void update(b3Scalar speed,b3Scalar amplitude,b3BroadphaseInterface* pbi)
{
time += speed;
center[0] = b3Cos(time*(b3Scalar)2.17)*amplitude+
b3Sin(time)*amplitude/2;
center[1] = b3Cos(time*(b3Scalar)1.38)*amplitude+
b3Sin(time)*amplitude;
center[2] = b3Sin(time*(b3Scalar)0.777)*amplitude;
pbi->setAabb(proxy,center-extents,center+extents,0);
}
virtual void stepSimulation(float deltaTime)
{
m_x+=0.01f;
m_y+=0.01f;
m_z+=0.01f;
int index=0;
for (int i=-numCubesX/2;i<numCubesX/2;i++)
{
for (int j = -numCubesY/2;j<numCubesY/2;j++)
{
b3Vector3 pos=b3MakeVector3(i,j,j);
pos[m_app->getUpAxis()] = 1+1*b3Sin(m_x+i-j);
float orn[4]={0,0,0,1};
m_app->m_renderer->writeSingleInstanceTransformToCPU(pos,orn,m_movingInstances[index++]);
}
}
m_app->m_renderer->writeTransforms();
}
virtual void stepSimulation(float deltaTime)
{
float dt = deltaTime;
btClamp(dt,0.0001f,0.01f);
m_time+=dt;
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
m_targetOri.setValue(0, 1.0, 0, 0);
m_targetPos.setValue(0.2*b3Cos( m_time), 0.2*b3Sin( m_time), 1.1);
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
if (numJoints==7)
{
double q_current[7]={0,0,0,0,0,0,0};
b3JointStates2 jointStates;
if (m_robotSim.getJointStates(m_kukaIndex,jointStates))
{
//skip the base positions (7 values)
b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
for (int i=0;i<numJoints;i++)
{
q_current[i] = jointStates.m_actualStateQ[i+7];
}
}
// compute body position and orientation
b3LinkState linkState;
m_robotSim.getLinkState(0, 6, &linkState);
m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
b3Vector3DoubleData targetPosDataOut;
m_targetPos.serializeDouble(targetPosDataOut);
b3Vector3DoubleData worldPosDataOut;
m_worldPos.serializeDouble(worldPosDataOut);
b3Vector3DoubleData targetOriDataOut;
m_targetOri.serializeDouble(targetOriDataOut);
b3Vector3DoubleData worldOriDataOut;
m_worldOri.serializeDouble(worldOriDataOut);
b3RobotSimulatorInverseKinematicArgs ikargs;
b3RobotSimulatorInverseKinematicsResults ikresults;
ikargs.m_bodyUniqueId = m_kukaIndex;
// ikargs.m_currentJointPositions = q_current;
// ikargs.m_numPositions = 7;
ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
//ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
ikargs.m_endEffectorLinkIndex = 6;
// Settings based on default KUKA arm setting
ikargs.m_lowerLimits.resize(numJoints);
ikargs.m_upperLimits.resize(numJoints);
ikargs.m_jointRanges.resize(numJoints);
ikargs.m_restPoses.resize(numJoints);
ikargs.m_jointDamping.resize(numJoints,0.5);
ikargs.m_lowerLimits[0] = -2.32;
ikargs.m_lowerLimits[1] = -1.6;
ikargs.m_lowerLimits[2] = -2.32;
ikargs.m_lowerLimits[3] = -1.6;
ikargs.m_lowerLimits[4] = -2.32;
ikargs.m_lowerLimits[5] = -1.6;
ikargs.m_lowerLimits[6] = -2.4;
ikargs.m_upperLimits[0] = 2.32;
ikargs.m_upperLimits[1] = 1.6;
ikargs.m_upperLimits[2] = 2.32;
ikargs.m_upperLimits[3] = 1.6;
ikargs.m_upperLimits[4] = 2.32;
ikargs.m_upperLimits[5] = 1.6;
ikargs.m_upperLimits[6] = 2.4;
ikargs.m_jointRanges[0] = 5.8;
ikargs.m_jointRanges[1] = 4;
ikargs.m_jointRanges[2] = 5.8;
ikargs.m_jointRanges[3] = 4;
ikargs.m_jointRanges[4] = 5.8;
ikargs.m_jointRanges[5] = 4;
ikargs.m_jointRanges[6] = 6;
ikargs.m_restPoses[0] = 0;
ikargs.m_restPoses[1] = 0;
ikargs.m_restPoses[2] = 0;
ikargs.m_restPoses[3] = SIMD_HALF_PI;
ikargs.m_restPoses[4] = 0;
ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
ikargs.m_restPoses[6] = 0;
ikargs.m_jointDamping[0] = 10.0;
ikargs.m_numDegreeOfFreedom = numJoints;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
{
//copy the IK result to the desired state of the motor/actuator
for (int i=0;i<numJoints;i++)
{
b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
t.m_maxTorqueValue = 100.0;
t.m_kp= 1.0;
t.m_targetVelocity = 0;
t.m_kd = 1.0;
m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
}
}
}
m_robotSim.stepSimulation();
}
