int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConstant)
{
int faceOffset = m_data->m_convexFaces.size();
b3GpuFace& face = m_data->m_convexFaces.expand();
face.m_plane[0] = faceNormal.getX();
face.m_plane[1] = faceNormal.getY();
face.m_plane[2] = faceNormal.getZ();
face.m_plane[3] = faceConstant;
return faceOffset;
}
KukaGraspExample(GUIHelperInterface* helper, int /* options */)
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
// m_options(options),
m_kukaIndex(-1),
m_time(0)
{
m_targetPos.setValue(0.5,0,1);
m_worldPos.setValue(0, 0, 0);
m_app->setUpAxis(2);
}
static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, GLfloat result[16])
{
b3Vector3 f = (center - eye).normalized();
b3Vector3 u = up.normalized();
b3Vector3 s = (f.cross(u)).normalized();
u = s.cross(f);
result[0*4+0] = s.x;
result[1*4+0] = s.y;
result[2*4+0] = s.z;
result[0*4+1] = u.x;
result[1*4+1] = u.y;
result[2*4+1] = u.z;
result[0*4+2] =-f.x;
result[1*4+2] =-f.y;
result[2*4+2] =-f.z;
result[0*4+3] = 0.f;
result[1*4+3] = 0.f;
result[2*4+3] = 0.f;
result[3*4+0] = -s.dot(eye);
result[3*4+1] = -u.dot(eye);
result[3*4+2] = f.dot(eye);
result[3*4+3] = 1.f;
}
void wheelCallback( float deltax, float deltay)
{
if (!m_mouseButton)
{
if (b3Fabs(deltax)>b3Fabs(deltay))
{
m_azi -= deltax*0.1;
} else
{
//m_cameraDistance -= deltay*0.1;
b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
fwd.normalize();
m_cameraTargetPosition += fwd*deltay*0.1;
}
} else
{
if (b3Fabs(deltax)>b3Fabs(deltay))
{
b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
b3Vector3 side = m_cameraUp.cross(fwd);
side.normalize();
m_cameraTargetPosition += side * deltax*0.1;
} else
{
m_cameraTargetPosition -= m_cameraUp * deltay*0.1;
}
}
}
void wheelCallback( float deltax, float deltay)
{
if (!m_leftMouseButton)
{
if (deltay<0 || m_cameraDistance>1)
{
m_cameraDistance -= deltay*0.1;
if (m_cameraDistance<1)
m_cameraDistance=1;
} else
{
b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
fwd.normalize();
m_cameraTargetPosition += fwd*deltay*WHEEL_MULTIPLIER;
}
} else
{
if (b3Fabs(deltax)>b3Fabs(deltay))
{
b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
b3Vector3 side = m_cameraUp.cross(fwd);
side.normalize();
m_cameraTargetPosition += side * deltax*WHEEL_MULTIPLIER;
} else
{
m_cameraTargetPosition -= m_cameraUp * deltay*WHEEL_MULTIPLIER;
}
}
}
bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations)
{
int numbrushes = planeEquations.size();
for (int i=0;i<numbrushes;i++)
{
const b3Vector3& N1 = planeEquations[i];
if (planeEquation.dot(N1) > b3Scalar(0.999))
{
return false;
}
}
return true;
}
bool b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin)
{
int numvertices = vertices.size();
for (int i=0;i<numvertices;i++)
{
const b3Vector3& N1 = vertices[i];
b3Scalar dist = b3Scalar(planeNormal.dot(N1))+b3Scalar(planeNormal[3])-margin;
if (dist>b3Scalar(0.))
{
return false;
}
}
return true;
}
void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
{
struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
{
b3Vector3 m_aabbMin;
b3Vector3 m_aabbMax;
AabbCalculationCallback()
{
m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
}
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
(void)partId;
(void)triangleIndex;
m_aabbMin.setMin(triangle[0]);
m_aabbMax.setMax(triangle[0]);
m_aabbMin.setMin(triangle[1]);
m_aabbMax.setMax(triangle[1]);
m_aabbMin.setMin(triangle[2]);
m_aabbMax.setMax(triangle[2]);
}
};
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;
aabbMax = aabbCallback.m_aabbMax;
}
void integrateVelocity(double deltaTime)
{
LWPose newPose;
newPose.m_position = m_worldPose.m_position + m_linearVelocity*deltaTime;
if (m_flags & LWFLAG_USE_QUATERNION_DERIVATIVE)
{
newPose.m_orientation = m_worldPose.m_orientation;
newPose.m_orientation += (m_angularVelocity * newPose.m_orientation) * (deltaTime * btScalar(0.5));
newPose.m_orientation.normalize();
m_worldPose = newPose;
} else
{
//Exponential map
//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
//btQuaternion q_w = [ sin(|w|*dt/2) * w/|w| , cos(|w|*dt/2)]
//btQuaternion q_new = q_w * q_old;
b3Vector3 axis;
b3Scalar fAngle = m_angularVelocity.length();
//limit the angular motion
const btScalar angularMotionThreshold = btScalar(0.5)*SIMD_HALF_PI;
if (fAngle*deltaTime > angularMotionThreshold)
{
fAngle = angularMotionThreshold / deltaTime;
}
if ( fAngle < btScalar(0.001) )
{
// use Taylor's expansions of sync function
axis = m_angularVelocity*( btScalar(0.5)*deltaTime-(deltaTime*deltaTime*deltaTime)*(btScalar(0.020833333333))*fAngle*fAngle );
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
axis = m_angularVelocity*( btSin(btScalar(0.5)*fAngle*deltaTime)/fAngle );
