/
tutorialCollisions.cpp
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/
tutorialCollisions.cpp
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/*
* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <random>
#include "kido/kido.hpp"
#include "kido/gui/gui.hpp"
const double default_shape_density = 1000; // kg/m^3
const double default_shape_height = 0.1; // m
const double default_shape_width = 0.03; // m
const double default_skin_thickness = 1e-3; // m
const double default_start_height = 0.4; // m
const double minimum_start_v = 2.5; // m/s
const double maximum_start_v = 4.0; // m/s
const double default_start_v = 3.5; // m/s
const double minimum_launch_angle = 30.0*M_PI/180.0; // rad
const double maximum_launch_angle = 70.0*M_PI/180.0; // rad
const double default_launch_angle = 45.0*M_PI/180.0; // rad
const double maximum_start_w = 6*M_PI; // rad/s
const double default_start_w = 3*M_PI; // rad/s
const double ring_spring_stiffness = 0.5;
const double ring_damping_coefficient = 0.05;
const double default_damping_coefficient = 0.001;
const double default_ground_width = 2;
const double default_wall_thickness = 0.1;
const double default_wall_height = 1;
const double default_spawn_range = 0.9*default_ground_width/2;
const double default_restitution = 0.6;
const double default_vertex_stiffness = 1000.0;
const double default_edge_stiffness = 1.0;
const double default_soft_damping = 5.0;
using namespace kido::dynamics;
using namespace kido::simulation;
using namespace kido::gui;
void setupRing(const SkeletonPtr& /*ring*/)
{
// Set the spring and damping coefficients for the degrees of freedom
// Lesson 4a
// Compute the joint angle needed to form a ring
// Lesson 4b
// Set the BallJoints so that they have the correct rest position angle
// Lesson 4b
// Set the Joints to be in their rest positions
// Lesson 4c
}
class MyWindow : public SimWindow
{
public:
MyWindow(const WorldPtr& world, const SkeletonPtr& ball,
const SkeletonPtr& softBody, const SkeletonPtr& hybridBody,
const SkeletonPtr& rigidChain, const SkeletonPtr& rigidRing)
: mRandomize(true),
mRD(),
mMT(mRD()),
mDistribution(-1.0, std::nextafter(1.0, 2.0)),
mOriginalBall(ball),
mOriginalSoftBody(softBody),
mOriginalHybridBody(hybridBody),
mOriginalRigidChain(rigidChain),
mOriginalRigidRing(rigidRing),
mSkelCount(0)
{
setWorld(world);
}
void keyboard(unsigned char key, int x, int y) override
{
switch(key)
{
case '1':
addObject(mOriginalBall->clone());
break;
case '2':
addObject(mOriginalSoftBody->clone());
break;
case '3':
addObject(mOriginalHybridBody->clone());
break;
case '4':
addObject(mOriginalRigidChain->clone());
break;
case '5':
addRing(mOriginalRigidRing->clone());
break;
case 'd':
if(mWorld->getNumSkeletons() > 2)
removeSkeleton(mWorld->getSkeleton(2));
std::cout << "Remaining objects: " << mWorld->getNumSkeletons()-2
<< std::endl;
break;
case 'r':
mRandomize = !mRandomize;
std::cout << "Randomization: " << (mRandomize? "on" : "off")
<< std::endl;
break;
default:
SimWindow::keyboard(key, x, y);
}
}
void drawSkels() override
{
// Make sure lighting is turned on and that polygons get filled in
glEnable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
SimWindow::drawSkels();
}
void displayTimer(int _val) override
{
// We remove playback and baking, because we want to be able to add and
// remove objects during runtime
int numIter = mDisplayTimeout / (mWorld->getTimeStep() * 1000);
if (mSimulating)
{
for (int i = 0; i < numIter; i++)
timeStepping();
}
glutPostRedisplay();
glutTimerFunc(mDisplayTimeout, refreshTimer, _val);
}
protected:
/// Add an object to the world and toss it at the wall
bool addObject(const SkeletonPtr& /*object*/)
{
// Set the starting position for the object
// Lesson 3a
// Add the object to the world
// Lesson 3b
// Compute collisions
// Lesson 3c
// Refuse to add the object if it is in collision
