dReal ODE_Link::getVelocity(){
if(jointType == ODE_Link::ROTATIONAL_JOINT)
return dJointGetHingeAngleRate(odeJointId);
else if(jointType == ODE_Link::SLIDE_JOINT)
return dJointGetSliderPositionRate(odeJointId);
else
return 0;
}
static float get_phys_joint_rate(dJointID j, int n)
{
switch (dJointGetType(j))
{
case dJointTypeHinge: return (float) DEG(dJointGetHingeAngleRate (j));
case dJointTypeSlider: return (float) dJointGetSliderPositionRate(j);
case dJointTypeHinge2:
if (n == 1)
return (float) DEG(dJointGetHinge2Angle1Rate(j));
else
return (float) DEG(dJointGetHinge2Angle2Rate(j));
default: return 0.0f;
}
}
//! This function is called once per simulation step, allowing the
//! constraint to be "motorized" according to some response. It runs
//! in the physics thread.
void OscHingeODE::simulationCallback()
{
ODEConstraint& me = *static_cast<ODEConstraint*>(special());
dReal angle = dJointGetHingeAngle(me.joint());
dReal rate = dJointGetHingeAngleRate(me.joint());
dReal addtorque =
- m_response->m_stiffness.m_value*angle
- m_response->m_damping.m_value*rate;
// Limit the torque otherwise we get ODE assertions.
if (addtorque > 1000) addtorque = 1000;
if (addtorque < -1000) addtorque = -1000;
m_torque.m_value = addtorque;
dJointAddHingeTorque(me.joint(), addtorque);
}
dReal ServoMotor::getVelocity() {
return dJointGetHingeAngleRate(joint_->getJoint());
}
Real32 PhysicsHingeJoint::getAngleRate(void)
{
return dJointGetHingeAngleRate(_JointID);
}
dReal doStuffAndGetError (int n)
{
switch (n) {
// ********** fixed joint
case 0: { // 2 body
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
// check the orientations are the same
const dReal *R1 = dBodyGetRotation (body[0]);
const dReal *R2 = dBodyGetRotation (body[1]);
dReal err1 = dMaxDifference (R1,R2,3,3);
// check the body offset is correct
dVector3 p,pp;
const dReal *p1 = dBodyGetPosition (body[0]);
const dReal *p2 = dBodyGetPosition (body[1]);
for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
dMULTIPLY1_331 (pp,R1,p);
pp[0] += 0.5;
pp[1] += 0.5;
return (err1 + length (pp)) * 300;
}
case 1: { // 1 body to static env
addOscillatingTorque (0.1);
// check the orientation is the identity
dReal err1 = cmpIdentity (dBodyGetRotation (body[0]));
// check the body offset is correct
dVector3 p;
const dReal *p1 = dBodyGetPosition (body[0]);
for (int i=0; i<3; i++) p[i] = p1[i];
p[0] -= 0.25;
p[1] -= 0.25;
p[2] -= 1;
return (err1 + length (p)) * 1e6;
}
case 2: { // 2 body
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
// check the body offset is correct
// Should really check body rotation too. Oh well.
const dReal *R1 = dBodyGetRotation (body[0]);
dVector3 p,pp;
const dReal *p1 = dBodyGetPosition (body[0]);
const dReal *p2 = dBodyGetPosition (body[1]);
for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
dMULTIPLY1_331 (pp,R1,p);
pp[0] += 0.5;
pp[1] += 0.5;
return length(pp) * 300;
}
case 3: { // 1 body to static env with relative rotation
addOscillatingTorque (0.1);
// check the body offset is correct
dVector3 p;
const dReal *p1 = dBodyGetPosition (body[0]);
for (int i=0; i<3; i++) p[i] = p1[i];
p[0] -= 0.25;
p[1] -= 0.25;
p[2] -= 1;
return length (p) * 1e6;
}
// ********** hinge joint
case 200: // 2 body
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
return dInfinity;
case 220: // hinge angle polarity test
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
if (iteration == 40) {
dReal a = dJointGetHingeAngle (joint);
if (a > 0.5 && a < 1) return 0; else return 10;
}
return 0;
case 221: { // hinge angle rate test
static dReal last_angle = 0;
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
dReal a = dJointGetHingeAngle (joint);
dReal r = dJointGetHingeAngleRate (joint);
dReal er = (a-last_angle)/STEPSIZE; // estimated rate
last_angle = a;
return fabs(r-er) * 4e4;
}
case 230: // hinge motor rate (and polarity) test
case 231: { // ...with stops
static dReal a = 0;
dReal r = dJointGetHingeAngleRate (joint);
dReal err = fabs (cos(a) - r);
if (a==0) err = 0;
a += 0.03;
