/*************************************************************************** * Copyright (C) 2005 by Robot Group Leipzig * * martius@informatik.uni-leipzig.de * * fhesse@informatik.uni-leipzig.de * * der@informatik.uni-leipzig.de * * * * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * * * * This program is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * * GNU General Public License for more details. * * * * You should have received a copy of the GNU General Public License * * along with this program; if not, write to the * * Free Software Foundation, Inc., * * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * * * $Log: nimm4.cpp,v $ * Revision 1.8 2006/07/14 12:23:40 martius * selforg becomes HEAD * * Revision 1.7.4.17 2006/06/29 16:39:55 robot3 * -you can now see bounding shapes if you type ./start -drawboundings * -includes cleared up * -abstractobstacle and abstractground have now .cpp-files * * Revision 1.7.4.16 2006/06/25 17:00:32 martius * Id * * Revision 1.7.4.15 2006/06/25 16:57:14 martius * abstractrobot is configureable * name and revision * * Revision 1.7.4.14 2006/04/04 17:03:21 fhesse * docu added * * Revision 1.7.4.13 2006/04/04 14:13:24 fhesse * documentation improved * * Revision 1.7.4.12 2006/03/31 11:11:38 fhesse * minor changes in docu * * Revision 1.7.4.11 2006/02/01 18:33:40 martius * use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore * * Revision 1.7.4.10 2005/12/29 16:47:40 martius * joint has getPosition * * Revision 1.7.4.9 2005/12/15 17:04:08 martius * Primitives are not longer inherited from OSGPrimitive, moreover * they aggregate them. * Joint have better getter and setter * * Revision 1.7.4.8 2005/12/14 15:37:09 martius * robots are working with osg * * Revision 1.7.4.7 2005/12/13 18:11:39 martius * still trying to port robots * * Revision 1.7.4.6 2005/12/13 12:32:09 martius * nonvisual joints * * Revision 1.7.4.5 2005/12/12 23:41:30 martius * added Joint wrapper * * Revision 1.7.4.4 2005/12/11 23:35:08 martius * *** empty log message *** * * Revision 1.7.4.3 2005/12/06 10:13:25 martius * openscenegraph integration started * * Revision 1.7.4.2 2005/11/15 12:29:26 martius * new selforg structure and OdeAgent, OdeRobot ... * * Revision 1.7.4.1 2005/11/14 17:37:17 martius * moved to selforg * * Revision 1.7 2005/11/09 13:24:42 martius * added GPL * ***************************************************************************/ #include <assert.h> #include <ode/ode.h> // include primitives (box, spheres, cylinders ...) #include "primitive.h" #include "osgprimitive.h" // include joints #include "joint.h" // include header file #include "nimm4.h" using namespace osg; namespace lpzrobots { // constructor: // - give handle for ODE and OSG stuff // - size of robot, maximal used force and speed factor are adjustable // - sphereWheels switches between spheres or wheels as wheels // (wheels are only drawn, collision handling is always with spheres) Nimm4::Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name, double size/*=1.0*/, double force /*=3*/, double speed/*=15*/, bool sphereWheels /*=true*/) : // calling OdeRobots construtor with name of the actual robot OdeRobot(odeHandle, osgHandle, name, "$Id: nimm4.cpp,v 1.8 2006/07/14 12:23:40 martius Exp $") { // robot is not created till now created=false; // choose color (here the color of the "Nimm Zwei" candy is used, // where the name of the Nimm2 and Nimm4 robots comes from ;-) this->osgHandle.color = Color(2, 156/255.0, 0, 1.0f); // maximal used force is calculated from the force factor and size given to the constructor max_force = force*size*size; // speed and type of wheels are set this->speed = speed; this->sphereWheels = sphereWheels; height=size; length=size/2.5; // length of body width=size/2; // radius of body radius=size/6; // wheel radius wheelthickness=size/20; // thickness of the wheels (if wheels used, no spheres) cmass=8*size; // mass of the body wmass=size; // mass of the wheels sensorno=4; // number of sensors motorno=4; // number of motors segmentsno=5; // number of segments of the robot }; /** sets actual motorcommands @param motors motors scaled to [-1,1] @param motornumber