void BodyCutForce(dBodyID body,float l_limit,float w_limit)
{
const dReal wa_limit=w_limit/fixed_step;
const dReal* force= dBodyGetForce(body);
dReal force_mag=dSqrt(dDOT(force,force));
//body mass
dMass m;
dBodyGetMass(body,&m);
dReal force_limit =l_limit/fixed_step*m.mass;
if(force_mag>force_limit)
{
dBodySetForce(body,
force[0]/force_mag*force_limit,
force[1]/force_mag*force_limit,
force[2]/force_mag*force_limit
);
}
const dReal* torque=dBodyGetTorque(body);
dReal torque_mag=dSqrt(dDOT(torque,torque));
if(torque_mag<0.001f) return;
dMatrix3 tmp,invI,I;
// compute inertia tensor in global frame
dMULTIPLY2_333 (tmp,m.I,body->R);
dMULTIPLY0_333 (I,body->R,tmp);
// compute inverse inertia tensor in global frame
dMULTIPLY2_333 (tmp,body->invI,body->R);
dMULTIPLY0_333 (invI,body->R,tmp);
//angular accel
dVector3 wa;
dMULTIPLY0_331(wa,invI,torque);
dReal wa_mag=dSqrt(dDOT(wa,wa));
if(wa_mag>wa_limit)
{
//scale w
for(int i=0;i<3;++i)wa[i]*=wa_limit/wa_mag;
dVector3 new_torqu;
dMULTIPLY0_331(new_torqu,I,wa);
dBodySetTorque
(
body,
new_torqu[0],
new_torqu[1],
new_torqu[2]
);
}
}
ngl::Vec3 RigidBody::getForce() const
{
// When getting, the returned values are pointers to internal data structures,
// so the vectors are valid until any changes are made to the rigid body
// system structure.
const dReal *pos=dBodyGetForce(m_id);
return ngl::Vec3(*pos,*(pos+1),*(pos+2));
}
bool ODERigidObject::WriteState(File& f) const
{
//TODO: use body quaternion
Vector3 w,v;
const dReal* pos=dBodyGetPosition(bodyID);
const dReal* q=dBodyGetQuaternion(bodyID);
GetVelocity(w,v);
//do we need this?
const dReal* frc=dBodyGetForce(bodyID);
const dReal* trq=dBodyGetTorque(bodyID);
if(!WriteArrayFile(f,pos,3)) return false;
if(!WriteArrayFile(f,q,4)) return false;
if(!WriteFile(f,w)) return false;
if(!WriteFile(f,v)) return false;
if(!WriteArrayFile(f,frc,3)) return false;
if(!WriteArrayFile(f,trq,3)) return false;
return true;
}
/*** P control tries to add a force that reduces the distance between
the current joint angles and the desired value in the lookup table THETA.
***/
void Pcontrol()
{
dReal kp = 2.0; //effects how quickly it tries to acheive the desired angle (original=2)
// dReal kp = 10.0; //effects how quickly it tries to acheive the desired angle
dReal fMax = 100.0; //fMax is the max for it can apply trying to acheive the desired angle
//#define ANG_VELOCITY
#ifndef ANG_VELOCITY
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
dReal tmp = dJointGetHingeAngle(leg[segment][i][j].joint);
dReal diff = THETA[segment][i][j] - tmp;
dReal u;
u = kp * diff;
//cout << "\n\n***" << u << "***\n\n\n\n" << endl;
dJointSetHingeParam(leg[segment][i][j].joint, dParamVel,
u);
dJointSetHingeParam(leg[segment][i][j].joint, dParamFMax,
fMax);
}
}
#else //when using angular velocity
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
//dReal tmp = dJointGetHingeAngle(leg[segment][i][j].joint);
//dReal diff = THETA[segment][i][j] - tmp;
//dReal u;
//u = kp * diff;
dReal desiredValue = THETA[segment][i][j];
desiredValue *= 2.25;
//cout << "\n\n***" << desiredValue << "***\n\n\n\n" << endl;
dJointSetHingeParam(leg[segment][i][j].joint, dParamVel,
desiredValue);
dJointSetHingeParam(leg[segment][i][j].joint, dParamFMax,
fMax);
}
}
#endif
#ifdef USE_NLEG_ROBOT
if(segment < BODY_SEGMENTS-1) {
// applying torso joint force
dReal tmp = dJointGetHingeAngle(torso[segment].joint); //joints might start in segment 2
