forked from ilpincy/argos3
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'master' of https://github.com/ilpincy/argos3
- Loading branch information
Showing
11 changed files
with
307 additions
and
28 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
206 changes: 206 additions & 0 deletions
206
src/plugins/robots/e-puck/simulator/dynamics3d_epuck_model.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,206 @@ | ||
| /** | ||
| * @file <argos3/plugins/robots/e-puck/simulator/dynamics3d_epuck_model.cpp> | ||
| * | ||
| * @author Michael Allwright - <[email protected]> | ||
| */ | ||
|
|
||
| #include "dynamics3d_epuck_model.h" | ||
|
|
||
| #include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_engine.h> | ||
| #include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_shape_manager.h> | ||
|
|
||
| #include <argos3/plugins/simulator/entities/wheeled_entity.h> | ||
| #include <argos3/plugins/robots/e-puck/simulator/epuck_entity.h> | ||
|
|
||
| namespace argos { | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| CDynamics3DEPuckModel::CDynamics3DEPuckModel(CDynamics3DEngine& c_engine, | ||
| CEPuckEntity& c_epuck) : | ||
| /* technically, the CDynamics3DMultiBodyObjectModel should be initialized with 7 children | ||
| links, however, setting it to 7 makes the epuck less stable for reasons. */ | ||
| CDynamics3DMultiBodyObjectModel(c_engine, c_epuck, 3, false), | ||
| m_cWheeledEntity(c_epuck.GetWheeledEntity()) { | ||
| /* get the required collision shapes */ | ||
| std::shared_ptr<btCollisionShape> ptrBodyShape = | ||
| CDynamics3DShapeManager::RequestBox(m_cBodyHalfExtents); | ||
| std::shared_ptr<btCollisionShape> ptrWheelShape = | ||
| CDynamics3DShapeManager::RequestCylinder(m_cWheelHalfExtents); | ||
| /* calculate the inertia of the collision objects */ | ||
| btVector3 cBodyInertia; | ||
| btVector3 cWheelInertia; | ||
| ptrBodyShape->calculateLocalInertia(m_fBodyMass, cBodyInertia); | ||
| ptrWheelShape->calculateLocalInertia(m_fWheelMass, cWheelInertia); | ||
| /* calculate a btTransform that moves us from the global coordinate system to the | ||
| local coordinate system */ | ||
| const SAnchor& sOriginAnchor = c_epuck.GetEmbodiedEntity().GetOriginAnchor(); | ||
| const CQuaternion& cOrientation = sOriginAnchor.Orientation; | ||
| const CVector3& cPosition = sOriginAnchor.Position; | ||
| const btTransform& cStartTransform = btTransform( | ||
| btQuaternion(cOrientation.GetX(), | ||
| cOrientation.GetZ(), | ||
| -cOrientation.GetY(), | ||
| cOrientation.GetW()), | ||
| btVector3(cPosition.GetX(), | ||
| cPosition.GetZ(), | ||
| -cPosition.GetY())); | ||
| /* create a CAbstractBody::SData structure for each body */ | ||
| CAbstractBody::SData sBodyData( | ||
| cStartTransform * m_cBodyOffset, | ||
| m_cBodyGeometricOffset, | ||
| cBodyInertia, | ||
| m_fBodyMass, | ||
| GetEngine().GetDefaultFriction()); | ||
| CAbstractBody::SData sLeftWheelData( | ||
| cStartTransform * m_cLeftWheelOffset, | ||
| m_cWheelGeometricOffset, | ||
| cWheelInertia, | ||
| m_fWheelMass, | ||
| m_fWheelFriction); | ||
| CAbstractBody::SData sRightWheelData( | ||
| cStartTransform * m_cRightWheelOffset, | ||
