/**
* Test if we have a circle; inertia has been precomputed by caller
*/
double CircleRecognizer::scoreCircle(Stroke* s, Inertia& inertia)
{
if (inertia.getMass() == 0.0)
{
return 0;
}
double sum = 0.0;
double x0 = inertia.centerX();
double y0 = inertia.centerY();
double r0 = inertia.rad();
ArrayIterator<Point> it = s->pointIterator();
if (!it.hasNext())
{
return 0;
}
Point p1 = it.next();
while (it.hasNext())
{
Point p2 = it.next();
double dm = hypot(p2.x - p1.x, p2.y - p1.y);
double deltar = hypot(p1.x - x0, p1.y - y0) - r0;
sum += dm * fabs(deltar);
p1 = p2;
}
return sum / (inertia.getMass() * r0);
}
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
inline Eigen::Matrix <double, 6, 3> operator* (const Inertia & Y, const ConstraintRotationalSubspace & )
{
Eigen::Matrix <double, 6, 3> M;
// M.block <3,3> (Inertia::LINEAR, 0) = - Y.mass () * skew(Y.lever ());
M.block <3,3> (Inertia::LINEAR, 0) = alphaSkew ( -Y.mass (), Y.lever ());
M.block <3,3> (Inertia::ANGULAR, 0) = (Inertia::Matrix3)(Y.inertia () - Symmetric3::AlphaSkewSquare(Y.mass (), Y.lever ()));
return M;
}
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
inline Eigen::Matrix<double,6,1>
operator*( const Inertia& Y,const ConstraintRevoluteUnaligned & cru)
{
/* YS = [ m -mcx ; mcx I-mcxcx ] [ 0 ; w ] = [ mcxw ; Iw -mcxcxw ] */
const double &m = Y.mass();
const Inertia::Vector3 & c = Y.lever();
const Inertia::Symmetric3 & I = Y.inertia();
Eigen::Matrix<double,6,1> res;
res.head<3>() = -m*c.cross(cru.axis);
res.tail<3>() = I*cru.axis + c.cross(res.head<3>());
return res;
}
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
inline Eigen::Matrix<double,6,1>
operator*( const Inertia& Y,const ConstraintPrismatic<2> & )
{
/* Y(:,2) = ( 0,0, 1, y , -x , 0) */
const double
&m = Y.mass(),
&x = Y.lever()[0],
&y = Y.lever()[1];
Eigen::Matrix<double,6,1> res; res << 0.0,0.0,m,
m*y,
-m*x,
0.0;
return res;
}
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
inline Eigen::Matrix<double,6,1>
operator*( const Inertia& Y,const ConstraintPrismatic<1> & )
{
/* Y(:,1) = ( 0,1, 0, -z , 0 , x) */
const double
&m = Y.mass(),
&x = Y.lever()[0],
&z = Y.lever()[2];
Eigen::Matrix<double,6,1> res; res << 0.0,m,0.0,
-m*z,
0.0,
m*x ;
return res;
}
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
inline Eigen::Matrix<double,6,1>
operator*( const Inertia& Y,const ConstraintPrismatic<0> & )
{
/* Y(:,0) = ( 1,0, 0, 0 , z , -y ) */
const double
&m = Y.mass(),
&y = Y.lever()[1],
&z = Y.lever()[2];
Eigen::Matrix<double,6,1> res; res << m,0.0,0.0,
0.0,
m*z,
-m*y ;
return res;
}
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
Eigen::Matrix <Inertia::Scalar, 6, 3> operator* (const Inertia & Y, const JointPlanar::ConstraintPlanar &)
{
Eigen::Matrix <Inertia::Scalar, 6, 3> M;
const double mass = Y.mass ();
const Inertia::Vector3 & com = Y.lever ();
const Symmetric3 & inertia = Y.inertia ();
M.topLeftCorner <3,3> ().setZero ();
M.topLeftCorner <2,2> ().diagonal ().fill (mass);
Inertia::Vector3 mc (mass * com);
M.rightCols <1> ().head <2> () << mc(1), - mc(0);
M.bottomLeftCorner <3,2> () << 0., mc(2), - mc(1), 0., mc(1), -mc(0);
M.rightCols <1> ().tail <3> () = inertia.data ().tail <3> ();
M.rightCols <1> ().head <2> () = mc.head <2> () * com(2);
M.rightCols <1> ().tail <1> () = -mc.head <2> ().transpose () * com.head <2> ();
return M;
}
bool testConstraintRX()
{
using namespace se3;
Inertia Y = Inertia::Random();
JointRX::ConstraintRevolute S;
std::cout << "Y = \n" << Y.matrix() << std::endl;
std::cout << "S = \n" << ((ConstraintXd)S).matrix() << std::endl;
ForceSet F(1); F.block(0,1) = Y*S;
std::cout << "Y*S = \n" << (Y*S).matrix() << std::endl;
std::cout << "F=Y*S = \n" << F.matrix() << std::endl;
assert( F.matrix().isApprox( Y.toMatrix().col(3) ) );
ForceSet F2( Eigen::Matrix<double,3,9>::Random(),Eigen::Matrix<double,3,9>::Random() );
Eigen::MatrixXd StF2 = S.transpose()*F2.block(5,3);
assert( StF2.isApprox( ConstraintXd(S).matrix().transpose()*F2.matrix().block(0,5,6,3) ) );
return true;
}
int main() {
try
{ // Create the system.
