Robotics
/
PBD-Robotics
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Compare commits

base: Robotics:a6e60b05317414ecad67d2aa6786250a6dbaf874
Branches Tags
Robotics:main
..
compare: Robotics:d0bee4a37a4dcd975ed6dc3425eb0712bfd92f78
Branches Tags
Robotics:main

No commits in common. 'a6e60b05317414ecad67d2aa6786250a6dbaf874' and 'd0bee4a37a4dcd975ed6dc3425eb0712bfd92f78' have entirely different histories.
a6e60b0531 ... d0bee4a37a

8 changed files with 18 additions and 104 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats
  1. 86
      Config/DefaultInput.ini
  2. BIN
      Content/Blueprints/BP_Puma.uasset
  3. BIN
      Content/Blueprints/BP_Robot.uasset
  4. BIN
      Content/Levels/Main.umap
  5. 13
      Source/PBDRobotics/Link.cpp
  6. 10
      Source/PBDRobotics/Link.h
  7. 10
      Source/PBDRobotics/Robot.cpp
  8. 3
      Source/PBDRobotics/Robot.h

86
Config/DefaultInput.ini
Unescape View File

@ -1,86 +0,0 @@
[/Script/Engine.InputSettings]
-AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
-AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
-AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
-AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
-AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
-AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
-AxisConfig=(AxisKeyName="Mouse2D",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
+AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Mouse2D",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MouseWheelAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_LeftTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_RightTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_Special_Left_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_Special_Left_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Daydream_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Daydream_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Daydream_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Daydream_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Vive_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Vive_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Vive_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Vive_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Vive_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Vive_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="MixedReality_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Left_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Right_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="OculusTouch_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Grip_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Touch",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Grip_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
bAltEnterTogglesFullscreen=True
bF11TogglesFullscreen=True
bUseMouseForTouch=False
bEnableMouseSmoothing=True
bEnableFOVScaling=True
bCaptureMouseOnLaunch=True
bAlwaysShowTouchInterface=False
bShowConsoleOnFourFingerTap=True
bEnableGestureRecognizer=False
bUseAutocorrect=False
DefaultViewportMouseCaptureMode=CapturePermanently_IncludingInitialMouseDown
DefaultViewportMouseLockMode=LockOnCapture
FOVScale=0.011110
DoubleClickTime=0.200000
+ActionMappings=(ActionName="ToggleGravity",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=G)
DefaultPlayerInputClass=/Script/Engine.PlayerInput
DefaultInputComponentClass=/Script/Engine.InputComponent
DefaultTouchInterface=/Engine/MobileResources/HUD/DefaultVirtualJoysticks.DefaultVirtualJoysticks
-ConsoleKeys=Tilde
+ConsoleKeys=Tilde

BIN
Content/Blueprints/BP_Puma.uasset
View File

Binary file not shown.

BIN
Content/Blueprints/BP_Robot.uasset
View File

Binary file not shown.

BIN
Content/Levels/Main.umap
View File

Binary file not shown.

13
Source/PBDRobotics/Link.cpp
Unescape View File

@ -16,12 +16,12 @@ Matrix3d ULink::GetInertia() const {
return R * Inertia_Tensor_Local * R.transpose(); return R * Inertia_Tensor_Local * R.transpose();
} }
double ULink::GetPositionalInverseMass(const Vector3d& R, const Vector3d& N) const{ double ULink::GetPositionalInverseMass(const Vector3d R, const Vector3d N) const{
const double M = Mass; const double M = Mass;
const Matrix3d I = GetInertia(); const Matrix3d I = GetInertia();
return 1 / M + R.cross(N).transpose() * I.inverse() * R.cross(N); return 1 / M + R.cross(N).transpose() * I.inverse() * R.cross(N);
} }
double ULink::GetRotationalInverseMass(const Vector3d& N) const{ double ULink::GetRotationalInverseMass(const Vector3d N) const{
const Matrix3d I = GetInertia(); const Matrix3d I = GetInertia();
return N.transpose() * I.inverse() * N; return N.transpose() * I.inverse() * N;
} }
@ -62,13 +62,20 @@ void ULink::SetupJoints() const {
} }
} }
void ULink::Update(const double H, const Vector3d& ExtTransForce, const Vector3d& ExtRotForce){ void ULink::Update(const double H){
// Translation // Translation
Vector3d ExtTransForce = Vector3d(0, 0, -9.81 * 100) * Mass * 1;
if (IsBase)
ExtTransForce = Vector3d::Zero();
Last_Position = Position; Last_Position = Position;
Velocity += H * ExtTransForce / Mass; Velocity += H * ExtTransForce / Mass;
Position += H * Velocity; Position += H * Velocity;
// Rotation
const Vector3d ExtRotForce = Vector3d::Zero();
Last_Orientation = Orientation; Last_Orientation = Orientation;
Vector3d w = AngularVelocity; Vector3d w = AngularVelocity;
AngularVelocity += H * GetInertia().inverse() * (ExtRotForce - w.cross(GetInertia() * w)); AngularVelocity += H * GetInertia().inverse() * (ExtRotForce - w.cross(GetInertia() * w));

