server/UtDynamicsSimulator/World.cpp

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * The University of Tokyo
 * National Institute of Advanced Industrial Science and Technology (AIST)
 * General Robotix Inc. 
 */
#include <string>

#include "World.h"
#include "psim.h"
#include "Sensor.h"

static const double DEFAULT_GRAVITY_ACCELERATION = 9.80665;

static const bool debugMode = false;

#include <fstream>
//static std::ofstream logfile("world.log");
static std::ofstream logfile;

#include <sdcontact.h>

#if 0
bool World::LinkPairKey::operator<(const LinkPairKey& pair2) const
{
        if((body1 == pair2.body1 && body2 == pair2.body2) ||
           (body2 == pair2.body1 && body1 == pair2.body2 )){
                if(link1 < link2){
                        if(pair2.link1 < pair2.link2){
                                return (link1 < pair2.link1) ? true : (link2 < pair2.link2);
                        } else {
                                return (link1 < pair2.link2) ? true : (link2 < pair2.link1);
                        }
                } else {
                        if(pair2.link1 < pair2.link2){
                                return (link2 < pair2.link1) ? true : (link1 < pair2.link2);
                        } else {
                                return (link2 < pair2.link2) ? true : (link1 < pair2.link1);
                        }
                }
        } else {
                if(body1 < body2){
                        if(pair2.body1 < pair2.body2){
                                return (body1 < pair2.body1) ? true : (body2 < pair2.body2);
                        } else {
                                return (body1 < pair2.body2) ? true : (body2 < pair2.body1);
                        }
                } else {
                        if(pair2.body1 < pair2.body2){
                                return (body2 < pair2.body1) ? true : (body1 < pair2.body2);
                        } else {
                                return (body2 < pair2.body2) ? true : (body1 < pair2.body1);
                        }
                }
        }
}
#endif

World::World(): g(0.0, 0.0, DEFAULT_GRAVITY_ACCELERATION)
{
    currentTime_ = 0.0;
    timeStep_ = 0.005;

    isEulerMethod = false;
        sensorsAreEnabled = false;
        numRegisteredLinkPairs = 0;

        chain = new pSim;
}


World::~World()
{
        if(chain) delete chain;
        int n_sensors = sensors.size();
        for(int i=0; i<n_sensors; i++)
        {
                Sensor::destroy(sensors[i]);
        }
        sensors.clear();
        int n_pairs = contact_pairs.size();
        for(int i=0; i<n_pairs; i++)
        {
                delete contact_pairs[i];
        }
        contact_pairs.clear();
}


void World::setTimeStep(double ts)
{
    timeStep_ = ts;
}


void World::setCurrentTime(double time)
{
    currentTime_ = time;
}


void World::setGravityAcceleration(const fVec3& _g)
{
    g.set(_g);
        if(chain->Root())
                chain->Root()->loc_lin_acc.set(_g);
}


void World::enableSensors(bool on)
{
        sensorsAreEnabled = on;
}


void World::initialize()
{
//      logfile << "initialize" << endl;
        chain->Schedule();
        chain->CalcPosition();
        chain->CalcVelocity();
//      logfile << "initialize end" << endl;
#if 0
        if(isEulerMethod){
                pForwardDynamics->setEulerMethod();
        } else {
                pForwardDynamics->setRungeKuttaMethod();
        }
        pForwardDynamics->setGravityAcceleration(g);
        pForwardDynamics->setTimeStep(timeStep_);
        pForwardDynamics->enableSensors(sensorsAreEnabled);
        pForwardDynamics->initialize();
#endif
}


void World::calcNextState(OpenHRP::CollisionSequence& corbaCollisionSequence)
{
        if(debugMode){
                cout << "World current time = " << currentTime_ << endl;
        }
//      logfile << "calcNextState" << endl;
        // corbaCollisionSequence->contact_pairs
        int n_pair = contact_pairs.size();
        for(int i=0; i<n_pair; i++)
        {
                contact_pairs[i]->Clear();
                OpenHRP::Collision& col = corbaCollisionSequence[i];
                int n_point = col.points.length();
                if(n_point == 0) continue;
                Joint* joint0 = contact_pairs[i]->GetJoint(0);
                static fVec3 pos0, norm0, pos, norm;
                for(int j=0; j<n_point; j++)
                {
                        OpenHRP::CollisionPoint& point = col.points[j];
                        // inertia frame -> joint0 frame
                        pos0(0) = point.position[0];
                        pos0(1) = point.position[1];
                        pos0(2) = point.position[2];
                        norm0(0) = point.normal[0];
                        norm0(1) = point.normal[1];
                        norm0(2) = point.normal[2];
                        pos0 -= joint0->abs_pos;
                        pos.mul(pos0, joint0->abs_att);
                        norm.mul(norm0, joint0->abs_att);
                        contact_pairs[i]->AddPoint(pos.data(), norm.data(), point.idepth);
                }
        }
        //
        if(isEulerMethod)
        {
                chain->Update(timeStep_, contact_pairs);
                chain->Integrate(timeStep_);
                chain->CalcPosition();
                chain->CalcVelocity();
        }
        else
        {
                chain->Update(timeStep_, contact_pairs);
                chain->IntegrateRK4(timeStep_, 0);
                chain->CalcPosition();
                chain->CalcVelocity();

                chain->Update();
                chain->IntegrateRK4(timeStep_, 1);
                chain->CalcPosition();
                chain->CalcVelocity();

                chain->Update();
                chain->IntegrateRK4(timeStep_, 2);
                chain->CalcPosition();
                chain->CalcVelocity();

                chain->Update();
                chain->IntegrateRK4(timeStep_, 3);
                chain->CalcPosition();
                chain->CalcVelocity();
        }
        // update sensors
        logfile << "update sensors ->" << endl;
        int n;
        n = numSensors();
        for(int i=0; i<n; i++)
        {
                if(sensors[i]->type == Sensor::FORCE)
                {
                        ForceSensor* fs = (ForceSensor*)sensors[i];
                        update_force_sensor(fs);
                }
                else if(sensors[i]->type == Sensor::RATE_GYRO)
                {
                        RateGyroSensor* rgs = (RateGyroSensor*)sensors[i];
                        update_rate_gyro_sensor(rgs);
                }
                else if(sensors[i]->type == Sensor::ACCELERATION)
                {
                        AccelSensor* as = (AccelSensor*)sensors[i];
                        update_accel_sensor(as);
                }
                else
                {
                }
        }
        logfile << "<- update sensors" << endl;
    currentTime_ += timeStep_;
}

void World::update_force_sensor(ForceSensor* fs)
{
        logfile << "force sensor: " << fs->name << endl;
        logfile << "joint = " << fs->joint->name << endl;
        logfile << "f = " << fs->joint->joint_f << endl;
        logfile << "n = " << fs->joint->joint_n << endl;
        logfile << "localR =  " << fs->localR << endl;
        logfile << "localPos = " << fs->localPos << endl;
        fVec3 local_f, local_n, n;
        local_f.mul(fs->joint->joint_f, fs->localR);
        n.cross(fs->joint->joint_f, fs->localPos);
        n += fs->joint->joint_n;
        local_n.mul(n, fs->localR);
        fs->f.neg(local_f);
        fs->tau.neg(local_n);
}

void World::update_rate_gyro_sensor(RateGyroSensor* rgs)
{
        rgs->w.mul(rgs->joint->loc_ang_vel, rgs->localR);
}

void World::update_accel_sensor(AccelSensor* as)
{
        chain->CalcAcceleration();
        fVec3 acc_j, tmp1;
        tmp1.cross(as->joint->loc_ang_vel, as->localPos);
        acc_j.cross(as->joint->loc_ang_vel, tmp1);
        tmp1.cross(as->joint->loc_ang_acc, as->localPos);
        acc_j += tmp1;
        acc_j += as->joint->loc_lin_acc;
        as->dv.mul(acc_j, as->localR);
}

void World::setEulerMethod()
{
    isEulerMethod = true;
}


void World::setRungeKuttaMethod()
{
    isEulerMethod = false;
}


#if 0
std::pair<int,bool> World::getIndexOfLinkPairs(BodyPtr body1, Link* link1, BodyPtr body2, Link* link2)
{
        int index = -1;
        int isRegistered = false;

    if(link1 != link2){

                LinkPairKey linkPair;
                linkPair.body1 = body1;
                linkPair.link1 = link1;
                linkPair.body2 = body2;
                linkPair.link2 = link2;

