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Cleaned up the ultra spine model a bit more. This commit has a workin…
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…g version of the better way to create vertebrae.
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@apsabelhaus
apsabelhaus committed Mar 11, 2016
1 parent 660cda9 commit 7eb68f3
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Showing 2 changed files with 11 additions and 90 deletions.
94 changes: 10 additions & 84 deletions src/dev/ultra-spine/VerticalSpine/VerticalSpineModel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,24 +200,7 @@ void VerticalSpineModel::addRodPairs(tgStructure& vertebra, ConfigVertebra& conf
vertebra.addPair(3, 4, "rod_" + conf_vertebra.vertebra_name);
}

void VerticalSpineModel::addPairs(tgStructure& vertebra)
{
vertebra.addPair(0, 4, "rod");
vertebra.addPair(1, 4, "rod");
vertebra.addPair(2, 4, "rod");
vertebra.addPair(3, 4, "rod");

}

void VerticalSpineModel::addPairsB(tgStructure& vertebra)
{
vertebra.addPair(0, 4, "rodB");
vertebra.addPair(1, 4, "rodB");
vertebra.addPair(2, 4, "rodB");
vertebra.addPair(3, 4, "rodB");

}

// DEPRECATED AS OF 2016-03-11
void VerticalSpineModel::addSegments(tgStructure& spine, const tgStructure& vertebra,
double edge, size_t segment_count)
{
Expand Down Expand Up @@ -251,9 +234,13 @@ void VerticalSpineModel::addVertebra(tgStructure& spine,
// HACK FOR NOW: just pick the first element, we know that's the base.
tgStructure* const new_vertebra = new tgStructure( *(spine_vertebrae[0]) );

// TO-DO: REMOVE THE OLD TAG FROM THE FIRST VERTEBRA!
// Need to remove "segment1".
// DO WE ALSO NEED TO REMOVE OTHER OLD STUFF?

// Add the nodes and pairs to this new vertebra
addNodes( *new_vertebra, conf_vertebra);
addPairs( *new_vertebra);
addRodPairs( *new_vertebra, conf_vertebra);

// Move it into place.
// Remember that the vertical direction is dimension 2 in Bullet Physics.
Expand All @@ -265,7 +252,6 @@ void VerticalSpineModel::addVertebra(tgStructure& spine,

// Add the created vertebra to the rest of the spine.
spine.addChild(new_vertebra);

}

// Add muscles that connect the segments
Expand Down Expand Up @@ -336,8 +322,7 @@ void VerticalSpineModel::setup(tgWorld& world)
// and is non-moving since it has mass = 0.
tgStructure base_vertebra;
addNodes(base_vertebra, conf_base_vertebra);
addPairsB(base_vertebra);
//addRodPairs(base_vertebra, conf_base_vertebra);
addRodPairs(base_vertebra, conf_base_vertebra);

// Remember that the second dimension here is vertical.
// (Y is the vertical, not Z.)
Expand All @@ -353,60 +338,15 @@ void VerticalSpineModel::setup(tgWorld& world)
// The second and 4th vertebrae are actuated.
addVertebra(spine, conf_active_vertebra, 2);
addVertebra(spine, conf_passive_vertebra, 3);
//std::cout << "got to: " << 7 << std::endl;
addVertebra(spine, conf_active_vertebra, 4);
addVertebra(spine, conf_passive_vertebra, 5);

// Debugging: this is the new version that *should work*
// tgStructure vertebra2;
// addNodes(vertebra2, conf_passive_vertebra);
// //addRodPairs(vertebra2, conf_passive_vertebra);
// addPairs(vertebra2);
// vertebra2.move(btVector3(0.0, conf_spine.base_vertical_offset, 0));
// vertebra2.addTags(tgString("segment", 2));
// tgStructure* const vertebra2_copy = new tgStructure(vertebra2);
// spine.addChild(vertebra2_copy);

// Debugging: this is the old version that *does work*
// tgStructure vertebra2;
// addNodes(vertebra2, conf_passive_vertebra);
// addPairs(vertebra2);
// //addSegments(spine, vertebra2, getEdgeLength(conf_passive_vertebra), m_segments);
// vertebra2.move( btVector3(0.0, conf_spine.vertebra_separation, 0.0) );
// addVertebraChild(spine, vertebra2, 2);

