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# nimm4.cpp

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: nimm4.cpp,v $
    00023  *   Revision 1.7.4.14  2006/04/04 17:03:21  fhesse
    00024  *   docu added
    00025  *
    00026  *   Revision 1.7.4.13  2006/04/04 14:13:24  fhesse
    00027  *   documentation improved
    00028  *
    00029  *   Revision 1.7.4.12  2006/03/31 11:11:38  fhesse
    00030  *   minor changes in docu
    00031  *
    00032  *   Revision 1.7.4.11  2006/02/01 18:33:40  martius
    00033  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00034  *
    00035  *   Revision 1.7.4.10  2005/12/29 16:47:40  martius
    00036  *   joint has getPosition
    00037  *
    00038  *   Revision 1.7.4.9  2005/12/15 17:04:08  martius
    00039  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00040  *   they aggregate them.
    00041  *   Joint have better getter and setter
    00042  *
    00043  *   Revision 1.7.4.8  2005/12/14 15:37:09  martius
    00044  *   robots are working with osg
    00045  *
    00046  *   Revision 1.7.4.7  2005/12/13 18:11:39  martius
    00047  *   still trying to port robots
    00048  *
    00049  *   Revision 1.7.4.6  2005/12/13 12:32:09  martius
    00050  *   nonvisual joints
    00051  *
    00052  *   Revision 1.7.4.5  2005/12/12 23:41:30  martius
    00053  *   added Joint wrapper
    00054  *
    00055  *   Revision 1.7.4.4  2005/12/11 23:35:08  martius
    00056  *   *** empty log message ***
    00057  *
    00058  *   Revision 1.7.4.3  2005/12/06 10:13:25  martius
    00059  *   openscenegraph integration started
    00060  *
    00061  *   Revision 1.7.4.2  2005/11/15 12:29:26  martius
    00062  *   new selforg structure and OdeAgent, OdeRobot ...
    00063  *
    00064  *   Revision 1.7.4.1  2005/11/14 17:37:17  martius
    00065  *   moved to selforg
    00066  *
    00067  *   Revision 1.7  2005/11/09 13:24:42  martius
    00068  *   added GPL
    00069  *
    00070  ***************************************************************************/
    00071 #include <assert.h>
    00072 #include <ode/ode.h>
    00073
    00074 // include primitives (box, spheres, cylinders ...)
    00075 #include "primitive.h"
    00076
    00077 // include joints
    00078 #include "joint.h"
    00079
    00080 // include header file
    00081 #include "nimm4.h"
    00082
    00083 using namespace osg;
    00084
    00085 namespace lpzrobots {
    00086
    00087   // constructor:
    00088   // - give handle for ODE and OSG stuff
    00089   // - size of robot, maximal used force and speed factor are adjustable
    00090   // - sphereWheels switches between spheres or wheels as wheels
    00091   //   (wheels are only drawn, collision handling is always with spheres)
    00092   Nimm4::Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00093                double size/*=1.0*/, double force /*=3*/, double speed/*=15*/,
    00094                bool sphereWheels /*=true*/)
    00095     : // calling OdeRobots construtor with name of the actual robot
    00096       OdeRobot(odeHandle, osgHandle, "Nimm4")
    00097   {
    00098
    00099     // robot is not created till now
    00100     created=false;
    00101
    00102     // choose color (here the color of the "Nimm Zwei" candy is used,
    00103     // where the name of the Nimm2 and Nimm4 robots comes from ;-)
    00104     this->osgHandle.color = Color(2, 156/255.0, 0, 1.0f);
    00105
    00106     // maximal used force is calculated from the force factor and size given to the constructor
    00107     max_force   = force*size*size;
    00108
    00109     // speed and type of wheels are set
    00110     this->speed = speed;
    00111     this->sphereWheels = sphereWheels;
    00112
    00113
    00114     height=size;
    00115
    00116     length=size/2.5; // length of body
    00117     width=size/2;  // radius of body
    00118     radius=size/6; // wheel radius
    00119     wheelthickness=size/20; // thickness of the wheels (if wheels used, no spheres)
    00120     cmass=8*size;  // mass of the body
    00121     wmass=size;    // mass of the wheels
    00122     sensorno=4;    // number of sensors
    00123     motorno=4;     // number of motors
    00124     segmentsno=5;  // number of segments of the robot
    00125   };
    00126
    00127
    00128   /** sets actual motorcommands
    00129       @param motors motors scaled to [-1,1]
    00130       @param motornumber length of the motor array