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
GeneralForceSubsystem forces(system);
Force::Gravity gravity(forces, matter, UnitVec3(-1,0,0), 9.81);
ContactTrackerSubsystem tracker(system);
CompliantContactSubsystem contactForces(system, tracker);
contactForces.setTrackDissipatedEnergy(true);
contactForces.setTransitionVelocity(1e-2); // m/s
// Ground's normal is +x for this model
system.setUpDirection(+XAxis);
// Uncomment this if you want a more elegant movie.
//matter.setShowDefaultGeometry(false);
const Real ud = .3; // dynamic
const Real us = .6; // static
const Real uv = 0; // viscous (force/velocity)
const Real k = 1e8; // pascals
const Real c = 0.01; // dissipation (1/v)
// Halfspace default is +x, this one occupies -x instead, so flip.
const Rotation R_xdown(Pi,ZAxis);
matter.Ground().updBody().addContactSurface(
Transform(R_xdown, Vec3(0,0,0)),
ContactSurface(ContactGeometry::HalfSpace(),
ContactMaterial(k,c,us,ud,uv)));
const Real ellipsoidMass = 1; // kg
const Vec3 halfDims(2*Cm2m, 20*Cm2m, 3*Cm2m); // m (read in cm)
const Vec3 comLoc(-1*Cm2m, 0, 0);
const Inertia centralInertia(Vec3(17,2,16)*CmSq2mSq, Vec3(0,0,.2)*CmSq2mSq); // now kg-m^2
const Inertia inertia(centralInertia.shiftFromMassCenter(-comLoc, ellipsoidMass)); // in S
Body::Rigid ellipsoidBody(MassProperties(ellipsoidMass, comLoc, inertia));
ellipsoidBody.addDecoration(Transform(),
DecorativeEllipsoid(halfDims).setColor(Cyan)
//.setOpacity(.5)
.setResolution(3));
ellipsoidBody.addContactSurface(Transform(),
ContactSurface(ContactGeometry::Ellipsoid(halfDims),
ContactMaterial(k,c,us,ud,uv))
);
MobilizedBody::Free ellipsoid(matter.Ground(), Transform(Vec3(0,0,0)),
ellipsoidBody, Transform(Vec3(0)));
Visualizer viz(system);
viz.addDecorationGenerator(new ForceArrowGenerator(system,contactForces));
viz.setMode(Visualizer::RealTime);
viz.setDesiredFrameRate(FrameRate);
viz.setCameraClippingPlanes(0.1, 10);
Visualizer::InputSilo* silo = new Visualizer::InputSilo();
viz.addInputListener(silo);
Array_<std::pair<String,int> > runMenuItems;
runMenuItems.push_back(std::make_pair("Go", GoItem));
runMenuItems.push_back(std::make_pair("Replay", ReplayItem));
runMenuItems.push_back(std::make_pair("Quit", QuitItem));
viz.addMenu("Run", RunMenuId, runMenuItems);
Array_<std::pair<String,int> > helpMenuItems;
helpMenuItems.push_back(std::make_pair("TBD - Sorry!", 1));
viz.addMenu("Help", HelpMenuId, helpMenuItems);
system.addEventReporter(new MyReporter(system,contactForces,ReportInterval));
system.addEventReporter(new Visualizer::Reporter(viz, ReportInterval));
// Check for a Run->Quit menu pick every 1/4 second.
system.addEventHandler(new UserInputHandler(*silo, .25));
// Initialize the system and state.