| m_cWheelGeometricOffset, | ||
| cWheelInertia, | ||
| m_fWheelMass, | ||
| m_fWheelFriction); | ||
| /* create an anchor for the body (not strictly necessary but easier than | ||
| overloading CDynamics3DMultiBodyObjectModel::UpdateOriginAnchor) */ | ||
| SAnchor* psBodyAnchor = &c_epuck.GetEmbodiedEntity().AddAnchor("body", {0.0, 0.0, 0.00125}); | ||
| /* create the bodies */ | ||
| m_ptrBody = std::make_shared<CBase>(*this, psBodyAnchor, ptrBodyShape, sBodyData); | ||
| m_ptrLeftWheel = std::make_shared<CLink>(*this, 0, nullptr, ptrWheelShape, sLeftWheelData); | ||
| m_ptrRightWheel = std::make_shared<CLink>(*this, 1, nullptr, ptrWheelShape, sRightWheelData); | ||
| /* copy the bodies to the base class */ | ||
| m_vecBodies = {m_ptrBody, m_ptrLeftWheel, m_ptrRightWheel}; | ||
| /* synchronize with the entity with the space */ | ||
| Reset(); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| void CDynamics3DEPuckModel::Reset() { | ||
| /* reset the base class */ | ||
| CDynamics3DMultiBodyObjectModel::Reset(); | ||
| /* set up wheels */ | ||
| m_cMultiBody.setupRevolute(m_ptrLeftWheel->GetIndex(), | ||
| m_ptrLeftWheel->GetData().Mass, | ||
| m_ptrLeftWheel->GetData().Inertia, | ||
| m_ptrBody->GetIndex(), | ||
| m_cBodyToLeftWheelJointRotation, | ||
| btVector3(0.0, 1.0, 0.0), | ||
| m_cBodyToLeftWheelJointOffset, | ||
| m_cLeftWheelToBodyJointOffset, | ||
| true); | ||
| m_cMultiBody.setupRevolute(m_ptrRightWheel->GetIndex(), | ||
| m_ptrRightWheel->GetData().Mass, | ||
| m_ptrRightWheel->GetData().Inertia, | ||
| m_ptrBody->GetIndex(), | ||
| m_cBodyToRightWheelJointRotation, | ||
| btVector3(0.0, 1.0, 0.0), | ||
| m_cBodyToRightWheelJointOffset, | ||
| m_cRightWheelToBodyJointOffset, | ||
| true); | ||
| /* set up motors for the wheels */ | ||
| m_ptrLeftMotor = | ||
| std::make_unique<btMultiBodyJointMotor>(&m_cMultiBody, | ||
| m_ptrLeftWheel->GetIndex(), | ||
| 0.0, | ||
| m_fWheelMotorMaxImpulse); | ||
| m_ptrRightMotor = | ||
| std::make_unique<btMultiBodyJointMotor>(&m_cMultiBody, | ||
| m_ptrRightWheel->GetIndex(), | ||
| 0.0, | ||
| m_fWheelMotorMaxImpulse); | ||
| /* Allocate memory and prepare the btMultiBody */ | ||
| m_cMultiBody.finalizeMultiDof(); | ||
| /* Synchronize with the entity in the space */ | ||
| UpdateEntityStatus(); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| void CDynamics3DEPuckModel::CalculateBoundingBox() { | ||
| btVector3 cModelAabbMin, cModelAabbMax; | ||
| /* Initialize the bounding box with the base's AABB */ | ||
| m_ptrBody->GetShape().getAabb(m_ptrBody->GetTransform(), cModelAabbMin, cModelAabbMax); | ||
| /* Write back the bounding box swapping the coordinate systems and the Y component */ | ||
| GetBoundingBox().MinCorner.Set(cModelAabbMin.getX(), -cModelAabbMax.getZ(), cModelAabbMin.getY()); | ||
| GetBoundingBox().MaxCorner.Set(cModelAabbMax.getX(), -cModelAabbMin.getZ(), cModelAabbMax.getY()); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| void CDynamics3DEPuckModel::UpdateEntityStatus() { | ||
| /* run the base class's implementation of this method */ | ||