}
b3Quaternion dorn (axis.x,axis.y,axis.z,btCos( fAngle*deltaTime*b3Scalar(0.5) ));
b3Quaternion orn0 = m_worldPose.m_orientation;
b3Quaternion predictedOrn = dorn * orn0;
predictedOrn.normalize();
m_worldPose.m_orientation = predictedOrn;
}
}
void mouseMoveCallback(float x, float y)
{
if (m_altPressed || m_controlPressed)
{
float xDelta = x-m_mouseXpos;
float yDelta = y-m_mouseYpos;
if (m_leftMouseButton)
{
// if (b3Fabs(xDelta)>b3Fabs(yDelta))
// {
m_azi -= xDelta*MOUSE_MOVE_MULTIPLIER;
// } else
// {
m_ele += yDelta*MOUSE_MOVE_MULTIPLIER;
// }
}
if (m_middleMouseButton)
{
m_cameraTargetPosition += m_cameraUp * yDelta*0.01;
b3Vector3 fwd = m_cameraTargetPosition-m_cameraPosition;
b3Vector3 side = m_cameraUp.cross(fwd);
side.normalize();
m_cameraTargetPosition += side * xDelta*0.01;
}
if (m_rightMouseButton)
{
m_cameraDistance -= xDelta*0.01;
m_cameraDistance -= yDelta*0.01;
if (m_cameraDistance<1)
m_cameraDistance=1;
if (m_cameraDistance>1000)
m_cameraDistance=1000;
}
}
//printf("m_azi/pitch = %f\n", m_azi);
// printf("m_ele/yaw = %f\n", m_ele);
m_mouseXpos = x;
m_mouseYpos = y;
m_mouseInitialized = true;
}
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
(void)partId;
(void)triangleIndex;
m_aabbMin.setMin(triangle[0]);
m_aabbMax.setMax(triangle[0]);
m_aabbMin.setMin(triangle[1]);
m_aabbMax.setMax(triangle[1]);
m_aabbMin.setMin(triangle[2]);
m_aabbMax.setMax(triangle[2]);
}
void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld,b3Scalar sphereRadius, plContactCache* contactCache)
{
if (contactCache->numAddedPoints < contactCache->pointCapacity)
{
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld)+planeConstant);
b3Vector3 intersectionPoint = spherePosWorld+t*-planeNormalWorld;
b3Scalar distance = t-sphereRadius;
if (distance<=0)
{
pointOut.m_distance = distance;
plVecCopy(pointOut.m_ptOnBWorld,intersectionPoint);
plVecCopy(pointOut.m_ptOnAWorld,spherePosWorld+sphereRadius*-planeNormalWorld);
plVecCopy(pointOut.m_normalOnB,planeNormalWorld);
contactCache->numAddedPoints++;
}
}
}
void computeLocalInertia(b3Scalar mass, b3Vector3& localInertia)
{
btScalar elem = b3Scalar(0.4) * mass * m_radius*m_radius;
localInertia.setValue(elem,elem,elem);
}
void applyImpulse(const b3Vector3& impulse, const b3Vector3& rel_pos)
{
m_linearVelocity += impulse * m_invMass;
b3Vector3 torqueImpulse = rel_pos.cross(impulse);
m_angularVelocity += m_invInertiaTensorWorld * torqueImpulse;
}
b3Vector3 getVelocity(const b3Vector3& relPos) const
{
return m_linearVelocity + m_angularVelocity.cross(relPos);
}
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();
}
AabbCalculationCallback()
{
m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
}
//using localPointA for all points
int b3ContactCache::sortCachedPoints(const b3Vector3& pt)
{
//calculate 4 possible cases areas, and take biggest area
//also need to keep 'deepest'
int maxPenetrationIndex = -1;
#define KEEP_DEEPEST_POINT 1
#ifdef KEEP_DEEPEST_POINT
b3Scalar maxPenetration = pt.getDistance();
for (int i=0;i<4;i++)
{
if (m_pointCache[i].getDistance() < maxPenetration)
{
maxPenetrationIndex = i;
maxPenetration = m_pointCache[i].getDistance();
}
}
#endif //KEEP_DEEPEST_POINT
b3Scalar res0(b3Scalar(0.)),res1(b3Scalar(0.)),res2(b3Scalar(0.)),res3(b3Scalar(0.));
if (gContactCalcArea3Points)
{
if (maxPenetrationIndex != 0)
{
b3Vector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
b3Vector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
b3Vector3 cross = a0.cross(b0);
res0 = cross.length2();
}
if (maxPenetrationIndex != 1)
{
b3Vector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
b3Vector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
b3Vector3 cross = a1.cross(b1);
res1 = cross.length2();
}
if (maxPenetrationIndex != 2)
{
b3Vector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
b3Vector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
b3Vector3 cross = a2.cross(b2);
res2 = cross.length2();
}
if (maxPenetrationIndex != 3)
{
b3Vector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
b3Vector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
b3Vector3 cross = a3.cross(b3);
res3 = cross.length2();
}
}
else
{
if(maxPenetrationIndex != 0) {
res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
}
if(maxPenetrationIndex != 1) {
res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
}
if(maxPenetrationIndex != 2) {
res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
}
if(maxPenetrationIndex != 3) {
res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
}
}
b3Vector4 maxvec(res0,res1,res2,res3);
int biggestarea = maxvec.closestAxis4();
return biggestarea;
}