system.realizeTopology();
State state = system.getDefaultState();
matter.setUseEulerAngles(state, true);
system.realizeModel(state);
ellipsoid.setQToFitTransform(state, Transform(
Rotation(BodyRotationSequence, 0 *Deg2Rad, XAxis,
0.5*Deg2Rad, YAxis,
-0.5*Deg2Rad, ZAxis),
Vec3(2.1*Cm2m, 0, 0)));
ellipsoid.setUToFitAngularVelocity(state, 2*Vec3(5,0,0)); // rad/s
viz.report(state);
printf("Default state\n");
cout << "\nChoose 'Go' from Run menu to simulate:\n";
int menuId, item;
do { silo->waitForMenuPick(menuId, item);
if (menuId != RunMenuId || item != GoItem)
cout << "\aDude ... follow instructions!\n";
} while (menuId != RunMenuId || item != GoItem);
// Simulate it.
//ExplicitEulerIntegrator integ(system);
//CPodesIntegrator integ(system,CPodes::BDF,CPodes::Newton);
//RungeKuttaFeldbergIntegrator integ(system);
RungeKuttaMersonIntegrator integ(system);
//RungeKutta3Integrator integ(system);
//VerletIntegrator integ(system);
//integ.setMaximumStepSize(1e-0001);
integ.setAccuracy(1e-4); // minimum for CPodes
//integ.setAccuracy(.01);
TimeStepper ts(system, integ);
ts.initialize(state);
double cpuStart = cpuTime();
double realStart = realTime();
ts.stepTo(10.0);
const double timeInSec = realTime() - realStart;
const int evals = integ.getNumRealizations();
cout << "Done -- took " << integ.getNumStepsTaken() << " steps in " <<
timeInSec << "s elapsed for " << ts.getTime() << "s sim (avg step="
<< (1000*ts.getTime())/integ.getNumStepsTaken() << "ms) "
<< (1000*ts.getTime())/evals << "ms/eval\n";
cout << " CPU time was " << cpuTime() - cpuStart << "s\n";
printf("Using Integrator %s at accuracy %g:\n",
integ.getMethodName(), integ.getAccuracyInUse());
printf("# STEPS/ATTEMPTS = %d/%d\n", integ.getNumStepsTaken(), integ.getNumStepsAttempted());
printf("# ERR TEST FAILS = %d\n", integ.getNumErrorTestFailures());
printf("# REALIZE/PROJECT = %d/%d\n", integ.getNumRealizations(), integ.getNumProjections());
viz.dumpStats(std::cout);
// Add as slider to control playback speed.
viz.addSlider("Speed", 1, 0, 4, 1);
viz.setMode(Visualizer::PassThrough);
silo->clear(); // forget earlier input
double speed = 1; // will change if slider moves
while(true) {
cout << "Choose Run/Replay to see that again ...\n";
int menuId, item;
silo->waitForMenuPick(menuId, item);
if (menuId != RunMenuId) {
cout << "\aUse the Run menu!\n";
continue;
}
if (item == QuitItem)
break;
if (item != ReplayItem) {
cout << "\aHuh? Try again.\n";
continue;
}
for (double i=0; i < (int)saveEm.size(); i += speed ) {
int slider; Real newValue;
if (silo->takeSliderMove(slider,newValue)) {
speed = newValue;
}
viz.report(saveEm[(int)i]);
}
}
} catch (const std::exception& e) {
std::printf("EXCEPTION THROWN: %s\n", e.what());
exit(1);
} catch (...) {
std::printf("UNKNOWN EXCEPTION THROWN\n");
exit(1);
}
return 0;
}
Stroke* CircleRecognizer::recognize(Stroke* stroke)
{
Inertia s;
s.calc(stroke->getPoints(), 0, stroke->getPointCount());
RDEBUG("Mass=%.0f, Center=(%.1f,%.1f), I=(%.0f,%.0f, %.0f), Rad=%.2f, Det=%.4f",
s.getMass(), s.centerX(), s.centerY(), s.xx(), s.yy(), s.xy(), s.rad(), s.det());
if (s.det() > CIRCLE_MIN_DET)
{
double score = CircleRecognizer::scoreCircle(stroke, s);
RDEBUG("Circle score: %.2f", score);
if (score < CIRCLE_MAX_SCORE)
{
return CircleRecognizer::makeCircleShape(stroke, s);
}
}
return NULL;
}
virtual void inertia(Inertia &x, const Joints &q, const ToolMass toolM[2]) {
x.setZero();
#include "inertia.inc"
}