    00131   */
    00132   void Nimm4::setMotors(const motor* motors, int motornumber){
    00133     assert(created); // robot must exist
    00134     // the number of controlled motors is minimum of
    00135     // "number of motorcommands" (motornumber) and
    00136     // "number of motors inside the robot" (motorno)
    00137     int len = (motornumber < motorno)? motornumber : motorno;
    00138
    00139     // for each motor the motorcommand (between -1 and 1) multiplied with speed
    00140     // is set and the maximal force to realize this command are set
    00141     for (int i=0; i<len; i++){
    00142       joint[i]->setParam(dParamVel2, motors[i]*speed);
    00143       joint[i]->setParam(dParamFMax2, max_force);
    00144     }
    00145
    00146     // another possibility is to set half of the difference between last set speed
    00147     // and the actual desired speed as new speed; max_force is also set
    00148     /*
    00149       double tmp;
    00150       int len = (motornumber < motorno)? motornumber : motorno;
    00151       for (int i=0; i<len; i++){
    00152       tmp=dJointGetHinge2Param(joint[i],dParamVel2);
    00153       dJointSetHinge2Param(joint[i],dParamVel2,tmp + 0.5*(motors[i]*speed-tmp) );
    00154       dJointSetHinge2Param (joint[i],dParamFMax2,max_force);
    00155       }
    00156     */
    00157   };
    00158
    00159   /** returns actual sensorvalues
    00160       @param sensors sensors scaled to [-1,1] (more or less)
    00161       @param sensornumber length of the sensor array
    00162       @return number of actually written sensors
    00163   */
    00164   int Nimm4::getSensors(sensor* sensors, int sensornumber){
    00165     assert(created); // robot must exist
    00166
    00167     // the number of sensors to read is the minimum of
    00168     // "number of sensors requested" (sensornumber) and
    00169     // "number of sensors inside the robot" (sensorno)
    00170     int len = (sensornumber < sensorno)? sensornumber : sensorno;
    00171
    00172     // for each sensor the anglerate of the joint is red and scaled with 1/speed
    00173     for (int i=0; i<len; i++){
    00174       sensors[i]=joint[i]->getPosition2Rate();
    00175       sensors[i]/=speed;  //scaling
    00176     }
    00177     // the number of red sensors is returned
    00178     return len;
    00179   };
    00180
    00181
    00182   void Nimm4::place(const Matrix& pose){
    00183     // the position of the robot is the center of the body (without wheels)
    00184     // to set the vehicle on the ground when the z component of the position is 0
    00185     // width*0.6 is added (without this the wheels and half of the robot will be in the ground)
    00186     Matrix p2;
    00187     p2 = pose * Matrix::translate(Vec3(0, 0, width*0.6));
    00188     create(p2);
    00189   };
    00190
    00191
    00192   /**
    00193    * updates the osg notes
    00194    */
    00195   void Nimm4::update(){
    00196     assert(created); // robot must exist
    00197
    00198     for (int i=0; i<segmentsno; i++) { // update objects
    00199       object[i]->update();
    00200     }
    00201     for (int i=0; i < 4; i++) { // update joints
    00202       joint[i]->update();
    00203     }
    00204
    00205   };
    00206
    00207   /** things for collision handling inside the space of the robot can be done here
    00208    */
    00209   void Nimm4::mycallback(void *data, dGeomID o1, dGeomID o2){
    00210     // do collisions handling for collisions between parts inside the space of the robot here
    00211     // this has no meaning for this robot, because collsions between wheels and body are ignored
    00212     // but if parts of the robot can move against each other this is important
    00213
    00214     // the follwing (not active) code part can be used to check if objects which had collisions
    00215     // are inside the list of objects of the robot
    00216     /*  Nimm4* me = (Nimm4*)data;
    00217         if(isGeomInObjectList(me->object, me->segmentsno, o1)
    00218         && isGeomInObjectList(me->object, me->segmentsno, o2)){
    00219         return;
    00220         }
    00221     */
    00222   }
    00223
    00224   /** this function is called in each timestep. It should perform robot-internal checks,
    00225       like space-internal collision detection, sensor resets/update etc.
