Merge pull request #59 from erwincoumans/master

cuda_laikago_codegen, running 2048 Laikago's in real-time!

.gitmodules

@@ -1,18 +1,24 @@
 [submodule "third_party/CppAD"]
 	path = third_party/CppAD
 	url = https://github.com/coin-or/CppAD.git
+	ignore = all
 [submodule "third_party/CppADCodeGen"]
 	path = third_party/CppADCodeGen
 	url = https://github.com/eric-heiden/CppADCodeGen.git
+	ignore = all
 [submodule "third_party/glog"]
 	path = third_party/glog
 	url = https://github.com/google/glog.git
+	ignore = all
 [submodule "third_party/ceres-solver"]
 	path = third_party/ceres-solver
 	url = https://github.com/ceres-solver/ceres-solver
+	ignore = all
 [submodule "third_party/gflags"]
 	path = third_party/gflags
 	url = https://github.com/gflags/gflags.git
+	ignore = all
 [submodule "third_party/bullet3"]
 	path = third_party/bullet3
 	url = https://github.com/bulletphysics/bullet3
+	ignore = all

CMakeLists.txt

@@ -29,6 +29,7 @@ if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
 endif()
 
 
+
 if(COMMAND cmake_policy)
 	cmake_policy(SET CMP0003 NEW)
 	cmake_policy(SET CMP0017 NEW)

build_libs_unix.sh

@@ -57,6 +57,6 @@ cd $ROOT
 mkdir build_cmake
 cd build_cmake
 
-cmake  -DBullet_DIR=$ROOT/third_party/bullet3/build_cmake -Dgflags_DIR=$ROOT/third_party/gflags/build_cmake -Dglog_DIR=$ROOT/third_party/glog/build_cmake -DEigen3_DIR=$ROOT/third_party/eigen3/build_cmake -DCeres_DIR=$ROOT/third_party/ceres-solver/build_cmake/local_install/lib/cmake/Ceres -DUSE_CPPAD=ON ..
+cmake  -DBullet_DIR=$ROOT/third_party/bullet3/build_cmake -Dgflags_DIR=$ROOT/third_party/gflags/build_cmake -Dglog_DIR=$ROOT/third_party/glog/build_cmake -DEigen3_DIR=$ROOT/third_party/eigen3/build_cmake -DCeres_DIR=$ROOT/third_party/ceres-solver/build_cmake/local_install/lib/cmake/Ceres -DUSE_CPPAD=ON -DUSE_CERES=ON ..
 make -j4
 

build_libs_windows.bat

@@ -20,6 +20,11 @@ popd
 cd %ROOT%
 
 
+pushd third_party\cppadcodegen
+git apply ..\patches\CppADCodeGen.diff
+popd
+cd %ROOT%
+
 pushd third_party\gflags
 mkdir build_cmake
 cd build_cmake
@@ -86,7 +91,7 @@ del third_party\gflags\build_cmake\local_install\lib\*.lib
 mkdir build_cmake
 cd build_cmake
 
-cmake  -DCMAKE_CXX_FLAGS="/MP" -DUSE_MSVC_RUNTIME_LIBRARY_DLL=ON -DBullet_DIR=%ROOT%\third_party\bullet3\build_cmake -Dgflags_DIR=%ROOT%\third_party\gflags\build_cmake -Dglog_DIR=%ROOT%\third_party\glog\build_cmake -DEigen3_DIR=%ROOT%\third_party\eigen3\build_cmake -DCeres_DIR=%ROOT%\third_party\ceres-solver\build_cmake\local_install\cmake -DUSE_CPPAD=ON ..
+cmake  -DCMAKE_CXX_FLAGS="/MP" -DUSE_CERES=ON -DUSE_MSVC_RUNTIME_LIBRARY_DLL=ON -DBullet_DIR=%ROOT%\third_party\bullet3\build_cmake -Dgflags_DIR=%ROOT%\third_party\gflags\build_cmake -Dglog_DIR=%ROOT%\third_party\glog\build_cmake -DEigen3_DIR=%ROOT%\third_party\eigen3\build_cmake -DCeres_DIR=%ROOT%\third_party\ceres-solver\build_cmake\local_install\cmake -DUSE_CPPAD=ON ..
 
-cmake  --build .  --target INSTALL  --config Release
-start DIFF_PHYSICS.sln
+rem cmake  --build .  --target INSTALL  --config Release
+rem start DIFF_PHYSICS.sln

examples/CMakeLists.txt

@@ -11,6 +11,18 @@ if (Eigen3_FOUND)
 add_executable(pendulum_example_eigen_gui pendulum_example_gui.cpp  ${TDS_HDRS})
 target_link_libraries(pendulum_example_eigen_gui opengl_window Eigen3::Eigen ${CMAKE_DL_LIBS})
 target_include_directories(pendulum_example_eigen_gui PRIVATE ../src)
+
+add_executable(laikago_opengl_eigen_example laikago_opengl_example.cpp ../third_party/stb_image/stb_image.cpp ../third_party/tinyobjloader/tiny_obj_loader.cc  ${TDS_HDRS}) 
+target_link_libraries(laikago_opengl_eigen_example  Eigen3::Eigen tinyxml2 opengl_window ${CMAKE_DL_LIBS}) 
+target_include_directories(laikago_opengl_eigen_example PRIVATE ../third_party/tinyobjloader)
+target_include_directories(laikago_opengl_eigen_example PRIVATE ../third_party ../src)
+
+add_executable(laikago_opengl_tiny_example laikago_opengl_example.cpp ../third_party/stb_image/stb_image.cpp ../third_party/tinyobjloader/tiny_obj_loader.cc  ${TDS_HDRS}) 
+target_link_libraries(laikago_opengl_tiny_example  Eigen3::Eigen tinyxml2 opengl_window ${CMAKE_DL_LIBS}) 
+target_include_directories(laikago_opengl_tiny_example PRIVATE ../third_party/tinyobjloader)
+target_include_directories(laikago_opengl_tiny_example PRIVATE ../third_party ../src)
+target_compile_definitions(laikago_opengl_tiny_example PRIVATE USE_TINY )
+
 endif()
 