                LinkPairKeyToIndexMap::iterator p = linkPairKeyToIndexMap.find(linkPair);

                if(p != linkPairKeyToIndexMap.end()){
                        index = p->second;
                        isRegistered = true;
                } else {
                        index = numRegisteredLinkPairs++;
                        linkPairKeyToIndexMap[linkPair] = index;
                }
        }

        return std::make_pair(index, isRegistered);
}
#endif

int World::addSensor(Joint* _joint, int sensorType, int _id, const std::string _name, const fVec3& _localPos, const fMat33& _localR)
{
        Sensor* sensor = Sensor::create(sensorType);
        sensor->joint = _joint;
        sensor->id = _id;
        sensor->name = _name;
        sensor->localPos.set(_localPos);
        sensor->localR.set(_localR);
        sensors.push_back(sensor);
        return 0;
}


Sensor* World::findSensor(const char* sensorName, const char* charName)
{
        int n_sensors = sensors.size();
        for(int i=0; i<n_sensors; i++)
        {
                if(!strcmp(sensors[i]->name.c_str(), sensorName) && sensors[i]->joint &&
                   !strcmp(sensors[i]->joint->CharName(), charName))
                {
                        return sensors[i];
                }
        }
        return 0;
}

int World::numSensors(int sensorType, const char* charName)
{
        int count = 0;
        int n_sensors = sensors.size();
        for(int i=0; i<n_sensors; i++)
        {
                if(sensors[i]->type == sensorType &&
                   (!charName || !strcmp(sensors[i]->joint->CharName(), charName)))
                {
                        count++;
                }
        }
        return count;
}

void World::getAllCharacterData(const char* name, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out& rdata)
{
        int index = -1, nchar = characters.size();
        for(int i=0; i<nchar; i++)
        {
                if(!strcmp(name, characters[i].name.c_str()))
                {
                        index = i;
                        break;
                }
        }
        if(index < 0) return;
        CharacterInfo& cinfo = characters[index];
        int n_joints = cinfo.n_joints, n_links = cinfo.links.size();
        rdata->length(n_joints);
        for(int i=0; i<n_links; i++)
        {
                if(cinfo.jointIDs[i] >= 0)
                {
                        _get_all_character_data_sub(cinfo.links[i], cinfo.jointIDs[i], type, rdata);
                }
        }
}

void World::_get_all_character_data_sub(Joint* cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out& rdata)
{
        if(cur->j_type == ::JROTATE || cur->j_type == ::JSLIDE)
        {
                switch(type) {
                case OpenHRP::DynamicsSimulator::JOINT_VALUE:
                        (*rdata)[index] = cur->q;
                        break;

                case OpenHRP::DynamicsSimulator::JOINT_VELOCITY:
                        (*rdata)[index] = cur->qd;
                        break;

                case OpenHRP::DynamicsSimulator::JOINT_ACCELERATION:
                        (*rdata)[index] = cur->qdd;
                        break;

                case OpenHRP::DynamicsSimulator::JOINT_TORQUE:
                        (*rdata)[index] = cur->tau;
                        break;

                default:
//                      cerr << "ERROR - Invalid type: " << getLabelOfGetLinkDataType(type) << endl;
                        break;
                }
        }
}