dReal diff = torsoJointDesiredAngle[segment] - tmp;
dReal u;
u = kp * diff;
dJointSetHingeParam(torso[segment].joint, dParamVel, u);
dJointSetHingeParam(torso[segment].joint, dParamFMax, fMax);
}
#endif
}
}
/*** Control of walking ***/
void walk()
{
// int numSheets;
//
// #ifdef HIDDEN_LAYER
// numSheets = 3;
// #else
// numSheets = 2;
// #endif
timeSteps++;
//jmc added to print out joint angles
if(printJointAngles){
static bool doOnce = true;
if(doOnce){
doOnce=false;
//remove the file if it is there already
ofstream jangle_file;
jangle_file.open ("jointAngles.txt", ios::trunc );
jangle_file.close();
}
}
//clear out the network
//LHZ - When Recurrence is turned on, we multiply the input values by the recurrent values that were in
//the input nodes to begin with, if they are all 0, the network will never take a value. So we start it with
//all 1's, since this will act as if ther was no recurrence for the first update.
substrate_pointer->reinitialize();
if(experimentType != 33) //If it is a NEAT experiment, the substrate can have an arbitrary number of layers, so we need to update 1+ExtraActivationUpdates num times
{
substrate_pointer->dummyActivation(); //dummyActivation sets a flag so that the first update does not add on ExtraActivationUdates num updates
}
dReal roll, pitch, yaw;
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
roll = pitch = yaw = 0.0;
const dReal * torsoRotation = dBodyGetRotation(torso[segment].body);
get_euler(torsoRotation, roll, pitch, yaw);
#if LEGSWING_ODE_DEBUG
printf("roll: %f, pitch: %f, yaw: %f\n", roll, pitch, yaw);
#endif
for (int leg_no = 0; leg_no < num_legs; leg_no++) {
for (int joint_no = 0; joint_no < num_joints; joint_no++) {
dReal jangle = dJointGetHingeAngle(leg[segment][leg_no][joint_no].joint) - jointError[segment][leg_no][joint_no]; // hidding joint error for sensor
int currDirectionPositive;
if(jangle-lastJangle[segment][leg_no][joint_no] > 0.00001) currDirectionPositive =1; //we use a small positive number to ignore tinsy values
else currDirectionPositive =0;
//printf("jangle: %e, lastJangle_pneat[leg_no][joint_no]: %e, currDir: %i\n", jangle, lastJangle_pneat[leg_no][joint_no], currDirectionPositive);
if(printJointAngles){
ofstream jangle_file;
jangle_file.open ("jointAngles.txt", ios::app );
jangle_file << jangle << " ";
if(leg_no==num_legs-1 and joint_no==num_joints-1) jangle_file << endl;
jangle_file.close();
}
if(currDirectionPositive and !lastJangleDirectionPositve[segment][leg_no][joint_no]) numDirectionChanges++;
if(!currDirectionPositive and lastJangleDirectionPositve[segment][leg_no][joint_no]) numDirectionChanges++;
//if(visualize_pneat) printf("numDirectionChanges_pneat %i \n", numDirectionChanges_pneat);
lastJangleDirectionPositve[segment][leg_no][joint_no] =currDirectionPositive;
lastJangle[segment][leg_no][joint_no] = jangle;
int xInt =joint_no; //which node we will be setting or getting. x & y are within the sheet, z specifies which sheet (0=input, 1=hidden, 2=output)
int yInt =leg_no+(segment*2);
int zInt =0;
#if LEGSWING_ODE_DEBUG
printf("About to set input (x: %i,y: %i,z: %i) to joint angle: %f \n", xInt, yInt, zInt, jangle);
#endif
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)],jangle);
//<start> if inputting lastDesiredAngle
//xInt = xInt+1; //bump it one, cause the last desired angle goes into the input to the right of the current angle for that joint