// another test
// tgStructure* const vertebra2 = new tgStructure(base_vertebra);
// addNodes(*vertebra2, conf_passive_vertebra);
// addPairs(*vertebra2);
// vertebra2 -> move( btVector3(0.0, conf_spine.vertebra_separation, 0.0) );
// addVertebraChild(spine, *vertebra2, 2);


// tgStructure* const vertebra3 = new tgStructure(base_vertebra);
// addNodes(*vertebra3, conf_passive_vertebra);
// addPairs(*vertebra3);
// vertebra3 -> move( btVector3(0.0, 2 * conf_spine.vertebra_separation, 0.0) );
// addVertebraChild(spine, *vertebra3, 3);

addMuscles(spine);

// Create the build spec that uses tags to turn the structure into a real model.
// This is where the tagged pairs are matched up with an actual geometric object.

// For the old ULTRA Spine v0.1:
// length of inner strut = 12.25 cm
// m = 1 kg
// volume of 1 rod = 9.62 cm^3
// total volume = 38.48 cm^3
//const double density = 1/38.48; = 0.026 // kg / length^3 - see app for length

tgBuildSpec spec;

const tgRod::Config rodConfigA(c.radius, c.densityA, c.friction,
c.rollFriction, c.restitution);
const tgRod::Config rodConfigB(c.radius, c.densityB, c.friction,
c.rollFriction, c.restitution);

// For the base
const tgRod::Config rodConfigBase(conf_base_vertebra.radius,
Expand Down Expand Up @@ -438,35 +378,21 @@ void VerticalSpineModel::setup(tgWorld& world)
spec.addBuilder("rod_" + conf_active_vertebra.vertebra_name,
new tgRodInfo(rodConfigActive));

spec.addBuilder("rod", new tgRodInfo(rodConfigA));
spec.addBuilder("rodB", new tgRodInfo(rodConfigB));


// set muscle (string) parameters
// @todo replace acceleration constraint with tgKinematicActuator if needed...
tgSpringCableActuator::Config muscleConfig(c.stiffness, c.damping, c.pretension,
c.hist, c.maxTens, c.targetVelocity);
spec.addBuilder("muscle", new tgBasicActuatorInfo(muscleConfig));


// Create your structureInfo
// Create the structureInfo
tgStructureInfo structureInfo(spine, spec);
// Use the structureInfo to build ourselves

//std::vector<tgStructure*> structure_children = spine.getChildren();
//std::cout << structure_children.toString() << std::endl;
// debugging
//for (size_t i = 0; i < structure_children.size(); i++)
//{
//std::cout << *(structure_children[i]) << std::endl;
//}

// Debugging: print out the tgStructure of the spine and its children
std::cout << spine << std::endl;


//std::cout << "got to: " << 9 << std::endl;
trace(structureInfo, *this);

// Use the structureInfo to build this model
structureInfo.buildInto(*this, world);

// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
Expand Down
7 changes: 1 addition & 6 deletions src/dev/ultra-spine/VerticalSpine/VerticalSpineModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,6 @@ class VerticalSpineModel: public tgSubject<VerticalSpineModel>, public tgModel
* Add a tgPair for each rod in the vertebra. This maps two nodes into
* a rod (of the vertebra_name of the ConfigVertebra).
*/
static void addPairs(tgStructure& vertebra);
static void addRodPairs(tgStructure& vertebra, ConfigVertebra& conf_vertebra);

/**
Expand All @@ -166,15 +165,11 @@ class VerticalSpineModel: public tgSubject<VerticalSpineModel>, public tgModel
* dynamics in MATLAB for this structure.
*/
static double getEdgeLength(ConfigVertebra& conf_vertebra);

/**
* Pair together the nods for the second type of rod
*/
static void addPairsB(tgStructure& vertebra);

/**
* Generate the full spine structure by copying and translating one vertebra
* into segmentCount number of vertebrae, and build that into spine.
* DEPRECATED AS OF 2016-03-11
*/
static void addSegments(tgStructure& spine, const tgStructure& vertebra,
double edge, size_t segmentCount);
Expand Down

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