| CDynamics3DMultiBodyObjectModel::UpdateEntityStatus(); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| void CDynamics3DEPuckModel::UpdateFromEntityStatus() { | ||
| /* run the base class's implementation of this method */ | ||
| CDynamics3DMultiBodyObjectModel::UpdateFromEntityStatus(); | ||
| /* update joint velocities */ | ||
| m_ptrLeftMotor->setVelocityTarget(m_cWheeledEntity.GetWheelVelocities()[0]); | ||
| m_ptrRightMotor->setVelocityTarget(m_cWheeledEntity.GetWheelVelocities()[1]); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| void CDynamics3DEPuckModel::AddToWorld(btMultiBodyDynamicsWorld& c_world) { | ||
| /* run the base class's implementation of this method */ | ||
| CDynamics3DMultiBodyObjectModel::AddToWorld(c_world); | ||
| /* add the actuators (btMultiBodyJointMotors) constraints to the world */ | ||
| c_world.addMultiBodyConstraint(m_ptrLeftMotor.get()); | ||
| c_world.addMultiBodyConstraint(m_ptrRightMotor.get()); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| void CDynamics3DEPuckModel::RemoveFromWorld(btMultiBodyDynamicsWorld& c_world) { | ||
| /* remove the actuators (btMultiBodyJointMotors) constraints from the world */ | ||
| c_world.removeMultiBodyConstraint(m_ptrRightMotor.get()); | ||
| c_world.removeMultiBodyConstraint(m_ptrLeftMotor.get()); | ||
| /* run the base class's implementation of this method */ | ||
| CDynamics3DMultiBodyObjectModel::RemoveFromWorld(c_world); | ||
| } | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY(CEPuckEntity, CDynamics3DEPuckModel); | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| const btVector3 CDynamics3DEPuckModel::m_cBodyHalfExtents(0.0362, 0.0236, 0.0362); | ||
| const btScalar CDynamics3DEPuckModel::m_fBodyMass(0.242); | ||
| const btTransform CDynamics3DEPuckModel::m_cBodyOffset(btQuaternion(0.0, 0.0, 0.0, 1.0), btVector3(0.0,0.00125,0.0)); | ||
| const btTransform CDynamics3DEPuckModel::m_cBodyGeometricOffset(btQuaternion(0.0, 0.0, 0.0, 1.0), btVector3(0.0, -0.0236, 0.0)); | ||
| const btVector3 CDynamics3DEPuckModel::m_cWheelHalfExtents(0.02125,0.0015,0.02125); | ||
| const btScalar CDynamics3DEPuckModel::m_fWheelMass(0.006); | ||
| const btTransform CDynamics3DEPuckModel::m_cWheelGeometricOffset(btQuaternion(0.0, 0.0, 0.0, 1.0), btVector3(0.0,-0.0015,0.0)); | ||
| const btTransform CDynamics3DEPuckModel::m_cLeftWheelOffset(btQuaternion(btVector3(-1,0,0), SIMD_HALF_PI), btVector3(0.0, 0.02125, -0.0255)); | ||
| const btTransform CDynamics3DEPuckModel::m_cRightWheelOffset(btQuaternion(btVector3(1,0,0), SIMD_HALF_PI), btVector3(0.0, 0.02125, 0.0255)); | ||
| const btVector3 CDynamics3DEPuckModel::m_cBodyToRightWheelJointOffset(0.0, -0.0036, 0.0255); | ||
| const btVector3 CDynamics3DEPuckModel::m_cRightWheelToBodyJointOffset(0.0, 0.0015, 0.0); | ||
| const btQuaternion CDynamics3DEPuckModel::m_cBodyToRightWheelJointRotation(btVector3(-1,0,0), SIMD_HALF_PI); | ||
| const btVector3 CDynamics3DEPuckModel::m_cBodyToLeftWheelJointOffset(0.0, -0.0036, -0.0255); | ||
| const btVector3 CDynamics3DEPuckModel::m_cLeftWheelToBodyJointOffset(0.0, 0.0015, -0.0); | ||
| const btQuaternion CDynamics3DEPuckModel::m_cBodyToLeftWheelJointRotation(btVector3(1,0,0), SIMD_HALF_PI); | ||