//#if LEGSWING_ODE_DEBUG
//printf("about to set input (x: %i,y: %i,z: %i) to last desired joint angle: %f \n", xInt, yInt, zInt, newDesiredAngle[leg_no][joint_no]);
//#endif
//substrate_pointer->setValue(
// nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)],
// newDesiredAngle[segment][leg_no][joint_no]
// );
}
//set whether the leg is touching the ground
int xInt = 3; //putting touch just to the right of the 4th legs lastAngle
int yInt = leg_no+(segment*2);
int zInt = 0;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], thisLegIsTouching[segment][leg_no]);
}
#ifndef LEGSWING_ODE_DEBUG
assert(num_legs==4); //warning: only works with four legs
printf("Legs touching: FrontLeft (%i), BackLeft (%i), BackRight (%i), FrontRight (%i)\n", thisLegIsTouching[segment][0],thisLegIsTouching[segment][1], thisLegIsTouching[segment][2], thisLegIsTouching[segment][3]);
#endif
//printf("timeStepDivisor_pneat: %f\n", timeStepDivisor_pneat);
// use if evolving sine period
// if(fabs(timeStepDivisor_pneat<1)) sineOfTimeStep =0; //prevent divide by zero errors, and allow them to silence the sine wave
// else sineOfTimeStep = sin(dReal(timeSteps_pneat)/timeStepDivisor_pneat)*M_PI;
dReal sineOfTimeStep = sin(dReal(timeSteps)/50.0)*M_PI;
#ifdef USE_EXTRA_NODE
dReal negSineOfTimeStep = (-1.0 * sineOfTimeStep);
#endif
if(visualize and sineOfTimeStep>.9999*M_PI) printf("****************************************************\n");
if(visualize and sineOfTimeStep<-.9999*M_PI) printf("---------------------------------------------------\n");
//printf("sineOfTimeStep: %f\n", sineOfTimeStep);
#ifndef USE_NLEG_ROBOT
//<start> use to spread the PRYS horizontally
//insert the roll, pitch and yaw to the 7th-9th columns of the 1st row
//int yInt = 0;
//int zInt = 0;
//dReal insertValue;
//
//for(int q=0;q<3;q++){
// int xInt = 7+q;
// if (q==0) insertValue = roll;
// else if (q==1) insertValue = pitch;
// else insertValue = yaw;
// substrate_pointer->setValue(
// nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)],
// insertValue
// );
//}
//<ent> use to spread the PRYS horizontally
//<start> to spread PRYS vertically
//insert the roll, pitch and yaw to the 1st/0th-4th/3rd row of the 5th/4th columns
int xInt = 4;
int zInt = 0;
dReal insertValue;
for(int q=0;q<3;q++){
int yInt = q;
if (q==0) insertValue = roll;
else if (q==1) insertValue = pitch;
else insertValue = yaw;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], insertValue);
}
//<end>
//insert a sine wave based on timeSteps
xInt = 4;
int yInt = 3;
zInt = 0;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], sineOfTimeStep);
#else // USE_NLEG_ROBOT
//<start> to spread PRYS vertically
//insert the roll, pitch and yaw to the 1st/0th-4th/3rd row of the 5th/4th columns
int xInt = 4;
int zInt = 0;
dReal insertValue;
//roll
int yInt = segment*2;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], roll);
//pitch
yInt = (segment*2)+1;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], pitch);
//yaw
xInt = 5;
yInt = segment*2;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], yaw);
//<end>
if(segment < 1)
{
//insert a sine wave based on timeSteps
yInt = segment*2+1;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], sineOfTimeStep);
} else
{
dReal torsoAngle = dJointGetHingeAngle(torso[segment-1].joint); //TODO: does torso zero have a valid joint?
