Add eusbullet for using bullet collision function #538

mmurooka · 2019-03-30T14:43:25Z

From jsk-ros-pkg/jsk_roseus#604 (comment).

Call bullet collision function from euslisp. Bullet can calculate penetration depth, which cannot be calculated by PQP.
Eusbullet module is added to irteusg, which is same target with PQP.

irteus/test/test-eusbullet-collision.l is called in travis, which compares collision distance result with analytical result for two spheres.
(same with jsk-ros-pkg/jsk_roseus#604 's test: https://user-images.githubusercontent.com/6636600/53302044-7d04d380-389d-11e9-8350-e9d392714962.gif )

BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h is contained in libbullet-dev (2.83) of xenial (16.04):
https://packages.ubuntu.com/xenial/amd64/libbullet-dev/filelist
but not contained in libbullet-dev (2.81) of trusty (14.04):
https://packages.ubuntu.com/trusty/amd64/libbullet-dev/filelist
So, eusbullet is build only when pkg-config bullet --modversion is greater or equal to 2.83,
and test-eusbullet-collision.l is not called for travis test of Ubuntu trusty and Debian jessie.
4196ad6

mmurooka · 2019-03-31T11:50:25Z

Travis test No.5 (DOCKER_IMAGE=osrf/ubuntu_armhf:xenial) fails when doing eusbullet test:
https://travis-ci.org/euslisp/jskeus/jobs/513473705
When doing source test-eusbullet-collision.l:

�[0Ktraivs_fold:start:jskeus.source.test-eusbullet-collision.l.test
�[0Ktraivs_time:start:r5dk8dyi
+ irteusgl irteus/test/test-eusbullet-collision.l
configuring by "/home/travis/build/euslisp/jskeus/eus/lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud 
;; extending gcstack 0x2126610[16374] --> 0x235eb30[32748] top=3ca4
eusbullet irtx eusjpeg euspng png irtimage irtglrgb irtgl irtglc irtviewer �[34m
EusLisp 9.26(9cfd655 e52b37f) for Linux created on df671dadf751(Sun Mar 31 09:11:10 UTC 2019)�[0m
TEST-NAME: test-eusbullet-collision-sphere-analytical
  now testing...
�[32mstart testing [test-eusbullet-collision-sphere-analytical]
�[0m;; (make-irtviewer) executed
�[31m;; no display is found. exit from (make-irtviewer)
�[0m;; Segmentation Fault.
+ export TMP_EXIT_STATUS=11
+ TMP_EXIT_STATUS=11
++ expr 32 - 11
+ travis_time_end 21
+ set +x
traivs_time:end:r5dk8dyi:start=1554025318256291017,finish=1554025319527265838,duration=1270974821
�[0K
traivs_fold:end:jskeus.source.test-eusbullet-collision.l.test
�[0K�[21mFunction jskeus.source.test-eusbullet-collision.l.test takes 0 min 1 sec�[0m

When doing compiled test-eusbullet-collision.l:

KFunction jskeus.source.test-eusbullet-collision.l.test takes 0 min 1 secm
Ktraivs_fold:start:jskeus.compiled.test-eusbullet-collision.l.test
Ktraivs_time:start:9ykmto2b
+ irteusgl '(let ((o (namestring (merge-pathnames ".o" "irteus/test/test-eusbullet-collision.l"))) (so (namestring (merge-pathnames ".so" "irteus/test/test-eusbullet-collision.l")))) (compile-file "irteus/test/test-eusbullet-collision.l" :o o) (if (probe-file so) (load so) (exit 1))))'
configuring by "/home/travis/build/euslisp/jskeus/eus/lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud
;; extending gcstack 0x2126610[16374] --> 0x235eb30[32748] top=3ca4
eusbullet irtx eusjpeg euspng png irtimage irtglrgb irtgl irtglc irtviewer
EusLisp 9.26(9cfd655 e52b37f) for Linux created on df671dadf751(Sun Mar 31 09:11:10 UTC 2019)m
compiling file: irteus/test/test-eusbullet-collision.l
gcc -g -c -o irteus/test/test-eusbullet-collision.o -DARM -DLinux -Wimplicit -falign-functions=4 -DGCC3  -DGCC  -DTHREADED -DPTHREAD -fpic  -I/home/travis/build/euslisp/jskeus/eus/include -O2 irteus/test/test-eusbullet-collision.c; ld -shared -build-id -o irteus/test/test-eusbullet-collision.so irteus/test/test-eusbullet-collision.o
TEST-NAME: test-eusbullet-collision-sphere-analytical
now testing...
start testing [test-eusbullet-collision-sphere-analytical]
m;; (make-irtviewer) executed
m;; no display is found. exit from (make-irtviewer)
mCall Stack (max depth: 20):
0: at (funcall func)
1: at (funcall func)
2: at (let ((func (symbol-function func-sym)) tm) (send *unit-test* :init-result func-sym) (format t "TEST-NAME: ~A~%" func-sym) (format t "  now testing...~%") (send *unit-test* :increment-test func-sym) (setq tm (now)) (funcall func) (send *unit-test* :set-time-to-current-result (send (now) :elapsed tm)))
3: at (run-test u)
4: at (while #:dolist83 (setq u (pop #:dolist83)) (run-test u))
5: at (let ((u nil) (#:dolist83 (send *unit-test* :functions))) nil (while #:dolist83 (setq u (pop #:dolist83)) (run-test u)) nil)
6: at (dolist (u (send *unit-test* :functions)) (run-test u))
7: at run-all-tests
8: at (load so)
9: at (if (probe-file so) (load so) (exit 1))
10: at (let ((o (namestring (merge-pathnames ".o" "irteus/test/test-eusbullet-collision.l"))) (so (namestring (merge-pathnames ".so" "irteus/test/test-eusbullet-collision.l")))) (compiler:compile-file "irteus/test/test-eusbullet-collision.l" :o o) (if (probe-file so) (load so) (exit 1)))
m/home/travis/build/euslisp/jskeus/eus/LinuxARM/bin/irteusgl unittest-error: float vector expected in (funcall func), exitting...m
m[ERROR] test (funcall func) failed ... (float vector expected 53).m
ALL RESULTS:
TEST-NUM: 2
PASSED:   1
m    FAILURE:  1