dJointSetHingeParam (joint,dParamVel,cos(a));
if (n==231) return dInfinity;
return err * 1e6;
}
// ********** slider joint
case 300: // 2 body
addOscillatingTorque (0.05);
dampRotationalMotion (0.1);
addSpringForce (0.5);
return dInfinity;
case 320: // slider angle polarity test
dBodyAddForce (body[0],0,0,0.1);
dBodyAddForce (body[1],0,0,-0.1);
if (iteration == 40) {
dReal a = dJointGetSliderPosition (joint);
if (a > 0.2 && a < 0.5) return 0; else return 10;
return a;
}
return 0;
case 321: { // slider angle rate test
static dReal last_pos = 0;
dBodyAddForce (body[0],0,0,0.1);
dBodyAddForce (body[1],0,0,-0.1);
dReal p = dJointGetSliderPosition (joint);
dReal r = dJointGetSliderPositionRate (joint);
dReal er = (p-last_pos)/STEPSIZE; // estimated rate (almost exact)
last_pos = p;
return fabs(r-er) * 1e9;
}
case 330: // slider motor rate (and polarity) test
case 331: { // ...with stops
static dReal a = 0;
dReal r = dJointGetSliderPositionRate (joint);
dReal err = fabs (0.7*cos(a) - r);
if (a < 0.04) err = 0;
a += 0.03;
dJointSetSliderParam (joint,dParamVel,0.7*cos(a));
if (n==331) return dInfinity;
return err * 1e6;
}
// ********** hinge-2 joint
case 420: // hinge-2 steering angle polarity test
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
if (iteration == 40) {
dReal a = dJointGetHinge2Angle1 (joint);
if (a > 0.5 && a < 0.6) return 0; else return 10;
}
return 0;
case 421: { // hinge-2 steering angle rate test
static dReal last_angle = 0;
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
dReal a = dJointGetHinge2Angle1 (joint);
dReal r = dJointGetHinge2Angle1Rate (joint);
dReal er = (a-last_angle)/STEPSIZE; // estimated rate
last_angle = a;
return fabs(r-er)*2e4;
}
case 430: // hinge 2 steering motor rate (+polarity) test
case 431: { // ...with stops
static dReal a = 0;
dReal r = dJointGetHinge2Angle1Rate (joint);
dReal err = fabs (cos(a) - r);
if (a==0) err = 0;
a += 0.03;
dJointSetHinge2Param (joint,dParamVel,cos(a));
if (n==431) return dInfinity;
return err * 1e6;
}
case 432: { // hinge 2 wheel motor rate (+polarity) test
static dReal a = 0;
dReal r = dJointGetHinge2Angle2Rate (joint);
dReal err = fabs (cos(a) - r);
if (a==0) err = 0;
a += 0.03;
dJointSetHinge2Param (joint,dParamVel2,cos(a));
return err * 1e6;
}
// ********** angular motor joint
case 600: { // test euler angle calculations
// desired euler angles from last iteration
static dReal a1,a2,a3;
// find actual euler angles
dReal aa1 = dJointGetAMotorAngle (joint,0);
dReal aa2 = dJointGetAMotorAngle (joint,1);
dReal aa3 = dJointGetAMotorAngle (joint,2);
// printf ("actual = %.4f %.4f %.4f\n\n",aa1,aa2,aa3);
dReal err = dInfinity;
if (iteration > 0) {
err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3);
err *= 1e10;
}
// get random base rotation for both bodies
dMatrix3 Rbase;
dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5),
3*(dRandReal()-0.5), 3*(dRandReal()-0.5));
dBodySetRotation (body[0],Rbase);
// rotate body 2 by random euler angles w.r.t. body 1
a1 = 3.14 * 2 * (dRandReal()-0.5);
a2 = 1.57 * 2 * (dRandReal()-0.5);
a3 = 3.14 * 2 * (dRandReal()-0.5);
dMatrix3 R1,R2,R3,Rtmp1,Rtmp2;
dRFromAxisAndAngle (R1,0,0,1,-a1);
dRFromAxisAndAngle (R2,0,1,0,a2);
dRFromAxisAndAngle (R3,1,0,0,-a3);
dMultiply0 (Rtmp1,R2,R3,3,3,3);
dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3);
dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3);
dBodySetRotation (body[1],Rtmp1);
// printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3);
return err;
}
// ********** universal joint
case 700: { // 2 body: joint constraint
dVector3 ax1, ax2;
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
return fabs(10*dDOT(ax1, ax2));
}
case 701: { // 2 body: angle 1 rate
static dReal last_angle = 0;
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
// I'm not sure why the error is so large here.
return fabs(r - er) * 1e1;
}
case 702: { // 2 body: angle 2 rate
static dReal last_angle = 0;
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
// I'm not sure why the error is so large here.