| /* TODO calibrate these values */ | ||
| const btScalar CDynamics3DEPuckModel::m_fWheelMotorMaxImpulse(0.15); | ||
| const btScalar CDynamics3DEPuckModel::m_fWheelFriction(5.0); | ||
|
|
||
| /****************************************/ | ||
| /****************************************/ | ||
|
|
||
| } |
75 changes: 75 additions & 0 deletions
75
src/plugins/robots/e-puck/simulator/dynamics3d_epuck_model.h
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| /** | ||
| * @file <argos3/plugins/robots/e-puck/simulator/dynamics3d_epuck_model.h> | ||
| * | ||
| * @author Michael Allwright - <[email protected]> | ||
| */ | ||
|
|
||
| #ifndef DYNAMICS3D_EPUCK_MODEL_H | ||
| #define DYNAMICS3D_EPUCK_MODEL_H | ||
|
|
||
| namespace argos { | ||
| class CDynamics3DEPuckModel; | ||
| class CEPuckEntity; | ||
| class CWheeledEntity; | ||
| } | ||
|
|
||
| #include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h> | ||
| #include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h> | ||
| #include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_multi_body_object_model.h> | ||
|
|
||
| namespace argos { | ||
|
|
||
| class CDynamics3DEPuckModel : public CDynamics3DMultiBodyObjectModel { | ||
|
|
||
| public: | ||
|
|
||
| CDynamics3DEPuckModel(CDynamics3DEngine& c_engine, | ||
| CEPuckEntity& c_epuck); | ||
|
|
||
| virtual ~CDynamics3DEPuckModel() {} | ||
|
|
||
| virtual void Reset(); | ||
|
|
||
| virtual void CalculateBoundingBox(); | ||
|
|
||
| virtual void UpdateEntityStatus(); | ||
|
|
||
| virtual void UpdateFromEntityStatus(); | ||
|
|
||
| virtual void AddToWorld(btMultiBodyDynamicsWorld& c_world); | ||
|
|
||
| virtual void RemoveFromWorld(btMultiBodyDynamicsWorld& c_world); | ||
|
|
||
| private: | ||
| /* joint constraints */ | ||
| std::unique_ptr<btMultiBodyJointMotor> m_ptrLeftMotor; | ||
| std::unique_ptr<btMultiBodyJointMotor> m_ptrRightMotor; | ||
| /* links */ | ||
| std::shared_ptr<CBase> m_ptrBody; | ||
| std::shared_ptr<CLink> m_ptrLeftWheel; | ||
| std::shared_ptr<CLink> m_ptrRightWheel; | ||
| /* entities */ | ||
| CWheeledEntity& m_cWheeledEntity; | ||
| /* lower base data */ | ||
| static const btVector3 m_cBodyHalfExtents; | ||
| static const btScalar m_fBodyMass; | ||
| static const btTransform m_cBodyOffset; | ||
| static const btTransform m_cBodyGeometricOffset; | ||
| /* wheel data */ | ||
| static const btVector3 m_cWheelHalfExtents; | ||
| static const btScalar m_fWheelMass; | ||
| static const btTransform m_cWheelGeometricOffset; | ||
| static const btTransform m_cLeftWheelOffset; | ||
| static const btTransform m_cRightWheelOffset; | ||
| static const btVector3 m_cBodyToRightWheelJointOffset; | ||
| static const btVector3 m_cRightWheelToBodyJointOffset; | ||
| static const btQuaternion m_cBodyToRightWheelJointRotation; | ||
| static const btVector3 m_cBodyToLeftWheelJointOffset; | ||
| static const btVector3 m_cLeftWheelToBodyJointOffset; | ||
| static const btQuaternion m_cBodyToLeftWheelJointRotation; | ||
| static const btScalar m_fWheelMotorMaxImpulse; | ||
| static const btScalar m_fWheelFriction; | ||
| }; | ||
| } | ||
|
|
||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.