length of the motor array */ void Nimm4::setMotors(const motor* motors, int motornumber){ assert(created); // robot must exist // the number of controlled motors is minimum of // "number of motorcommands" (motornumber) and // "number of motors inside the robot" (motorno) int len = (motornumber < motorno)? motornumber : motorno; // for each motor the motorcommand (between -1 and 1) multiplied with speed // is set and the maximal force to realize this command are set for (int i=0; i<len; i++){ joint[i]->setParam(dParamVel2, motors[i]*speed); joint[i]->setParam(dParamFMax2, max_force); } // another possibility is to set half of the difference between last set speed // and the actual desired speed as new speed; max_force is also set /* double tmp; int len = (motornumber < motorno)? motornumber : motorno; for (int i=0; i<len; i++){ tmp=dJointGetHinge2Param(joint[i],dParamVel2); dJointSetHinge2Param(joint[i],dParamVel2,tmp + 0.5*(motors[i]*speed-tmp) ); dJointSetHinge2Param (joint[i],dParamFMax2,max_force); } */ }; /** returns actual sensorvalues @param sensors sensors scaled to [-1,1] (more or less) @param sensornumber length of the sensor array @return number of actually written sensors */ int Nimm4::getSensors(sensor* sensors, int sensornumber){ assert(created); // robot must exist // the number of sensors to read is the minimum of // "number of sensors requested" (sensornumber) and // "number of sensors inside the robot" (sensorno) int len = (sensornumber < sensorno)? sensornumber : sensorno; // for each sensor the anglerate of the joint is red and scaled with 1/speed for (int i=0; i<len; i++){ sensors[i]=joint[i]->getPosition2Rate(); sensors[i]/=speed; //scaling } // the number of red sensors is returned return len; }; void Nimm4::place(const Matrix& pose){ // the position of the robot is the center of the body (without wheels) // to set the vehicle on the ground when the z component of the position is 0 // width*0.6 is added (without this the wheels and half of the robot will be in the ground) Matrix p2; p2 = pose * Matrix::translate(Vec3(0, 0, width*0.6)); create(p2); }; /** * updates the osg notes */ void Nimm4::update(){ assert(created); // robot must exist for (int i=0; i<segmentsno; i++) { // update objects object[i]->update(); } for (int i=0; i < 4; i++) { // update joints joint[i]->update(); } }; /** things for collision handling inside the space of the robot can be done here */ void Nimm4::mycallback(void *data, dGeomID o1, dGeomID o2){ // do collisions handling for collisions between parts inside the space of the robot here // this has no meaning for this robot, because collsions between wheels and body are ignored // but if parts of the robot can move against each other this is important // the follwing (not active) code part can be used to check if objects which had collisions // are inside the list of objects of the robot /* Nimm4* me = (Nimm4*)data; if(isGeomInObjectList(me->object, me->segmentsno, o1) && isGeomInObjectList(me->object, me->segmentsno, o2)){ return; } */ } /** this function is called in each timestep. It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc. @param GlobalData structure that contains global data from the simulation environment */ void Nimm4::doInternalStuff(const GlobalData& global){} /** checks for internal collisions and treats them. * In case of a treatment return true (collision will be ignored by other objects * and the default routine) else false (collision is passed to other objects and * (if not treated) to the default routine). */ bool Nimm4::collisionCallback(void *data, dGeomID o1, dGeomID o2){ assert(created); // robot must exist // checks if one of the collision objects is part of thee space the robot is in // and therefore part of the robot if( o1 == (dGeomID)odeHandle.space || o2 == (dGeomID)odeHandle.space){ // if the space is involved check for collisions between parts inside the space // this has no meaning here, because collsions between wheels and body are ignored // but if parts of the robot can move against each other this is important dSpaceCollide(odeHandle.space, this, mycallback); bool colwithme; // for collision with