Add eusbullet for using bullet collision function (implement with c defun) #555

mmurooka · 2019-09-19T12:40:35Z

reimplement #538 according to advice of #538 (comment).
Defference with previous PR is this PR uses C defun and does not use defforeign.

Correspondence between PQP and new Bullet is:
pqp.l <-> bullet.l
euspqp.c <-> eusbullet.c
CPQP.C <-> CBULLET.cpp
PQP (directory) <-> None (bullet is installed by apt)

k-okada · 2019-09-19T12:49:00Z

Thank you for contributing jskeus documentation

Please check latest documents before merging

PDF version of Japanese jmanual: jmanual.pdf
HTML version of Japanese manual: jmanual.html
Sphinx (ReST) version of Japanese manual: jmanual.rst

mmurooka · 2019-09-19T12:52:40Z

New manual of collision function: https://431-17358571-gh.circle-artifacts.com/0/home/circleci/project/artifacts/rst/html/irtcollision.html

Naoki-Hiraoka · 2019-09-24T08:16:08Z

irteus/irtcollision.l

+
+(defun collision-check
+    (model1 model2 &rest args &key &allow-other-keys)
+  "Check collision between model1 and model2 using Bullet.


I think using Bullet should be removed.
Please consider mmurooka#2

Thanks, merged.

Naoki-Hiraoka · 2019-09-24T08:24:04Z

doc/irtcollision.tex

+  (send *sarm* :joint0 :joint-angle -1 :relative t)
+  (send *irtviewer* :draw-objects))
+\end{verbatim}
+}


This demo does not work, and pqp-collision-check-objects is PQP specific.
Please consider mmurooka#3

Thanks, merged. Checked that demo works.

Naoki-Hiraoka · 2019-09-24T08:50:05Z

irteus/test/test-collision.l

+     ;; move object
+     (incf cnt)
+     (send obj1 :newcoords (make-coords :pos (float-vector (* 500.0 (sin (/ cnt 20.0))) 50 0)))
+     (send *irtviewer* :draw-objects)


In the visualization, lines are flickering heavily and hard to see.
Please consider mmurooka#4

Thanks, merged.

mmurooka · 2019-09-24T09:17:18Z

@Naoki-Hiraoka thank you for your review. I merged your PR and rebased commits.

k-okada · 2019-09-24T09:29:44Z

Thank you for contributing jskeus documentation

Please check latest documents before merging

PDF version of Japanese jmanual: jmanual.pdf
HTML version of Japanese manual: jmanual.html
Sphinx (ReST) version of Japanese manual: jmanual.rst

Naoki-Hiraoka · 2019-09-24T10:14:30Z

irteus/bullet.l

+
+(defmethod cascaded-coords
+  (:make-btmodel
+   (&key (fat 0) vs m)


Arguments vs and m are local variables.
Please consider mmurooka#5

Thanks, merged.

Naoki-Hiraoka · 2019-09-24T10:28:40Z

irteus/bullet.l

+(export '(bt-collision-distance bt-collision-check))
+
+(defun bt-make-model-from-body
+    (b &key (csg (send b :csg)) (margin nil) m)


m is local variable.
Please consider mmurooka#6

Thanks, merged.

mmurooka · 2019-09-24T11:22:56Z

@Naoki-Hiraoka thank you again for your review. I merged your PR and rebased commits.

k-okada · 2019-09-24T11:34:06Z

Thank you for contributing jskeus documentation

Please check latest documents before merging

PDF version of Japanese jmanual: jmanual.pdf
HTML version of Japanese manual: jmanual.html
Sphinx (ReST) version of Japanese manual: jmanual.rst

Naoki-Hiraoka · 2019-09-30T04:27:56Z

irteus/CBULLET.cpp

+  btVector3 m_pointOnA;
+  btVector3 m_pointOnB;
+  btVector3 m_normalBtoA;
+  btScalar m_distance;


Bullet_User_Manual.pdf によれば，btScalar型はデフォルトではfloatになっており，コンパイル時にBT_USE_DOUBLE_PRECISIONをONにするとdoubleになるそうです．このオプションを付けなくても十分に機能していますので必須ではありませんが，64bitマシンの場合にはこのオプションをつけてコンパイルした方が正確になりそうです．

Naoki-Hiraoka · 2019-09-30T06:59:55Z

irteus/CBULLET.cpp

+
+long BT_MakeMeshModel(double *verticesPoints, long numVertices)
+{
+  btConvexHullShape* pshape = new btConvexHullShape();


よく使用されるロボットモデルで簡単に試した限りでは，現在の実装でも安定性・計算時間ともにpqpと同程度には問題無く機能しているので必須ではありませんが，
Bullet_User_Manual.pdfによれば，パフォーマンスや安定性のためには

Use less then 100 vertices in a convex mesh

とするのが良く，btShapeHull utilityを用いてconvex hullを単純化するべきだそうです．

Naoki-Hiraoka

MakeFileは私の知識不足により確認できませんでした．

mmurooka · 2019-10-23T04:12:50Z

Review approved. @k-okada Please tell if more refine necessary.