return fabs(r - er) * 1e1;
}
case 720: { // universal transmit torque test: constraint error
dVector3 ax1, ax2;
addOscillatingTorqueAbout (0.1, 1, 1, 0);
dampRotationalMotion (0.1);
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
return fabs(10*dDOT(ax1, ax2));
}
case 721: { // universal transmit torque test: angle1 rate
static dReal last_angle = 0;
addOscillatingTorqueAbout (0.1, 1, 1, 0);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 722: { // universal transmit torque test: angle2 rate
static dReal last_angle = 0;
addOscillatingTorqueAbout (0.1, 1, 1, 0);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 730:{
dVector3 ax1, ax2;
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
dampRotationalMotion (0.1);
return fabs(10*dDOT(ax1, ax2));
}
case 731:{
dVector3 ax1;
static dReal last_angle = 0;
dJointGetUniversalAxis1(joint, ax1);
addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 2e3;
}
case 732:{
dVector3 ax1;
static dReal last_angle = 0;
dJointGetUniversalAxis1(joint, ax1);
addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 740:{
dVector3 ax1, ax2;
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
dampRotationalMotion (0.1);
return fabs(10*dDOT(ax1, ax2));
}
case 741:{
dVector3 ax2;
static dReal last_angle = 0;
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 742:{
dVector3 ax2;
static dReal last_angle = 0;
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e4;
}
}
return dInfinity;
}
double
Else::AcrobotArticulatedBody
::currentVel( void )
{
return dJointGetHingeAngleRate( myJoints[0] );
}
int ToyControl::action() {
if (!_sim) {
return -1;
}
/*
_target[0] = -1;
_target[1] = s0.swh;
_target[2] = -s0.swk;
_target[3] = -s0.stk;
_target[4] = s0.swa;
_target[5] = s0.sta;
*/
// collision detection
dContactGeom contact[100];
dGeomID leftfootId = _toy.box[5].id();
dGeomID rightfootId = _toy.box[6].id();
dGeomID groundId = _toy._env.ground.id();
int left = dCollide(leftfootId, groundId, 100, &contact[0], sizeof(dContactGeom));
int right = dCollide(rightfootId, groundId, 100, &contact[1], sizeof(dContactGeom));
// end of collision detection
//target->joint
//0 left hip
//1 right hip
//2 left knee
//3 right knee
//4 left ankle
//5 right ankle
if (now.num==0){
if (diff >= now.deltaT){
now = s1;
before = clock();
std::cout<<"0->1"<<std::endl;
}else if (right > 0){
now = s2;
before = clock();
diff = 0;
std::cout<<"0->2"<<"\tright "<<right<<std::endl;
}else{
//left lift
_target[0] = -s0.swh;
_target[1] = s0.swh;
_target[2] = -s0.swk;//-
_target[3] = s0.stk;
_target[4] = s0.swa;
_target[5] = s0.sta;
}
}
if(now.num==1){
if (left>0){
std::cout<<"1->2"<<"\tleft "<<left<<std::endl;
now = s2;
before = clock();
diff = 0;
}else{
//left contact
_target[0] = -s1.swh;
_target[1] = s1.swh;
_target[2] = -s1.swk;//-
_target[3] = s1.stk;
_target[4] = s1.swa;
_target[5] = s1.sta;
}
}
if(now.num==2){
if (diff >= now.deltaT){
now = s3;
before = clock();
std::cout<<"2->3"<<std::endl;
}else if (left > 0){
now = s0;
before = clock();
diff = 0;
std::cout<<"2->0"<<"\tleft "<<left<<std::endl;
}else{
//right lift
_target[1] = -s2.swh;
_target[0] = s2.swh;
_target[3] = -s2.swk;//-
_target[2] = s2.stk;
_target[5] = s2.swa;
_target[4] = s2.sta;
}
}
if(now.num==3){
if (right>0){
std::cout<<"3->0"<<"\tright "<<right<<std::endl;
now = s0;
before = clock();
diff = 0;
}else{
_target[1] = -s3.swh;
_target[0] = s3.swh;
_target[3] = -s3.swk;//-
_target[2] = s3.stk;
_target[5] = s3.swa;
_target[4] = s3.sta;
}
}
if(now.num==4){
std::cout<<"starting..."<<std::endl;
before = clock();
_target[0] = -s0.swh;
_target[1] = s0.swh;
_target[2] = -s0.swk;//-
_target[3] = s0.stk;
_target[4] = s0.swa;
_target[5] = s0.sta;
now.num=0;
}
// Add joint torques to each DOF, pulling the body towards the
// desired state defined by _target.
for (int i = 0; i < NUM_BODY-1; i++) {
dJointID jt = _toy.joint[i].id();
double limit = _ks[i];
dReal theta = dJointGetHingeAngle(jt);
dReal thetav = dJointGetHingeAngleRate(jt);
dReal torque =
_ks[i]*(_target[i] - theta) - _kd[i]*thetav; // PD controler equation
if (torque > limit) torque = limit;
if (torque < -limit) torque = -limit; // a limit on torque
dJointAddHingeTorque(jt, torque);
//use this torque in the next step of simulation
}
after = clock();
diff = ((float)(after-before))/CLOCKS_PER_SEC;
return 0;
}
double CODEHingeJoint::getAngleRate(int axisIndex) const
{
return dJointGetHingeAngleRate(mID);
}