yInt = segment*2+1;
substrate_pointer->setValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)], torsoAngle);
}
#endif
#if SUBSTRATE_DEBUG
cout << "State of the nodes pre-update\n";
for (int z=0;z<numSheets;z++)
{
cout << "Printing Layer " << z << "************************************************" << endl;
for (int y1=0;y1<numNodesYglobal;y1++)
{
for (int x1=0;x1<numNodesXglobal;x1++)
{
//cout << "(x,y,z): (" << x1 << "," << y1 << "," << z << "): " ;
cout << setw(12) << setiosflags(ios::right) << fixed <<
double(substrate_pointer->getValue(
nameLookupGlobal[HCUBE::Node(x1,y1,z)]
));
}
cout << endl;
}
}
cout << "Updating Substrate\n";
//CREATE_PAUSE(string("Line Number: ")+toString(__LINE__));
#endif
//have to update the network once for each layer of *links* (or NumLayers -1)
#if SUBSTRATE_DEBUG
for (int a=0;a< numSheets - 1 ;a++)
{
substrate_pointer->update(1);
cout << "State of the nodes post-update: " << a << endl;
for (int z=0;z<numSheets;z++)
{
cout << "Printing Layer " << z << endl;
for (int y1=0;y1<numNodesYglobal;y1++)
{
for (int x1=0;x1<numNodesXglobal;x1++)
{
//cout << "(x,y,z): (" << x1 << "," << y1 << "," << z << "): " ;
cout << double(substrate_pointer->getValue(nameLookupGlobal[HCUBE::Node(x1,y1,z)]));
cout << " ";
}
cout << endl;
}
}
}
#else
substrate_pointer->update(numSheets-1);
#endif
}
for(int segment = 0; segment < BODY_SEGMENTS; ++segment){
for (int leg_no = 0; leg_no < num_legs; leg_no++) {
for (int joint_no = 0; joint_no < num_joints; joint_no++) {
int xInt =joint_no*2; //which node we will be setting or getting. x & y are within the sheet, z specifies which sheet (0=input, 1=hidden, 2=output)
int yInt =leg_no;
int zInt = numSheets-1; //2 (or numSheets - 1) to get the output
newDesiredAngle[segment][leg_no][joint_no] = M_PI*double(substrate_pointer->getValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)]));
#if LEGSWING_ODE_DEBUG
printf("newDesiredAngle is: %f\n", newDesiredAngle[segment][leg_no][joint_no]);
#endif
THETA[segment][leg_no][joint_no] = newDesiredAngle[segment][leg_no][joint_no] + jointError[segment][leg_no][joint_no]; // adding joint error
}
}
#ifdef USE_NLEG_ROBOT
if(segment < BODY_SEGMENTS-1) {
//get torso joint angle
int xInt = 5;
int yInt = segment*2+1;
int zInt = numSheets - 1;
torsoJointDesiredAngle[segment] = M_PI*double(substrate_pointer->getValue(nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)]));
}
#endif
//get the timeStepDivisor
// xInt =10; //which node we will be setting or getting. x & y are within the sheet, z specifies which sheet (0=input, 1=hidden, 2=output)
// yInt =1;
// zInt = 2; //2 to get the output
// timeStepDivisor = 100.0*double(substrate_pointer->getValue(
// nameLookupGlobal[HCUBE::Node(xInt,yInt,zInt)]));
//if(visualize)printf("timeStepDivisor!: %f\n", timeStepDivisor);
const dReal * torsoPosition = dBodyGetPosition(torso[segment].body);
if(fabs(torsoPosition[0]) > maxXdistanceFrom0[segment]){
maxXdistanceFrom0[segment] = fabs(torsoPosition[0]);
#ifndef LEGSWING_ODE_DEBUG
printf("new maxX::::::::::::::::::::::::::::::::::::::::::::::: %f\n", maxXdistanceFrom0);
#endif
}