10
Source/PBDRobotics/Link.h
Unescape View File

@ -36,24 +36,24 @@ public:
UPROPERTY(EditAnywhere, BlueprintReadWrite) UPROPERTY(EditAnywhere, BlueprintReadWrite)
UJoint* NextJoint; UJoint* NextJoint;
void Update(const double H, const Vector3d& ExtTransForce, const Vector3d& ExtRotForce); void Update(const double H);
void Integrate(const double H); void Integrate(const double H);
void UpdateInternalTransform(); void UpdateInternalTransform();
// Inertia tensor in world space // Inertia tensor in world space
Matrix3d GetInertia() const; Matrix3d GetInertia() const;
double GetPositionalInverseMass(const Vector3d& R, const Vector3d& N) const; double GetPositionalInverseMass(const Vector3d R, const Vector3d N) const;
double GetRotationalInverseMass(const Vector3d& N) const; double GetRotationalInverseMass(const Vector3d N) const;
void Setup(); void Setup();
UPROPERTY(EditAnywhere) UPROPERTY(EditAnywhere)
bool IsEffector = false; bool IsEffector = false;
private:
UPROPERTY(EditAnywhere) UPROPERTY(EditAnywhere)
bool IsBase = false; bool IsBase = false;
private:
Matrix3d Inertia_Tensor_Local; Matrix3d Inertia_Tensor_Local;
void SetupJoints() const; void SetupJoints() const;

10
Source/PBDRobotics/Robot.cpp
Unescape View File

@ -41,16 +41,12 @@ void ARobot::Connect(ULink* L1, ULink* L2){
void ARobot::Tick(const float DeltaTime){ void ARobot::Tick(const float DeltaTime){
Super::Tick(DeltaTime); Super::Tick(DeltaTime);
constexpr int SubSteps = 50; constexpr int SubSteps = 50;
const double h = DeltaTime / SubSteps; const double h = DeltaTime / SubSteps;
for (int i = 0; i < SubSteps; i++){ for (int i = 0; i < SubSteps; i++){
for (auto* Link : Links){ for (auto* Link : Links)
Vector3d Gravity = Vector3d::Zero(); Link->Update(h);
if (HasGravity && !Link->IsBase)
Gravity = Vector3d(0, 0, -9.81 * 100) * Link->Mass;
const Vector3d RotForce = Vector3d::Zero();
Link->Update(h, Gravity, RotForce);
}
for (const auto* Joint : Joints) for (const auto* Joint : Joints)
Joint->SolvePosition(h); Joint->SolvePosition(h);
for (auto* Link : Links) for (auto* Link : Links)

3
Source/PBDRobotics/Robot.h
Unescape View File

@ -26,9 +26,6 @@ protected:
UFUNCTION(BlueprintCallable) UFUNCTION(BlueprintCallable)
void Connect(ULink* L1, ULink* L2); void Connect(ULink* L1, ULink* L2);
UPROPERTY(BlueprintReadWrite)
bool HasGravity = false;
private: private:
void ResetPositionAndOrientation(); void ResetPositionAndOrientation();
public: public:

Write Preview
Loading…
Cancel
Save