some part of the vehicle bool colwithbody; // for collision with the (main) body int i,n; const int N = 10; dContact contact[N]; // extract collision points between the two objects that intersect n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); // for each collision point for (i=0; i<n; i++){ // collisions set to false colwithbody = false; colwithme = false; // if there is a collision with the body both bools have to be set to true if( contact[i].geom.g1 == object[0]->getGeom() || contact[i].geom.g2 == object[0]->getGeom()){ colwithbody = true; colwithme = true; } // if there is a collision with one of the wheels only colwithme has to be set true if( isGeomInPrimitiveList(object+1, segmentsno-1, contact[i].geom.g1) || isGeomInPrimitiveList(object+1, segmentsno-1, contact[i].geom.g2)){ colwithme = true; } if( colwithme){ // if collision set the contact parameters contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1; contact[i].surface.slip1 = 0.005; contact[i].surface.slip2 = 0.005; if(colwithbody){ // if collision with body set small friction contact[i].surface.mu = 0.1; // small friction of smooth body contact[i].surface.soft_erp = 0.5; contact[i].surface.soft_cfm = 0.001; }else{ // if collision with the wheels set large friction to give wheels grip on the ground contact[i].surface.mu = 1.1; //large friction contact[i].surface.soft_erp = 0.9; contact[i].surface.soft_cfm = 0.001; } // create a joint in the world with the properties set above // (the joint must be put in group "contactgroup", which is deleted // after each simulation step, see ode documentation) dJointID c = dJointCreateContact( odeHandle.world, odeHandle.jointGroup, &contact[i]); // attach the intersecting objects to the joint dJointAttach ( c , dGeomGetBody(contact[i].geom.g1) , dGeomGetBody(contact[i].geom.g2)) ; } } //if collision handled return true return true; } //if collision not handled return false return false; } /** creates vehicle at desired position @param pos struct Position with desired position */ void Nimm4::create( const Matrix& pose ){ if (created) { // if robot exists destroy it destroy(); } // create car space and add it to the top level space odeHandle.space = dSimpleSpaceCreate (parentspace); // create cylinder for main body // initialize it with ode-, osghandle and mass // rotate and place body (here by 90° around the y-axis) // use texture 'wood' for capsule // put it into object[0] Capsule* cap = new Capsule(width/2, length); cap->init(odeHandle, cmass, osgHandle); cap->setPose(Matrix::rotate(M_PI/2, 0, 1, 0) * pose); cap->getOSGPrimitive()->setTexture("Images/wood.rgb"); object[0]=cap; // create wheel bodies osgHandle.color= Color(0.8,0.8,0.8); for (int i=1; i<5; i++) { // create sphere with radius // and initializ it with odehandle, osghandle and mass // calculate position of wheels(must be at desired positions relative to the body) // rotate and place body (here by 90° around the x-axis) // set texture for wheels Sphere* sph = new Sphere(radius); sph->init(odeHandle, wmass, osgHandle); Vec3 wpos = Vec3( ((i-1)/2==0?-1:1)*length/2.0, ((i-1)%2==0?-1:1)*(width*0.5+wheelthickness), -width*0.6+radius ); sph->setPose(Matrix::rotate(M_PI/2, 0, 0, 1) * Matrix::translate(wpos) * pose); sph->getOSGPrimitive()->setTexture("Images/wood.rgb"); object[i]=sph; } // generate 4 joints to connect the wheels to the body for (int i=0; i<4; i++) { Pos anchor(dBodyGetPosition (object[i+1]->getBody())); joint[i] = new Hinge2Joint(object[0], object[i+1], anchor, Axis(0,0,1)*pose, Axis(0,1,0)*pose); joint[i]->init(odeHandle, osgHandle, true, 2.01 * radius); } for (int i=0; i<4; i++) { // set stops to make sure wheels always stay in alignment joint[i]->setParam(dParamLoStop, 0); joint[i]->setParam(dParamHiStop, 0); } created=true; // robot is created }; /** destroys vehicle and space */ void Nimm4::destroy(){ if (created){ for (int i=0; i<segmentsno; i++){ if(object[i]) delete object[i]; // destroy bodies and geoms } for (int i=0; i<4; i++){ if(joint[i]) delete joint[i]; // destroy bodies and geoms } dSpaceDestroy(odeHandle.space); // destroy space } created=false; // robot does not exist (anymore) } }