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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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228
examples3d/articulations3.rs
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@@ -13,20 +13,17 @@ fn create_prismatic_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(vector![origin.x, origin.y, origin.z])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
let z = origin.z + (i + 1) as f32 * shift;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![origin.x, origin.y, z])
.build();
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
@@ -35,10 +32,10 @@ fn create_prismatic_joints(
UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0])
};
let prism = PrismaticJoint::new(axis)
let prism = PrismaticJointBuilder::new(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift])
.limit_axis([-2.0, 2.0]);
.limits([-2.0, 2.0]);
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
@@ -61,20 +58,17 @@ fn create_actuated_prismatic_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(vector![origin.x, origin.y, origin.z])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
let z = origin.z + (i + 1) as f32 * shift;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![origin.x, origin.y, z])
.build();
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
@@ -83,26 +77,29 @@ fn create_actuated_prismatic_joints(
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let mut prism = PrismaticJoint::new(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift]);
let mut prism = PrismaticJointBuilder::new(axis)
.local_anchor1(point![0.0, 0.0, shift])
.local_anchor2(point![0.0, 0.0, 0.0])
.build();
if i == 1 {
prism = prism
.limit_axis([-Real::MAX, 5.0])
.motor_velocity(1.0, 1.0)
if i == 0 {
prism
.set_motor_velocity(2.0, 1.0e5)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(1.0);
.set_limits([-2.0, 5.0])
.set_motor_max_force(100.0);
} else if i == 1 {
prism
.set_limits([-Real::MAX, 5.0])
.set_motor_velocity(6.0, 1.0e3)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.set_motor_max_force(100.0);
} else if i > 1 {
prism = prism.motor_position(2.0, 0.01, 1.0);
} else {
prism = prism
.motor_velocity(1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(0.7)
.limit_axis([-2.0, 5.0]);
prism
.set_motor_position(2.0, 1.0e3, 1.0e2)
.set_motor_max_force(60.0);
}
if use_articulations {
@@ -127,11 +124,9 @@ fn create_revolute_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(vector![origin.x, origin.y, 0.0])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, 0.0]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
@@ -146,11 +141,9 @@ fn create_revolute_joints(
let mut handles = [curr_parent; 4];
for k in 0..4 {
let rigid_body = RigidBodyBuilder::new_dynamic()
.position(positions[k])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handles[k], bodies);
}
@@ -158,10 +151,10 @@ fn create_revolute_joints(
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]),
RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
];
if use_articulations {
@@ -188,37 +181,18 @@ fn create_revolute_joints_with_limits(
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let platform1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform1,
bodies,
);
let platform1 = bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform1, bodies);
let shift = vector![0.0, 0.0, 6.0];
let platform2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform2,
bodies,
);
let platform2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
let z = Vector::z_axis();
let joint1 = RevoluteJoint::new(z).limit_axis([-0.2, 0.2]);
let joint1 = RevoluteJointBuilder::new(z).limits([-0.2, 0.2]);
if use_articulations {
multibody_joints.insert(ground, platform1, joint1);
@@ -226,9 +200,9 @@ fn create_revolute_joints_with_limits(
impulse_joints.insert(ground, platform1, joint1);
}
let joint2 = RevoluteJoint::new(z)
let joint2 = RevoluteJointBuilder::new(z)
.local_anchor2(-Point::from(shift))
.limit_axis([-0.2, 0.2]);
.limits([-0.2, 0.2]);
if use_articulations {
multibody_joints.insert(platform1, platform2, joint2);
@@ -238,23 +212,20 @@ fn create_revolute_joints_with_limits(
// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
let cuboid_body1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + vector![-2.0, 4.0, 0.0])
.build(),
RigidBodyBuilder::new_dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0).build(),
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body1,
bodies,
);
let cuboid_body2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0])
.build(),
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0).build(),
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body2,
bodies,
);
@@ -288,22 +259,20 @@ fn create_fixed_joints(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![
origin.x + fk * shift,
origin.y,
origin.z + fi * shift
])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
origin.x + fk * shift,
origin.y,
origin.z + fi * shift
]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
@@ -316,7 +285,7 @@ fn create_fixed_joints(
if k > 0 {
let parent_index = body_handles.len() - 1;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
let joint = FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -349,17 +318,20 @@ fn create_spherical_joints(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
fk * shift,
0.0,
fi * shift * 2.0
]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
let joint =
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
@@ -372,7 +344,7 @@ fn create_spherical_joints(
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -391,44 +363,28 @@ fn create_spherical_joints_with_limits(
) {
let shift = vector![0.0, 0.0, 3.0];
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ball1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift)
.linvel(vector![20.0, 20.0, 0.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball1,
bodies,
.linvel(vector![20.0, 20.0, 0.0]),
);
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball1, bodies);
let ball2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift * 2.0)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball2,
bodies,
);
let ball2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
let joint1 = SphericalJoint::new()
let joint1 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.2, 0.2])
.limit_axis(JointAxis::Y, [-0.2, 0.2]);
.limits(JointAxis::X, [-0.2, 0.2])
.limits(JointAxis::Y, [-0.2, 0.2]);
let joint2 = SphericalJoint::new()
let joint2 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.3, 0.3])
.limit_axis(JointAxis::Y, [-0.3, 0.3]);
.limits(JointAxis::X, [-0.3, 0.3])
.limits(JointAxis::Y, [-0.3, 0.3]);
if use_articulations {
multibody_joints.insert(ground, ball1, joint1);
@@ -453,7 +409,7 @@ fn create_actuated_revolute_joints(
// We will reuse this base configuration for all the impulse_joints here.
let z = Vector::z_axis();
let joint_template = RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]);
let joint_template = RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -474,27 +430,27 @@ fn create_actuated_revolute_joints(
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
;
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
let mut joint = joint_template.motor_model(MotorModel::AccelerationBased);
if i % 3 == 1 {
joint = joint.motor_velocity(-20.0, 0.1);
joint = joint.motor_velocity(-20.0, 100.0);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
let stiffness = 200.0;
let damping = 100.0;
joint = joint.motor_position(3.14 / 2.0, stiffness, damping);
}
if i == 1 {
joint = joint
.local_anchor2(point![0.0, 2.0, -shift])
.motor_velocity(-2.0, 0.1);
.motor_velocity(-2.0, 100.0);
}
if use_articulations {
@@ -521,7 +477,7 @@ fn create_actuated_spherical_joints(
let shift = 2.0;
// We will reuse this base configuration for all the impulse_joints here.
let joint_template = SphericalJoint::new().local_anchor1(point![0.0, 0.0, shift]);
let joint_template = SphericalJointBuilder::new().local_anchor1(point![0.0, 0.0, shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -540,10 +496,10 @@ fn create_actuated_spherical_joints(
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
;
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {