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base: Robotics:a6e60b05317414ecad67d2aa6786250a6dbaf874
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compare: Robotics:d0bee4a37a4dcd975ed6dc3425eb0712bfd92f78
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Robotics:main

No commits in common. 'a6e60b05317414ecad67d2aa6786250a6dbaf874' and 'd0bee4a37a4dcd975ed6dc3425eb0712bfd92f78' have entirely different histories.
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8 changed files with 18 additions and 104 deletions
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  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
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@ -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

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Content/Blueprints/BP_Puma.uasset
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Content/Blueprints/BP_Robot.uasset
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Content/Levels/Main.umap
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13
Source/PBDRobotics/Link.cpp
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@ -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;
} }
@ -62,12 +62,19 @@ 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;

10
Source/PBDRobotics/Link.h
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@ -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
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@ -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
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@ -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:

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