void UniversalJoint::computeValue(double& value, int portId)
{
if(portId == AXIS1_JOINT)
{
value = (dJointGetUniversalAngle1(physicalJoint) * 180.0 / M_PI);
}
else if(portId == AXIS1_MOTOR)
{
if(axis1->motor->getMotorType() == VELOCITY)
value = (dJointGetUniversalParam(physicalJoint, dParamVel));
else
value = (dJointGetUniversalAngle1(physicalJoint) * 180.0 / M_PI);
}
else if(portId == AXIS2_JOINT)
{
value = (dJointGetUniversalAngle2(physicalJoint) * 180.0 / M_PI);
}
else if(portId == AXIS2_MOTOR)
{
if(axis2->motor->getMotorType() == VELOCITY)
value = (dJointGetUniversalParam(physicalJoint, dParamVel2));
else
value = (dJointGetUniversalAngle2(physicalJoint) * 180.0 / M_PI);
}
}
gfloat* soy_joints_universal_get_angle (soyjointsUniversal* self, int* result_length1) {
gfloat* result;
struct dxJoint* _tmp0_;
dReal _tmp1_ = 0.0;
struct dxJoint* _tmp2_;
dReal _tmp3_ = 0.0;
gfloat* _tmp4_ = NULL;
gfloat* _tmp5_;
gint _tmp5__length1;
g_return_val_if_fail (self != NULL, NULL);
_tmp0_ = ((soyjointsJoint*) self)->joint;
_tmp1_ = dJointGetUniversalAngle1 ((struct dxJoint*) _tmp0_);
_tmp2_ = ((soyjointsJoint*) self)->joint;
_tmp3_ = dJointGetUniversalAngle2 ((struct dxJoint*) _tmp2_);
_tmp4_ = g_new0 (gfloat, 2);
_tmp4_[0] = (gfloat) _tmp1_;
_tmp4_[1] = (gfloat) _tmp3_;
_tmp5_ = _tmp4_;
_tmp5__length1 = 2;
if (result_length1) {
*result_length1 = _tmp5__length1;
}
result = _tmp5_;
return result;
}
//! This function is called once per simulation step, allowing the
//! constraint to be "motorized" according to some response.
void OscUniversalODE::simulationCallback()
{
ODEConstraint& me = *static_cast<ODEConstraint*>(special());
dReal angle1 = dJointGetUniversalAngle1(me.joint());
dReal rate1 = dJointGetUniversalAngle1Rate(me.joint());
dReal addtorque1 =
- m_response->m_stiffness.m_value*angle1
- m_response->m_damping.m_value*rate1;
dReal angle2 = dJointGetUniversalAngle2(me.joint());
dReal rate2 = dJointGetUniversalAngle2Rate(me.joint());
dReal addtorque2 =
- m_response->m_stiffness.m_value*angle2
- m_response->m_damping.m_value*rate2;
m_torque1.m_value = addtorque1;
m_torque2.m_value = addtorque2;
dJointAddUniversalTorques(me.joint(), addtorque1, addtorque2);
}
void UniversalJoint::act(bool initial)
{
if(!initial)
{
if(axis1->motor)
{
if(axis1->motor->getMotorType() == VELOCITY)
{
dReal desiredVelocity(dReal(axis1->motor->getDesiredVelocity()));
dJointSetUniversalParam(physicalJoint, dParamFMax, dReal(axis1->motor->getMaxForce()));
dJointSetUniversalParam(physicalJoint, dParamVel, desiredVelocity);
}
else if(axis1->motor->getMotorType() == ANGULAR)
{
double controllerOutput = axis1->motor->getControllerOutput(dJointGetUniversalAngle1(physicalJoint));
dJointSetUniversalParam(physicalJoint, dParamFMax, dReal(axis1->motor->getMaxForce()));
dJointSetUniversalParam(physicalJoint, dParamVel, dReal(controllerOutput));
}
}
if(axis2->motor)
{
if(axis2->motor->getMotorType() == VELOCITY)
{
dReal desiredVelocity(dReal(axis2->motor->getDesiredVelocity()));
dJointSetUniversalParam(physicalJoint, dParamFMax2, dReal(axis2->motor->getMaxForce()));
dJointSetUniversalParam(physicalJoint, dParamVel2, desiredVelocity);
}
else if(axis2->motor->getMotorType() == ANGULAR)
{
double controllerOutput = axis2->motor->getControllerOutput(dJointGetUniversalAngle2(physicalJoint));
dJointSetUniversalParam(physicalJoint, dParamFMax2, dReal(axis2->motor->getMaxForce()));
dJointSetUniversalParam(physicalJoint, dParamVel2, dReal(controllerOutput));
}
}
}
}
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;
}