redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/SharedMemory/RobotControlExample.cpp
395 строк11 KB
erwincoumans
Improved simple TimeSeriesCanvas
07 авг 2015, 23:17
07 авг 2015, 23:1789c2a72



#include "RobotControlExample.h"



#include "../CommonInterfaces/CommonParameterInterface.h"
#include "PhysicsServer.h"
#include "PhysicsClient.h"
#include "SharedMemoryCommon.h"
#include "../Utils/b3Clock.h"
#include "PhysicsClientC_API.h"

//const char* blaatnaam = "basename";


struct MyMotorInfo
{
	btScalar m_velTarget;
	btScalar m_maxForce;
	int		m_uIndex;
};
#define MAX_NUM_MOTORS 128

class RobotControlExample : public SharedMemoryCommon
{
	PhysicsServerSharedMemory	m_physicsServer;
	PhysicsClientSharedMemory	m_physicsClient;
	b3Clock	m_realtimeClock;

	int	m_sequenceNumberGenerator;
	bool m_wantsShutdown;
	   
	btAlignedObjectArray<SharedMemoryCommand> m_userCommandRequests;

		
	void	createButton(const char* name, int id, bool isTrigger );
	
public:
    //@todo, add accessor methods
	MyMotorInfo m_motorTargetVelocities[MAX_NUM_MOTORS];
	int m_numMotors;

	
	RobotControlExample(GUIHelperInterface* helper);
    
	virtual ~RobotControlExample();
    
	virtual void	initPhysics();
    
	virtual void	stepSimulation(float deltaTime);
    
    void enqueueCommand(const SharedMemoryCommand& orgCommand)
	{
		m_userCommandRequests.push_back(orgCommand);
		SharedMemoryCommand& cmd = m_userCommandRequests[m_userCommandRequests.size()-1];
		cmd.m_sequenceNumber = m_sequenceNumberGenerator++;
		cmd.m_timeStamp = m_realtimeClock.getTimeMicroseconds();

		b3Printf("User put command request %d on queue (queue length = %d)\n",cmd.m_type, m_userCommandRequests.size());
	}
  
	virtual void resetCamera()
	{
		float dist = 5;
		float pitch = 50;
		float yaw = 35;
		float targetPos[3]={0,0,0};//-3,2.8,-2.5};
		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
	}
    
    virtual bool wantsTermination();
    virtual bool isConnected();
	virtual void	renderScene()
	{
		m_physicsServer.renderScene();
	}
	virtual void    exitPhysics(){}
	
	virtual void	physicsDebugDraw(int debugFlags)
	{
		m_physicsServer.physicsDebugDraw(debugFlags);
	}
	virtual bool	mouseMoveCallback(float x,float y){return false;};
	virtual bool	mouseButtonCallback(int button, int state, float x, float y){return false;}
	virtual bool	keyboardCallback(int key, int state){return false;}
	
	virtual void setSharedMemoryKey(int key)
	{
		m_physicsServer.setSharedMemoryKey(key);
		m_physicsClient.setSharedMemoryKey(key);
	}

};

bool RobotControlExample::isConnected()
{
    return m_physicsClient.isConnected();
}

void MyCallback2(int buttonId, bool buttonState, void* userPtr)
{
	RobotControlExample* cl = (RobotControlExample*) userPtr;

	SharedMemoryCommand command;

	switch (buttonId)
	{
	case  CMD_LOAD_URDF:
		{
			command.m_type =CMD_LOAD_URDF;
			command.m_updateFlags = URDF_ARGS_FILE_NAME|URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION;
			sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");
			command.m_urdfArguments.m_initialPosition[0] = 0.0;
			command.m_urdfArguments.m_initialPosition[1] = 0.0;
			command.m_urdfArguments.m_initialPosition[2] = 0.0;
			command.m_urdfArguments.m_initialOrientation[0] = 0.0;
			command.m_urdfArguments.m_initialOrientation[1] = 0.0;
			command.m_urdfArguments.m_initialOrientation[2] = 0.0;
			command.m_urdfArguments.m_initialOrientation[3] = 1.0;
			command.m_urdfArguments.m_useFixedBase = false;
			command.m_urdfArguments.m_useMultiBody = true;
			cl->enqueueCommand(command);
			break;
		}

		case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
		{
		    //#ifdef USE_C_API
		    b3InitPhysicsParamCommand(&command);
            b3PhysicsParamSetGravity(&command, 0,0,-10);
            

//		    #else
//		    
//			command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
//			command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
//			command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
//			command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
//			command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
//			#endif // USE_C_API
			
			cl->enqueueCommand(command);
			break;