HiroIshida · 2019-06-17T09:24:38Z

I use this

k-okada · 2019-07-05T08:45:02Z

.travis.sh

@@ -25,7 +25,7 @@ if [ "$(which sudo)" == "" ]; then apt-get update && apt-get install -y sudo; el
 travis_time_end

 travis_time_start setup.apt-get_install
-sudo apt-get install -qq -y git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi  # msttcorefonts could not install on 14.04 travis
+sudo apt-get install -qq -y git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev  # msttcorefonts could not install on 14.04 travis


please also update README.md

Updated: 7aa804f

k-okada · 2019-07-05T08:47:18Z

irteus/BULLET/BulletCollision.cpp

+  }
+
+  long callCalcCollisionDistance(long modelAddrA, long modelAddrB,
+                                 double *posA, double *quatA, double *posB, double *quatB,


as I wrote in mmurooka#1 's commit, I you could not pass (float-vector 0 0 0) to the double * in 32bit machine, it has to be float *. Please check this and if it is not clearly described in manual, we should update.

In my understanding, before updating defforein document, more basic Data Types manual is totally incorrect for 64bit machine (especially the following figure), is it right?

k-okada · 2019-07-05T08:59:32Z

irteus/BULLET/Makefile

@@ -0,0 +1,33 @@
+include Makefile.$(ARCHDIR)


irteus/PQP contains all PQP sources, and if we create irteus "BULLET`, then we should include all source.

Otherwise, I think we'd better to create CBULLETC.C and eusbullet.c, which solves float/double issue more cleaner approach -> https://github.com/euslisp/jskeus/blob/master/irteus/euspqp.c#L76-L78

please also consider creating irtcollision.l file that includes

(defmethod cascaded-coords (:make-collisionmodel )) (defun collision-check) (defun collision-distance) (defun collision-check-objects)

and add something like (defun select-collision-algorithm) or `collision-algorithm,

please also remove 'eusbullet' from demo/eusbullet-collision.l, and enable user to compare pqp and bullet

Please consider updating https://jskeus.readthedocs.io/ja/latest/pqp.html, in the first section (call PQP from irteus) is mainly explaining implementation so you can put the end of the document and that of bullet library is not necessary. update pqp-collision-check and other to collision-check version, add collision-check-objects example, and also need explanation of the difference between pqp and bullet.

test code should be run on both pqp/bullet and also we'd like to check for cube/matrix cases.

k-okada · 2019-07-05T09:00:49Z

irteus/BULLET/Makefile.Linux

+CC += -m32 
+LD += -m32
+EXELD += -m32 
+endif


currently we do not check i386 on travis, but do you need this? do we still running euslisp on 32bit intel machine?