if(fabs(torsoPosition[1]) > maxYdistanceFrom0[segment]){
maxYdistanceFrom0[segment] = fabs(torsoPosition[1]);
#ifndef LEGSWING_ODE_DEBUG
printf("new maxY:!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! %f\n", maxYdistanceFrom0);
#endif
}
currentXdistanceFrom0[segment] = fabs(torsoPosition[0]);
currentYdistanceFrom0[segment] = fabs(torsoPosition[1]);
}
Pcontrol();
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
for(int z=0;z<num_legs;z++) thisLegIsTouching[segment][z]=0; //reset these flags before checking the new state of things
}
if(fitness_function == 2) {
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
totalForce[0] += dBodyGetForce(leg[segment][i][j].body)[0];
totalForce[1] += dBodyGetForce(leg[segment][i][j].body)[1];
totalForce[2] += dBodyGetForce(leg[segment][i][j].body)[2];
}
}
totalForce[0] += dBodyGetForce(torso[segment].body)[0];
totalForce[1] += dBodyGetForce(torso[segment].body)[1];
totalForce[2] += dBodyGetForce(torso[segment].body)[2];
}
}
}
/* returns the force acting on the body */
void body_force (t_real *res, dBodyID b) {
dCopyVector3 (res, dBodyGetForce (b));
}
IoObject *IoODEBody_force(IoODEBody *self, IoObject *locals, IoMessage *m)
{
IoODEBody_assertValidBody(self, locals, m);
return IoVector_newWithODEPoint(IOSTATE, dBodyGetForce(BODYID));
}
void CPHCharacter::getForce(Fvector& force)
{
if(!b_exist)return;
force.set(*(Fvector*)dBodyGetForce(m_body));
}
const dReal * SParts::getForce()
{
return dBodyGetForce(m_odeobj->body());
}
const dReal* ODE_Link::getForce(){
return dBodyGetForce(bodyId);
}
void base::hack_2d(void)
{
const dReal *rot = dBodyGetAngularVel (body);
const dReal *quat_ptr;
dReal quat[4], quat_len;
quat_ptr = dBodyGetQuaternion (body);
quat[0] = quat_ptr[0];
quat[1] = 0;
quat[2] = 0;
quat[3] = quat_ptr[3];
quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]);
quat[0] /= quat_len;
quat[3] /= quat_len;
dBodySetQuaternion (body, quat);
dBodySetAngularVel (body, 0, 0, rot[2]);
//Restricting Rotation To One Axis
//The plane2D stops objects rotating along non-2d axes,
//but it does not compensate for drift
const dReal *rot1 = dBodyGetAngularVel( body );
const dReal *quat_ptr1;
dReal quat1[4], quat_len1;
quat_ptr1 = dBodyGetQuaternion( body );
quat1[0] = quat_ptr1[0];
quat1[1] = 0;
quat1[2] = 0;
quat1[3] = quat_ptr1[3];
quat_len1 = sqrt( quat1[0] * quat1[0] + quat1[3] * quat1[3] );
quat1[0] /= quat_len1;
quat1[3] /= quat_len1;
dBodySetQuaternion( body, quat1 );
dBodySetAngularVel( body, 0, 0, rot1[2] );
dMatrix3 R = { 0, 0, 0, 0, 0, 1};
// 0 0 y
if(!rotatebit) //if there is no set rotatebit then don't make rotate in ode
{
quat1[0] = 0;
quat1[1] = 0;
quat1[2] = 0;
quat1[3] = 1;
dBodySetQuaternion( body, quat1 );
dBodySetAngularVel( body, 0, 0, 0 );
}
static dVector3 pointrelvel;
const dReal *odepos;
const dReal *force;
dBodyGetRelPointVel(body,0,0,0,pointrelvel);
odepos=dBodyGetPosition(body);
force = dBodyGetForce (body);
dBodySetForce(body,force[0],force[1],0.000);
if (odepos[2]>=0.001 || odepos[2]<=-0.001 ){
dBodySetPosition (body,odepos[0],odepos[1], 0.000);
dBodyAddRelForce (body,0,0, -(pointrelvel[2]));
dBodySetTorque (body, 0.00, 0.00, 0.000);
}
}