 add_executable(billiard_opt_example_gui billiard_opt_example_gui.cpp  ${TDS_HDRS})
@@ -42,6 +54,21 @@ IF(USE_CPPAD)
   if (USE_STAN)
     target_link_libraries(cuda_codegen PRIVATE ${STAN_LIBRARIES})
   endif(USE_STAN)
+
+  add_executable(cuda_laikago_codegen cuda_laikago_codegen.cpp ${TDS_HDRS})
+  target_compile_definitions(cuda_laikago_codegen PRIVATE -DUSE_CPPAD)
+  target_link_libraries(
+    cuda_laikago_codegen
+    PRIVATE
+      ${CMAKE_DL_LIBS}
+      opengl_window
+      tinyxml2
+      Eigen3::Eigen
+      differentiation
+  )
+  if (USE_STAN)
+    target_link_libraries(cuda_laikago_codegen PRIVATE ${STAN_LIBRARIES})
+  endif(USE_STAN)
 ENDIF(USE_CPPAD)
 
 IF(USE_CERES)

examples/ceres_estimation_real.cpp

@@ -111,7 +111,7 @@ void visualize_trajectory(const std::vector<std::vector<T>> &states,
   std::vector<int> mbvisuals;
   if (visualizer->canSubmitCommand())
   {
-    for (int i = 0; i < mb->size(); i++)
+    for (int i = 0; i < mb->num_links(); i++)
     {
       int sphereId = visualizer->loadURDF("sphere_small.urdf");
       mbvisuals.push_back(sphereId);
@@ -135,7 +135,7 @@ void visualize_trajectory(const std::vector<std::vector<T>> &states,
         std::chrono::duration<double>(Utils::getDouble(dt * 20.)));
     // sync transforms
     int visual_index = 0;
-    for (std::size_t l = 0; l < mb->size(); l++)
+    for (std::size_t l = 0; l < mb->num_links(); l++)
     {
       int sphereId = mbvisuals[visual_index++];
       typename Algebra::Quaternion rot;

examples/cuda_codegen.cpp

@@ -49,7 +49,7 @@ struct ContactSimulation {
 
   int input_dim() const { return system->dof() + system->dof_qd(); }
   int state_dim() const {
-    return system->dof() + system->dof_qd() + system->size() * 3;
+    return system->dof() + system->dof_qd() + system->num_links() * 3;
   }
   int output_dim() const { return num_timesteps * state_dim(); }
 
@@ -166,7 +166,7 @@ int main(int argc, char* argv[]) {
   int sphere_shape = app.register_graphics_unit_sphere_shape(SPHERE_LOD_LOW);
   // typedef tds::Conversion<DiffAlgebra, tds::TinyAlgebraf> Conversion;
   std::vector<int> visuals;
-  for (int i = 0; i < num_total_threads * simulation.system->size(); ++i) {
+  for (int i = 0; i < num_total_threads * simulation.system->num_links(); ++i) {
     TinyVector3f pos(0, 0, 0);
     TinyQuaternionf orn(0, 0, 0, 1);
     TinyVector3f color(0.5, 0.6, 1);
@@ -186,7 +186,8 @@ int main(int argc, char* argv[]) {
   const int link_pos_id_offset =
       simulation.system->dof() + simulation.system->dof_qd();
   const int square_id = (int)std::sqrt((double)num_total_threads);
-  const float radius = 1.f;
+  //sim_spacing is the visual distance between independent parallel simulations
+  const float sim_spacing = 5.f;
   for (int run = 0; run < 40; ++run) {
     for (int i = 0; i < num_total_threads; ++i) {
       inputs[i] = std::vector<Scalar>(simulation.input_dim(), Scalar(0));
@@ -212,14 +213,14 @@ int main(int argc, char* argv[]) {
       int visual_id = 0;
       for (int i = 0; i < num_total_threads; ++i) {
         TinyVector3f prev_pos(0, 0, 0);
-        for (std::size_t l = 0; l < simulation.system->size(); ++l) {
+        for (std::size_t l = 0; l < simulation.system->num_links(); ++l) {
           int sphereId = visuals[visual_id++];
           TinyVector3f pos;
           pos[0] = outputs[i][link_pos_id_offset + l * 3 + 0];
           pos[1] = outputs[i][link_pos_id_offset + l * 3 + 1];
           pos[2] = outputs[i][link_pos_id_offset + l * 3 + 2];
-          pos[0] += radius * (i % square_id) - square_id * radius / 2;
-          pos[1] += radius * (i / square_id) - square_id * radius / 2;
+          pos[0] += sim_spacing * (i % square_id) - square_id * sim_spacing / 2;
+          pos[1] += sim_spacing * (i / square_id) - square_id * sim_spacing / 2;
           TinyQuaternionf orn(0, 0, 0, 1);
           if (l > 0) {
              //app.m_renderer->draw_line(prev_pos, pos, line_color, line_width);