void World::setAllCharacterData(const char* name, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence& wdata)
{
        int index = -1, nchar = characters.size();
        for(int i=0; i<nchar; i++)
        {
                if(!strcmp(name, characters[i].name.c_str()))
                {
                        index = i;
                        break;
                }
        }
        if(index < 0) return;
        CharacterInfo& cinfo = characters[index];
        int n_links = cinfo.links.size();
        for(int i=0; i<n_links; i++)
        {
                if(cinfo.jointIDs[i] >= 0)
                {
                        _set_all_character_data_sub(cinfo.links[i], cinfo.jointIDs[i], type, wdata);
                }
        }
}

void World::_set_all_character_data_sub(Joint* cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence& wdata)
{
        if(index < (int)wdata.length() &&
           (cur->j_type == ::JROTATE || cur->j_type == ::JSLIDE))
        {
//              logfile << "set[" << index << "]: " << cur->name << ": " << wdata[index] << endl;
                switch(type) {
                case OpenHRP::DynamicsSimulator::JOINT_VALUE:
                        cur->SetJointValue(wdata[index]);
                        break;

                case OpenHRP::DynamicsSimulator::JOINT_VELOCITY:
                        cur->SetJointVel(wdata[index]);
                        break;

                case OpenHRP::DynamicsSimulator::JOINT_ACCELERATION:
                        cur->SetJointAcc(wdata[index]);
                        break;

                case OpenHRP::DynamicsSimulator::JOINT_TORQUE:
                        cur->SetJointForce(wdata[index]);
                        break;

                default:
//                      cerr << "ERROR - Invalid type: " << getLabelOfGetLinkDataType(type) << endl;
                        break;
                }
        }
}

static void vec3_to_array(const fVec3& vec, double* a, int offset = 0)
{
        a[offset++] = vec(0);
        a[offset++] = vec(1);
        a[offset] = vec(2);
}

static void mat33_to_array(const fMat33& mat, OpenHRP::DblArray9& a)
{
        a[0] = mat(0,0);  a[1] = mat(0,1);  a[2] = mat(0,2);
        a[3] = mat(1,0);  a[4] = mat(1,1);  a[5] = mat(1,2);
        a[6] = mat(2,0);  a[7] = mat(2,1);  a[8] = mat(2,2);
}

void World::getAllCharacterPositions(OpenHRP::CharacterPositionSequence& all_char_pos)
{
        int nchar = characters.size();
        for(int i=0; i<nchar; i++)
        {
                CharacterInfo& cinfo = characters[i];
                OpenHRP::CharacterPosition& char_pos = all_char_pos[i];
                int nlink = cinfo.links.size();
                for(int j=0; j<nlink; j++)
                {
                        OpenHRP::LinkPosition& link_pos = char_pos.linkPositions[j];
                        Joint* cur = cinfo.links[j];
//                      logfile << "[" << j << "] " << cur->name << ": " << cur->abs_pos << endl;
                        vec3_to_array(cur->abs_pos, link_pos.p);
                        mat33_to_array(cur->abs_att, link_pos.R);
                }
        }
}

void World::getAllSensorStates(OpenHRP::SensorStateSequence& all_sensor_states)
{
        int nchar = characters.size();
        for(int i=0; i<nchar; i++)
        {
                OpenHRP::SensorState& state = all_sensor_states[i];
                // joint angles and torques
                CharacterInfo& cinfo = characters[i];
                int n_links = cinfo.links.size();
                for(int j=0; j<n_links; j++)
                {
                        int index = cinfo.jointIDs[j];
                        if(index >= 0)
                        {
                                Joint* joint = cinfo.links[j];
                                if(joint->j_type == ::JROTATE || joint->j_type == ::JSLIDE){
                                        state.q[index] = joint->q;
                                        state.dq[index] = joint->qd;
                                        state.u[index] = joint->tau;
                                }
                        }
                }       
                // other sensors
                Joint* r = rootJoint(i);
                int n_sensors = sensors.size();
                for(int i=0; i<n_sensors; i++)
                {
                        if(strcmp(sensors[i]->joint->CharName(), r->CharName())) continue;
                        switch(sensors[i]->type)
                        {
                        case Sensor::FORCE:
                        {
                                ForceSensor* _fs = (ForceSensor*)sensors[i];
                                vec3_to_array(_fs->f, state.force[sensors[i]->id], 0);
                                vec3_to_array(_fs->tau, state.force[sensors[i]->id], 3);
                                break;
                        }