    00226       @param GlobalData structure that contains global data from the simulation environment
    00227   */
    00228   void Nimm4::doInternalStuff(const GlobalData& global){}
    00229
    00230   /** checks for internal collisions and treats them.
    00231    *  In case of a treatment return true (collision will be ignored by other objects
    00232    *  and the default routine)  else false (collision is passed to other objects and
    00233    *  (if not treated) to the default routine).
    00234    */
    00235   bool Nimm4::collisionCallback(void *data, dGeomID o1, dGeomID o2){
    00236     assert(created); // robot must exist
    00237
    00238     // checks if one of the collision objects is part of thee space the robot is in
    00239     // and therefore part of the robot
    00240     if( o1 == (dGeomID)odeHandle.space || o2 == (dGeomID)odeHandle.space){
    00241       // if the space is involved check for collisions between parts inside the space
    00242       // this has no meaning here, because collsions between wheels and body are ignored
    00243       // but if parts of the robot can move against each other this is important
    00244       dSpaceCollide(odeHandle.space, this, mycallback);
    00245
    00246       bool colwithme;   // for collision with some part of the vehicle
    00247       bool colwithbody; // for collision with the (main) body
    00248       int i,n;
    00249       const int N = 10;
    00250       dContact contact[N];
    00251       // extract collision points between the two objects that intersect
    00252       n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
    00253       // for each collision point
    00254       for (i=0; i<n; i++){
    00255         // collisions set to false
    00256         colwithbody = false;
    00257         colwithme = false;
    00258         // if there is a collision with the body both bools have to be set to true
    00259         if( contact[i].geom.g1 == object[0]->getGeom() || contact[i].geom.g2 == object[0]->getGeom()){
    00260           colwithbody = true;
    00261           colwithme = true;
    00262         }
    00263         // if there is a collision with one of the wheels only colwithme has to be set true
    00264         if( isGeomInPrimitiveList(object+1, segmentsno-1, contact[i].geom.g1) ||
    00265             isGeomInPrimitiveList(object+1, segmentsno-1, contact[i].geom.g2)){
    00266           colwithme = true;
    00267         }
    00268         if( colwithme){ // if collision set the contact parameters
    00269           contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
    00270             dContactSoftERP | dContactSoftCFM | dContactApprox1;
    00271           contact[i].surface.slip1 = 0.005;
    00272           contact[i].surface.slip2 = 0.005;
    00273           if(colwithbody){ // if collision with body set small friction
    00274             contact[i].surface.mu = 0.1; // small friction of smooth body
    00275             contact[i].surface.soft_erp = 0.5;
    00276             contact[i].surface.soft_cfm = 0.001;
    00277           }else{  // if collision with the wheels set large friction to give wheels grip on the ground
    00278             contact[i].surface.mu = 1.1; //large friction
    00279             contact[i].surface.soft_erp = 0.9;
    00280             contact[i].surface.soft_cfm = 0.001;
    00281           }
    00282           // create a joint in the world with the properties set above
    00283           // (the joint must be put in group "contactgroup", which is deleted
    00284           // after each simulation step, see ode documentation)
    00285           dJointID c = dJointCreateContact( odeHandle.world, odeHandle.jointGroup, &contact[i]);
