--r-- | examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp | 558 |
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diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp deleted file mode 100644 index 5dda30f97..000000000 --- a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp +++ /dev/null @@ -1,558 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ReducedMotorGrasp.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" -#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" -#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" -#include "../Importers/ImportURDFDemo/URDF2Bullet.h" -#include "../Utils/b3BulletDefaultFileIO.h" -#include "../CommonInterfaces/CommonMultiBodyBase.h" -#include "../CommonInterfaces/CommonGraphicsAppInterface.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include "../CommonInterfaces/CommonFileIOInterface.h" -#include "Bullet3Common/b3FileUtils.h" - -///The ReducedMotorGrasp shows grasping a volumetric deformable objects with multibody gripper with moter constraints. -static btScalar sGripperVerticalVelocity = 0.f; -static btScalar sGripperClosingTargetVelocity = 0.f; -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0001; -static int num_modes = 20; -static float friction = 1.; -struct TetraCube -{ -#include "../SoftDemo/cube.inl" -}; - -struct TetraBunny -{ -#include "../SoftDemo/bunny.inl" -}; - -static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex) -{ - bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute - || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); - return canHaveMotor; -} - -class ReducedMotorGrasp : public CommonDeformableBodyBase -{ - btAlignedObjectArray<btDeformableLagrangianForce*> m_forces; -public: - ReducedMotorGrasp(struct GUIHelperInterface* helper) - :CommonDeformableBodyBase(helper) - { - } - virtual ~ReducedMotorGrasp() - { - } - void initPhysics(); - - void exitPhysics(); - - void Ctor_RbUpStack() - { - float mass = 8; - btCollisionShape* shape = new btBoxShape(btVector3(2, 0.25, 0.5)); - btTransform startTransform; - startTransform.setIdentity(); - - startTransform.setOrigin(btVector3(0,0.25,0)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setLinearVelocity(btVector3(0, 0, 0)); - rb1->setFriction(0.7); - } - - void resetCamera() - { - // float dist = 0.3; - // float pitch = -45; - // float yaw = 100; - // float targetPos[3] = {0, -0.1, 0}; - float dist = 0.4; - float pitch = -25; - float yaw = 90; - float targetPos[3] = {0, 0, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating); - - void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); - - btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating); - - void stepSimulation(float deltaTime) - { - double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity}; - int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies(); - for (int i = 0; i < num_multiBody; ++i) - { - btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i); - mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0)); - int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base - for (int link = 0; link < mb->getNumLinks(); link++) - { - if (supportsJointMotor(mb, link)) - { - btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; - if (motor) - { - if (dofIndex == 6) - { - motor->setVelocityTarget(-fingerTargetVelocities[1], 1); - motor->setMaxAppliedImpulse(10); - } - if (dofIndex == 7) - { - motor->setVelocityTarget(fingerTargetVelocities[1], 1); - motor->setMaxAppliedImpulse(10); - } - motor->setMaxAppliedImpulse(25); - } - } - dofIndex += mb->getLink(link).m_dofCount; - } - } - - //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); - // float internalTimeStep = 1. / 60.f; - // m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - } - - void createGrip() - { - int count = 2; - float mass = 2; - btCollisionShape* shape[] = { - new btBoxShape(btVector3(3, 3, 0.5)), - }; - static const int nshapes = sizeof(shape) / sizeof(shape[0]); - for (int i = 0; i < count; ++i) - { - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(10, 0, 0)); - startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); - createRigidBody(mass, startTransform, shape[i % nshapes]); - } - } - - virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const - { - return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; - } - - virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() - { - return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); - } - // for (int p = 0; p < rsb->m_contactNodesList.size(); ++p) - // { - // int index = rsb->m_contactNodesList[p]; - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0)); - // } - } - } - - virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - return false; - } - virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - return false; - } - virtual void removePickingConstraint(){} -}; - - -void ReducedMotorGrasp::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - // btVector3 gravity = btVector3(0, 0, 0); - btVector3 gravity = btVector3(0, -9.81, 0); - reducedSoftBodySolver->setGravity(gravity); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_dynamicsWorld->setGravity(gravity); - getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1; - // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0; - // getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_maxPickingForce = 0.001; - // build a gripper - { - bool damping = true; - bool gyro = false; - bool canSleep = false; - bool selfCollide = true; - int numLinks = 2; - // btVector3 linkHalfExtents(0.02, 0.018, .003); - // btVector3 baseHalfExtents(0.02, 0.002, .002); - btVector3 linkHalfExtents(0.03, 0.04, 0.006); - btVector3 baseHalfExtents(0.02, 0.015, 0.015); - btVector3 basePosition(0, 0.3, 0); - // btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), baseHalfExtents, linkHalfExtents, false); - btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), basePosition, baseHalfExtents, linkHalfExtents, false); - - mbC->setCanSleep(canSleep); - mbC->setHasSelfCollision(selfCollide); - mbC->setUseGyroTerm(gyro); - - for (int i = 0; i < numLinks; i++) - { - int mbLinkIndex = i; - double maxMotorImpulse = 1; - - if (supportsJointMotor(mbC, mbLinkIndex)) - { - int dof = 0; - btScalar desiredVelocity = 0.f; - btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse); - motor->setPositionTarget(0, 0); - motor->setVelocityTarget(0, 1); - mbC->getLink(mbLinkIndex).m_userPtr = motor; - getDeformableDynamicsWorld()->addMultiBodyConstraint(motor); - motor->finalizeMultiDof(); - } - } - - if (!damping) - { - mbC->setLinearDamping(0.0f); - mbC->setAngularDamping(0.0f); - } - else - { - mbC->setLinearDamping(0.04f); - mbC->setAngularDamping(0.04f); - } - btScalar q0 = 0.f * SIMD_PI / 180.f; - if (numLinks > 0) - mbC->setJointPosMultiDof(0, &q0); - addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents); - } - - //create a ground - { - btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.))); - groundShape->setMargin(0.001); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, -5.1, 0)); - groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); - //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: - btScalar mass(0.); - - //rigidbody is dynamic if and only if mass is non zero, otherwise static - bool isDynamic = (mass != 0.f); - - btVector3 localInertia(0, 0, 0); - if (isDynamic) - groundShape->calculateLocalInertia(mass, localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0.5); - - //add the ground to the dynamics world - m_dynamicsWorld->addRigidBody(body,1,1+2); - } - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_cube/"); - std::string vtk_file("cube_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.001); - - rsb->setStiffnessScale(100); - rsb->setDamping(damping_alpha, damping_beta); - - rsb->scale(btVector3(0.075, 0.075, 0.075)); - rsb->setTotalMass(1); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 0.1, 0)); - // init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, 0, SIMD_PI / 2.0)); - rsb->transform(init_transform); - - // rsb->setRigidVelocity(btVector3(0, 1, 0)); - - rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects - rsb->m_cfg.kCHR = 1; // collision hardness with rigid body - rsb->m_cfg.kDF = 0; - rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN; - rsb->m_sleepingThreshold = 0; - btSoftBodyHelpers::generateBoundaryFaces(rsb); - } - - // Ctor_RbUpStack(); - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 200; - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - - { - SliderParams slider("Moving velocity", &sGripperVerticalVelocity); - // slider.m_minVal = -.02; - // slider.m_maxVal = .02; - slider.m_minVal = -.2; - slider.m_maxVal = .2; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - { - SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); - slider.m_minVal = -1; - slider.m_maxVal = 1; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - -} - -void ReducedMotorGrasp::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - -btMultiBody* ReducedMotorGrasp::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating) -{ - //init the base - btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = 55; - float linkMass = 55; - int numLinks = 2; - - if (baseMass) - { - btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); - pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag); - delete pTempBox; - } - - bool canSleep = false; - btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep); - - btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f); - pMultiBody->setBasePos(basePosition); - pMultiBody->setWorldToBaseRot(baseOriQuat); - - //init the links - btVector3 hingeJointAxis(1, 0, 0); - - btVector3 linkInertiaDiag(0.f, 0.f, 0.f); - - btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); - pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag); - delete pTempBox; - - //y-axis assumed up - btAlignedObjectArray<btVector3> parentComToCurrentCom; - parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, -baseHalfExtents[2] * 2.f)); - parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset - - - btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*2.f, 0); //cur body's COM to cur body's PIV offset - - btAlignedObjectArray<btVector3> parentComToCurrentPivot; - parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom)); - parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset - - ////// - btScalar q0 = 0.f * SIMD_PI / 180.f; - btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0); - quat0.normalize(); - ///// - - for (int i = 0; i < numLinks; ++i) - { - pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true); - } - pMultiBody->finalizeMultiDof(); - /// - pWorld->addMultiBody(pMultiBody); - /// - return pMultiBody; -} - -void ReducedMotorGrasp::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) -{ - btAlignedObjectArray<btQuaternion> world_to_local; - 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); -} - - |