// Lesson 3c
// Create reference frames for setting the initial velocity
// Lesson 3d
// Set the velocities of the reference frames so that we can easily give the
// Skeleton the linear and angular velocities that we want
// Lesson 3e
// Use the reference frames to set the velocity of the Skeleton's root
// Lesson 3f
return true;
}
/// Add a ring to the world, and create a BallJoint constraint to ensure that
/// it stays in a ring shape
void addRing(const SkeletonPtr& ring)
{
setupRing(ring);
if(!addObject(ring))
return;
// Create a closed loop to turn the chain into a ring
// Lesson 5
}
/// Remove a Skeleton and get rid of the constraint that was associated with
/// it, if one existed
void removeSkeleton(const SkeletonPtr& skel)
{
for(size_t i=0; i<mJointConstraints.size(); ++i)
{
kido::constraint::JointConstraint* constraint = mJointConstraints[i];
if(constraint->getBodyNode1()->getSkeleton() == skel
|| constraint->getBodyNode2()->getSkeleton() == skel)
{
mWorld->getConstraintSolver()->removeConstraint(constraint);
mJointConstraints.erase(mJointConstraints.begin()+i);
delete constraint;
break; // There should only be one constraint per skeleton
}
}
mWorld->removeSkeleton(skel);
}
/// Flag to keep track of whether or not we are randomizing the tosses
bool mRandomize;
// std library objects that allow us to generate high-quality random numbers
std::random_device mRD;
std::mt19937 mMT;
std::uniform_real_distribution<double> mDistribution;
/// History of the active JointConstraints so that we can properly delete them
/// when a Skeleton gets removed
std::vector<kido::constraint::JointConstraint*> mJointConstraints;
/// A blueprint Skeleton that we will use to spawn balls
SkeletonPtr mOriginalBall;
/// A blueprint Skeleton that we will use to spawn soft bodies
SkeletonPtr mOriginalSoftBody;
/// A blueprint Skeleton that we will use to spawn hybrid bodies
SkeletonPtr mOriginalHybridBody;
/// A blueprint Skeleton that we will use to spawn rigid chains
SkeletonPtr mOriginalRigidChain;
/// A blueprint Skeleton that we will use to spawn rigid rings
SkeletonPtr mOriginalRigidRing;
/// Keep track of how many Skeletons we spawn to ensure we can give them all
/// unique names
size_t mSkelCount;
};
/// Add a rigid body with the specified Joint type to a chain
template<class JointType>
BodyNode* addRigidBody(const SkeletonPtr& /*chain*/, const std::string& /*name*/,
Shape::ShapeType /*type*/, BodyNode* /*parent*/ = nullptr)
{
// Set the Joint properties
// Lesson 1a
// Create the Joint and Body pair
// Lesson 1b
BodyNode* bn = nullptr;
// Make the shape based on the requested Shape type
// Lesson 1c
// Setup the inertia for the body
// Lesson 1d
// Set the coefficient of restitution to make the body more bouncy
// Lesson 1e
// Set damping to make the simulation more stable
// Lesson 1f
return bn;
}
enum SoftShapeType {
SOFT_BOX = 0,
SOFT_CYLINDER,
SOFT_ELLIPSOID
};
/// Add a soft body with the specified Joint type to a chain
template<class JointType>
BodyNode* addSoftBody(const SkeletonPtr& /*chain*/, const std::string& /*name*/,
SoftShapeType /*type*/, BodyNode* /*parent*/ = nullptr)
{
// Set the Joint properties
// Lesson 2a
// Set the properties of the soft body
// Lesson 2b
// Create the Joint and Body pair
// Lesson 2c
SoftBodyNode* bn = nullptr;
// Zero out the inertia for the underlying BodyNode
// Lesson 2d
// Make the shape transparent
// Lesson 2e
return bn;
}
void setAllColors(const SkeletonPtr& object, const Eigen::Vector3d& color)
{
// Set the color of all the shapes in the object
for(size_t i=0; i < object->getNumBodyNodes(); ++i)
{
BodyNode* bn = object->getBodyNode(i);
for(size_t j=0; j < bn->getNumVisualizationShapes(); ++j)
bn->getVisualizationShape(j)->setColor(color);
}
}
SkeletonPtr createBall()
{
SkeletonPtr ball = Skeleton::create("rigid_ball");