    00286           // attach the intersecting objects to the joint
    00287           dJointAttach ( c , dGeomGetBody(contact[i].geom.g1) , dGeomGetBody(contact[i].geom.g2)) ;
    00288         }
    00289       }
    00290       //if collision handled return true
    00291       return true;
    00292     }
    00293     //if collision not handled return false
    00294     return false;
    00295   }
    00296
    00297
    00298   /** creates vehicle at desired position
    00299       @param pos struct Position with desired position
    00300   */
    00301   void Nimm4::create( const Matrix& pose ){
    00302     if (created) {  // if robot exists destroy it
    00303       destroy();
    00304     }
    00305     // create car space and add it to the top level space
    00306     odeHandle.space = dSimpleSpaceCreate (parentspace);
    00307
    00308     // create cylinder for main body
    00309     // initialize it with ode-, osghandle and mass
    00310     // rotate and place body (here by 90° around the y-axis)
    00311     // use texture 'wood' for capsule
    00312     // put it into object[0]
    00313     Capsule* cap = new Capsule(width/2, length);
    00314     cap->init(odeHandle, cmass, osgHandle);
    00315     cap->setPose(Matrix::rotate(M_PI/2, 0, 1, 0) * pose);
    00316     cap->getOSGPrimitive()->setTexture("Images/wood.rgb");
    00317     object[0]=cap;
    00318
    00319     // create wheel bodies
    00320     osgHandle.color= Color(0.8,0.8,0.8);
    00321     for (int i=1; i<5; i++) {
    00322       // create sphere with radius
    00323       // and initializ it with odehandle, osghandle and mass
    00324       // calculate position of wheels(must be at desired positions relative to the body)
    00325       // rotate and place body (here by 90° around the x-axis)
    00326       // set texture for wheels
    00327       Sphere* sph = new Sphere(radius);
    00328       sph->init(odeHandle, wmass, osgHandle);
    00329       Vec3 wpos = Vec3( ((i-1)/2==0?-1:1)*length/2.0,
    00330                         ((i-1)%2==0?-1:1)*(width*0.5+wheelthickness),
    00331                         -width*0.6+radius );
    00332       sph->setPose(Matrix::rotate(M_PI/2, 0, 0, 1) * Matrix::translate(wpos) * pose);
    00333       sph->getOSGPrimitive()->setTexture("Images/wood.rgb");
    00334       object[i]=sph;
    00335     }
    00336
    00337     // generate 4 joints to connect the wheels to the body
    00338     for (int i=0; i<4; i++) {
    00339       Pos anchor(dBodyGetPosition (object[i+1]->getBody()));
    00340       joint[i] = new Hinge2Joint(object[0], object[i+1], anchor, Axis(0,0,1)*pose, Axis(0,1,0)*pose);
    00341       joint[i]->init(odeHandle, osgHandle, true, 2.01 * radius);
    00342     }
    00343     for (int i=0; i<4; i++) {
    00344       // set stops to make sure wheels always stay in alignment
    00345       joint[i]->setParam(dParamLoStop, 0);
    00346       joint[i]->setParam(dParamHiStop, 0);
    00347     }
    00348
    00349     created=true; // robot is created
    00350   };
    00351
    00352
    00353   /** destroys vehicle and space
    00354    */
    00355   void Nimm4::destroy(){
    00356     if (created){
    00357       for (int i=0; i<segmentsno; i++){
    00358         if(object[i]) delete object[i]; // destroy bodies and geoms
    00359       }
    00360       for (int i=0; i<4; i++){
    00361         if(joint[i]) delete joint[i]; // destroy bodies and geoms
    00362       }
    00363       dSpaceDestroy(odeHandle.space); // destroy space
    00364     }
    00365     created=false; // robot does not exist (anymore)
    00366   }
    00367
    00368 }