		};
		case CMD_INIT_POSE:
		{
			///@todo: implement this
			command.m_type = CMD_INIT_POSE;
			cl->enqueueCommand(command);
			break;
		}

			
	case CMD_CREATE_BOX_COLLISION_SHAPE:
		{
			command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
            command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
            command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
            command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
            command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
            
            
			cl->enqueueCommand(command);
			break;
		}
	case CMD_REQUEST_ACTUAL_STATE:
		{
			command.m_type =CMD_REQUEST_ACTUAL_STATE;
			cl->enqueueCommand(command);
			break;
		};
	case CMD_STEP_FORWARD_SIMULATION:
		{
			command.m_type =CMD_STEP_FORWARD_SIMULATION;
			cl->enqueueCommand(command);
			break;
		}
	
    case CMD_SEND_DESIRED_STATE:
		{
			
				command.m_type =CMD_SEND_DESIRED_STATE;
				int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;

				command.m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
				//todo: expose a drop box in the GUI for this
				switch (controlMode)
				{
				case CONTROL_MODE_VELOCITY:
					{
						for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
						{
							command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
							command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
						}
						for (int i=0;i<cl->m_numMotors;i++)
						{
							btScalar targetVel = cl->m_motorTargetVelocities[i].m_velTarget;
                            
							int uIndex = cl->m_motorTargetVelocities[i].m_uIndex;
							if (targetVel>1)
                            {
                                printf("testme");
                            }
                            command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
							
						}
						break;
					}
				case CONTROL_MODE_TORQUE:
					{
						for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
						{
							command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 100;
						}
						break;
					}
				default:
					{
						b3Printf("Unknown control mode in client CMD_SEND_DESIRED_STATE");
						btAssert(0);
					}
				}
			cl->enqueueCommand(command);		
			break;
		}
	case CMD_SEND_BULLET_DATA_STREAM:
		{
			command.m_type = buttonId;
			cl->enqueueCommand(command);
			break;
		}

	default:
		{
			b3Error("Unknown buttonId");
			btAssert(0);
		}
	};
}
void	RobotControlExample::createButton(const char* name, int buttonId, bool isTrigger )
{
	ButtonParams button(name,buttonId,  isTrigger);
	button.m_callback = MyCallback2;
	button.m_userPointer = this;
	m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}

RobotControlExample::RobotControlExample(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_wantsShutdown(false),
m_sequenceNumberGenerator(0),
m_numMotors(0)
{
	
	bool useServer = true;
}



RobotControlExample::~RobotControlExample()
{
	bool deInitializeSharedMemory = true;
    m_physicsClient.disconnectSharedMemory();
	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}

void	RobotControlExample::initPhysics()
{
	///for this testing we use Z-axis up
	int upAxis = 2;
	m_guiHelper->setUpAxis(upAxis);

  /*  createEmptyDynamicsWorld();
	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
	btVector3 grav(0,0,0);
	grav[upAxis] = 0;//-9.8;
	this->m_dynamicsWorld->setGravity(grav);
    */
	m_physicsServer.connectSharedMemory( m_guiHelper);
  
	if (m_guiHelper && m_guiHelper->getParameterInterface())
	{
		bool isTrigger = false;
		
		createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
		createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
		createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
		createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
		createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
		createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
		createButton("Set Physics Params",CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,isTrigger);
		createButton("Init Pose",CMD_INIT_POSE,isTrigger);
	} else
	{
		/*
		m_userCommandRequests.push_back(CMD_LOAD_URDF);
		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
		m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
		//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
		m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
		//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
		m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
		m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
		m_userCommandRequests.push_back(CMD_SHUTDOWN);
		*/
	}

	if (!m_physicsClient.connect())
	{
		b3Warning("Cannot eonnect to physics client");
	}

}


bool RobotControlExample::wantsTermination()
{
    return m_wantsShutdown;
}



void	RobotControlExample::stepSimulation(float deltaTime)
{
    m_physicsServer.processClientCommands();

	if (m_physicsClient.isConnected())
    {
		
		SharedMemoryStatus status;
		bool hasStatus = m_physicsClient.processServerStatus(status);
		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
		{
			for (int i=0;i<m_physicsClient.getNumJoints();i++)
			{
				b3JointInfo info;
				m_physicsClient.getJointInfo(i,info);
				b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
				
                if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
                {
                    if (m_numMotors<MAX_NUM_MOTORS)
                    {
                        char motorName[1024];
                        sprintf(motorName,"%s q'", info.m_jointName);
                        MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
                        motorInfo->m_velTarget = 0.f;
                        motorInfo->m_uIndex = info.m_uIndex;
                    
                        SliderParams slider(motorName,&motorInfo->m_velTarget);
                        slider.m_minVal=-4;
                        slider.m_maxVal=4;
                        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                        m_numMotors++;
                    }
                }
				
			}
		}

		
		if (m_physicsClient.canSubmitCommand())
		{
			if (m_userCommandRequests.size())
			{
				b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
				SharedMemoryCommand& cmd = m_userCommandRequests[0];

				//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
				for (int i=1;i<m_userCommandRequests.size();i++)
				{
					m_userCommandRequests[i-1] = m_userCommandRequests[i];
				}

				m_userCommandRequests.pop_back();
				m_physicsClient.submitClientCommand(cmd);
			}
		}
	}
}

extern int gSharedMemoryKey;

class CommonExampleInterface*    RobotControlExampleCreateFunc(struct CommonExampleOptions& options)
{
    RobotControlExample* example = new RobotControlExample(options.m_guiHelper);
	if (gSharedMemoryKey>=0)
	{
		example->setSharedMemoryKey(gSharedMemoryKey);
	}
	return example;
}