k-okada

please add one more comment

k-okada · 2019-10-26T03:44:16Z

.travis.sh

@@ -51,6 +51,7 @@ for test_l in irteus/test/*.l; do

    # osrf/ubuntu_arm64:trusty takes >50 min, skip irteus-demo.l
    [[ "$DOCKER_IMAGE" == *"arm64:trusty"* && $test_l =~ irteus-demo.l ]] && continue;
+    [[ ( "$DOCKER_IMAGE" == *"trusty"* || "$DOCKER_IMAGE" == *"jessie"* ) && $test_l =~ test-collision.l ]] && continue;


please add comment why we have to skip this test.

added comment: 1f4da2f#diff-b4553af39acae935d505c76e139d4aa3R54-R55
(rebase commit into previous)

k-okada · 2019-10-26T04:58:51Z

Thank you for contributing jskeus documentation

Please check latest documents before merging

PDF version of Japanese jmanual: jmanual.pdf
HTML version of Japanese manual: jmanual.html
Sphinx (ReST) version of Japanese manual: jmanual.rst

k-okada · 2019-10-27T05:31:44Z

Thank you for contributing jskeus documentation

Please check latest documents before merging

PDF version of Japanese jmanual: jmanual.pdf
HTML version of Japanese manual: jmanual.html
Sphinx (ReST) version of Japanese manual: jmanual.rst

k-okada · 2019-10-31T06:45:25Z

@mmurooka all test in EusLisp failing, is this related to this change ? https://travis-ci.org/euslisp/EusLisp/builds/604932545

mmurooka · 2019-10-31T07:02:25Z

it seems so... I'll check.

One of the problem is that, in all test cases, jskeus is compiled without bullet.
https://api.travis-ci.org/v3/job/604932547/log.txt

jskeus is compiled without bullet, so you can not use function eusinteger_t C_BT_CalcCollisionDistance(eusinteger_t, eusinteger_t, eusfloat_t*, eusfloat_t*, eusfloat_t*, eusfloat_t*, eusfloat_t*, eusfloat_t*, eusfloat_t*, eusfloat_t*). Please install bullet >= 2.83.
...
RESULT: test-collision-sphere-analytical-pqp
  TEST-NUM: 1
    PASSED:   1
    FAILURE:  0
RESULT: test-collision-sphere-analytical-bullet
  TEST-NUM: 1
    PASSED:   0
�[31m    FAILURE:  1�[0m
RESULT: test-collision-cube-approx-pqp
  TEST-NUM: 1
    PASSED:   1
    FAILURE:  0
RESULT: test-collision-cube-approx-bullet
  TEST-NUM: 1
    PASSED:   0
�[31m    FAILURE:  1�[0m
RESULT: test-collision-cylinder-approx-pqp
  TEST-NUM: 1
    PASSED:   1
    FAILURE:  0
RESULT: test-collision-cylinder-approx-bullet
  TEST-NUM: 1
    PASSED:   0
�[31m    FAILURE:  1�[0m
RESULT: test-collision-mesh-approx-pqp
  TEST-NUM: 1
    PASSED:   1
    FAILURE:  0
RESULT: test-collision-mesh-approx-bullet
  TEST-NUM: 1
    PASSED:   0
�[31m    FAILURE:  1�[0m

mmurooka mentioned this pull request Sep 19, 2019

Add eusbullet for using bullet collision function #538

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k-okada requested a review from Naoki-Hiraoka September 20, 2019 08:50

Naoki-Hiraoka reviewed Sep 24, 2019

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mmurooka force-pushed the jskeus-bullet-c-defun branch from 8b0a420 to b265bc9 Compare September 24, 2019 09:15

Naoki-Hiraoka reviewed Sep 24, 2019

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mmurooka force-pushed the jskeus-bullet-c-defun branch from 5db6479 to 6cb08aa Compare September 24, 2019 11:22

Naoki-Hiraoka reviewed Sep 30, 2019

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k-okada requested changes Oct 26, 2019

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mmurooka added 2 commits October 26, 2019 13:50

irteus: add eusbullet.

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Learn about vigilant mode

1f4da2f

doc: update collision document.

0b8c0e2

mmurooka force-pushed the jskeus-bullet-c-defun branch from 6cb08aa to 0b8c0e2 Compare October 26, 2019 04:50

Merge branch 'master' into jskeus-bullet-c-defun

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k-okada self-requested a review October 27, 2019 07:09

k-okada approved these changes Oct 27, 2019

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k-okada merged commit b3d64f0 into euslisp:master Oct 27, 2019

mmurooka deleted the jskeus-bullet-c-defun branch October 27, 2019 14:34

k-okada mentioned this pull request Nov 1, 2019

travis.sh: install libbullet-dev for jskeus tests euslisp/EusLisp#400

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Naoki-Hiraoka mentioned this pull request May 25, 2020

PR2でOptmotiongenの障害物回避IKが上手くいかない jsk-ros-pkg/jsk_control#748

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Naoki-Hiraoka mentioned this pull request Jun 8, 2020

optmotiongen の kxr を表示させるデモでエラーが発生する jsk-ros-pkg/jsk_control#749

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k-okada mentioned this pull request Jun 10, 2020

add travis job to check COLLISION_LIB #570

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Add eusbullet for using bullet collision function (implement with c defun) #555

Add eusbullet for using bullet collision function (implement with c defun) #555

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Add eusbullet for using bullet collision function (implement with c defun) #555

Add eusbullet for using bullet collision function (implement with c defun) #555

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