// Give the ball a body
addRigidBody<FreeJoint>(ball, "rigid ball", Shape::ELLIPSOID);
setAllColors(ball, kido::Color::Red());
return ball;
}
SkeletonPtr createRigidChain()
{
SkeletonPtr chain = Skeleton::create("rigid_chain");
// Add bodies to the chain
BodyNode* bn = addRigidBody<FreeJoint>(chain, "rigid box 1", Shape::BOX);
bn = addRigidBody<BallJoint>(chain, "rigid cyl 2", Shape::CYLINDER, bn);
bn = addRigidBody<BallJoint>(chain, "rigid box 3", Shape::BOX, bn);
setAllColors(chain, kido::Color::Orange());
return chain;
}
SkeletonPtr createRigidRing()
{
SkeletonPtr ring = Skeleton::create("rigid_ring");
// Add bodies to the ring
BodyNode* bn = addRigidBody<FreeJoint>(ring, "rigid box 1", Shape::BOX);
bn = addRigidBody<BallJoint>(ring, "rigid cyl 2", Shape::CYLINDER, bn);
bn = addRigidBody<BallJoint>(ring, "rigid box 3", Shape::BOX, bn);
bn = addRigidBody<BallJoint>(ring, "rigid cyl 4", Shape::CYLINDER, bn);
bn = addRigidBody<BallJoint>(ring, "rigid box 5", Shape::BOX, bn);
bn = addRigidBody<BallJoint>(ring, "rigid cyl 6", Shape::CYLINDER, bn);
setAllColors(ring, kido::Color::Blue());
return ring;
}
SkeletonPtr createSoftBody()
{
SkeletonPtr soft = Skeleton::create("soft");
// Add a soft body
/*BodyNode* bn =*/ addSoftBody<FreeJoint>(soft, "soft box", SOFT_BOX);
// Add a rigid collision geometry and inertia
// Lesson 2f
setAllColors(soft, kido::Color::Fuschia());
return soft;
}
SkeletonPtr createHybridBody()
{
SkeletonPtr hybrid = Skeleton::create("hybrid");
// Add a soft body
/*BodyNode* bn =*/ addSoftBody<FreeJoint>(hybrid, "soft sphere", SOFT_ELLIPSOID);
// Add a rigid body attached by a WeldJoint
// Lesson 2g
setAllColors(hybrid, kido::Color::Green());
return hybrid;
}
SkeletonPtr createGround()
{
SkeletonPtr ground = Skeleton::create("ground");
BodyNode* bn = ground->createJointAndBodyNodePair<WeldJoint>().second;
std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(
Eigen::Vector3d(default_ground_width, default_ground_width,
default_wall_thickness));
shape->setColor(Eigen::Vector3d(1.0, 1.0, 1.0));
bn->addCollisionShape(shape);
bn->addVisualizationShape(shape);
return ground;
}
SkeletonPtr createWall()
{
SkeletonPtr wall = Skeleton::create("wall");
BodyNode* bn = wall->createJointAndBodyNodePair<WeldJoint>().second;
std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(
Eigen::Vector3d(default_wall_thickness, default_ground_width,
default_wall_height));
shape->setColor(Eigen::Vector3d(0.8, 0.8, 0.8));
bn->addCollisionShape(shape);
bn->addVisualizationShape(shape);
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
tf.translation() = Eigen::Vector3d(
(default_ground_width + default_wall_thickness)/2.0, 0.0,
(default_wall_height - default_wall_thickness)/2.0);
bn->getParentJoint()->setTransformFromParentBodyNode(tf);
bn->setRestitutionCoeff(0.2);
return wall;
}
int main(int argc, char* argv[])
{
WorldPtr world = std::make_shared<World>();
world->addSkeleton(createGround());
world->addSkeleton(createWall());
MyWindow window(world, createBall(), createSoftBody(), createHybridBody(),
createRigidChain(), createRigidRing());
std::cout << "space bar: simulation on/off" << std::endl;
std::cout << "'1': toss a rigid ball" << std::endl;
std::cout << "'2': toss a soft body" << std::endl;
std::cout << "'3': toss a hybrid soft/rigid body" << std::endl;
std::cout << "'4': toss a rigid chain" << std::endl;
std::cout << "'5': toss a ring of rigid bodies" << std::endl;
std::cout << "\n'd': delete the oldest object" << std::endl;
std::cout << "'r': toggle randomness" << std::endl;
std::cout << "\nWarning: Let objects settle before tossing a new one, or the simulation could explode." << std::endl;
std::cout << " If the simulation freezes, you may need to force quit the application.\n" << std::endl;
glutInit(&argc, argv);
window.initWindow(640, 480, "Collisions");
glutMainLoop();
}