                        case Sensor::RATE_GYRO:
                        {
                                RateGyroSensor* _gs = (RateGyroSensor*)sensors[i];
                                vec3_to_array(_gs->w, state.rateGyro[sensors[i]->id]);
                                break;
                        }

                        case Sensor::ACCELERATION:
                        {
                                AccelSensor* _as = (AccelSensor*)sensors[i];
                                vec3_to_array(_as->dv, state.accel[sensors[i]->id]);
                                break;
                        }

                        default:
                                break;
                        }
                }
        }
}

#if 0
void World::_get_all_sensor_states_sub(Joint* cur, int& count, SensorState& state)
{
        if(!cur || cur->real) return;
        if(cur->j_type == ::JROTATE || cur->j_type == ::JSLIDE)
        {
                state.q[count] = cur->q;
                state.u[count] = cur->tau;
                count++;
        }
        _get_all_sensor_states_sub(cur->child, count, state);
        _get_all_sensor_states_sub(cur->brother, count, state);
}
#endif
void World::calcCharacterJacobian(
                const char* characterName,
                const char* baseLink,
                const char* targetLink,
                fMat& J)
{
        Joint* basej = chain->FindJoint(baseLink, characterName);
        if(!basej) return;
        Joint* targetj = chain->FindJoint(targetLink, characterName);
        if(!targetj) return;

        fMat tempJ(6, chain->NumDOF());
        tempJ.zero();
        targetj->CalcJacobian(tempJ);

        int n_dof = 0;
        for(Joint* j=targetj; j!=basej; j=j->parent)
        {
                n_dof += j->n_dof;
        }
        
        J.resize(6, n_dof);
        J.zero();
        int count = 0;
        for(Joint* j=targetj; j!=basej; j=j->parent)
        {
                for(int m=0; m<j->n_dof; m++)
                {
                        J(0, count+m) = tempJ(0, j->i_dof+m);
                        J(1, count+m) = tempJ(1, j->i_dof+m);
                        J(2, count+m) = tempJ(2, j->i_dof+m);
                        J(3, count+m) = tempJ(3, j->i_dof+m);
                        J(4, count+m) = tempJ(4, j->i_dof+m);
                        J(5, count+m) = tempJ(5, j->i_dof+m);
                }
                count += j->n_dof;
        }
}


void World::addCollisionCheckLinkPair(Joint* jnt1, Joint* jnt2, double staticFriction, double slipFriction, double epsilon)
{
        double default_spring = 1e5;
        double default_damper = 1e4;
        double default_slip_p = 2000.0;
        double default_slip_d = 700.0;
        double default_slip_func_coef_base = 0.1;
        SDContactPair* sd_pair = new SDContactPair(jnt1, jnt2, default_spring, default_damper, staticFriction, slipFriction, default_slip_p, default_slip_d, default_slip_func_coef_base);
        contact_pairs.push_back(sd_pair);
}

void World::addCharacter(Joint* rjoint, const std::string& name, OpenHRP::LinkInfoSequence_var links)
{
        CharacterInfo cinfo(rjoint, name);
        int n_links = links->length();
        for(int i=0; i<n_links; i++)
        {
                OpenHRP::LinkInfo linfo = links[i];
                Joint* jnt = chain->FindJoint(linfo.name, name.c_str());
                if(jnt)
                {
                        cinfo.links.push_back(jnt);
                        cinfo.jointIDs.push_back(linfo.jointId);
                        if(linfo.jointId >= 0) cinfo.n_joints++;
                }
        }
//      logfile << "character: " << name << ", root = " << rjoint->name << ", n_joints = " << cinfo.n_joints << endl;
        characters.push_back(cinfo);
}

Joint* World::rootJoint(int index)
{
        return characters[index].root;
}