As far as I know, we do not need intel 32bit. This Makefile.Linux is just copied from PQP/Makefile.Linux.
If these lines should be removed, I can. But it may be beyond this PR, and we can discuss this in new Issue.

k-okada · 2019-07-05T09:04:29Z

irteus/Makefile

+# check bullet version
+BULLET_VER_MAJOR:=$(shell pkg-config bullet --modversion | cut -f1 -d.)
+BULLET_VER_MINOR:=$(shell pkg-config bullet --modversion | cut -f2 -d.)
+export BULLET_GE_2_83=$(shell [ $(BULLET_VER_MAJOR) -gt 2 -o \( $(BULLET_VER_MAJOR) -eq 2 -a $(BULLET_VER_MINOR) -ge 83 \) ] && echo true)


I do not understand exactly but if we do not have bullet it outputs too many 1: [: -gt: unexpected operator

HOGE=$(shell echo "ng") all: echo "ok" echo $(HOGE) echo $(HOGE) echo $(HOGE)

Fixed in 9a6aeab. referenced https://stackoverflow.com/a/5586785

k-okada · 2019-07-05T09:08:10Z

irteus/compile_irtg.l

@@ -31,6 +31,8 @@

 (comp:compile-file-if-src-newer "irtgeo.l" user::*objdir*)
 (comp:compile-file-if-src-newer "pqp.l" user::*objdir*)
+(if (string= (unix:getenv "BULLET_GE_2_83") "true")


I think compile eusbullet.l for all cases is ok. just to

void BulletcalcCollisionDistance() { #if HAVE_BULLET #else fpritnf(stderr, "jskeus is compile without bullet, so you can not use function %s, Please install bullet > 2.83\n", __PRETTY_FUNCTION__); or something #endif }

Fixed in 2a89385.

Now, compile eusbullet.l and BulletCollision.cpp even if bullet is not installed, and check bullet installed as follows:

jskeus/irteus/BULLET/BulletCollision.cpp

Lines 56 to 60 in 2a89385

#if HAVE_BULLET

#define CALL_WITH_BULLET_CHECK(X) X

#else

#define CALL_WITH_BULLET_CHECK(X) fprintf(stderr, "jskeus is compiled without bullet, so you can not use function %s, Please install bullet >= 2.83\n", __PRETTY_FUNCTION__); return -1;

#endif

Not smart point is that I should comment out some parts with macro's if to avoid compile error of undefined function:

jskeus/irteus/BULLET/BulletCollision.cpp

Lines 244 to 257 in 2a89385

#if HAVE_BULLET

double _posA[3], _quatA[4], _posB[3], _quatB[4];

double _dist[1], _dir[3], _pA[3], _pB[3];

eusinteger_t ret;

for (int i = 0; i < 3; i++ ) {_posA[i] = posA[i]; _posB[i] = posB[i]; }

for (int i = 0; i < 4; i++ ) {_quatA[i] = quatA[i]; _quatB[i] = quatB[i]; }

_dist[0] = dist[0];

for (int i = 0; i < 3; i++ ) {_dir[i] = dir[i]; _pA[i] = pA[i]; _pB[i] = pB[i];}

ret = calcCollisionDistance(modelAddrA, modelAddrB,

_posA, _quatA, _posB, _quatB,

_dist, _dir, _pA, _pB);

dist[0] = _dist[0];

for (int i = 0; i < 3; i++ ) {dir[i] = _dir[i]; pA[i] = _pA[i]; pB[i] = _pB[i];}

#endif

… callling bullet collision utility from euslisp.

…st for Ubuntu trusty and Debian jessie because bullet is old.

…ssary for 32 bit machine

…n/sh: 1: [: -gt: unexpected operator

…t_t.

…immediately from C function in the case of not bullet.

mmurooka · 2019-09-19T12:41:12Z

Move to #555. Please review when you have time.

k-okada reviewed Jul 5, 2019

View reviewed changes

mmurooka force-pushed the jskeus-bullet branch from f1c36aa to 2a89385 Compare September 11, 2019 13:41

mmurooka mentioned this pull request Sep 13, 2019

[Issue] defforeign test fails for armhf euslisp/EusLisp#395

Open

mmurooka and others added 15 commits September 18, 2019 01:46

jskeus/irteus: add irteus/eusbullet.l and irteus/BULLET directory for…

6f95ccd

… callling bullet collision utility from euslisp.

jskeus/irteus/Makefile: build eusbullet and load from irteusg.

a4602b4

jskeus/.travis.sh: install libbullet-dev for eusbullet.l

51bd4d9

jskeus/irteus/demo,test: add demo and test of eusbullet collision.

04b64ae

jskeus: check bullet version when building eusbullet. no eusbullet te…

63bd3ef

…st for Ubuntu trusty and Debian jessie because bullet is old.

Makefile: OBJECTS depends on SRCS

70c4d88

add -DLinux/-DDarwin -DGCC and -I /include

b8e0edd

BulletCollision.cpp incldue eus.h to define eusfloat_h, which is nece…

50ab02f

…ssary for 32 bit machine

Makefile: fix for when bullet is not install: it outputs too many /bi…

6ff89c5

…n/sh: 1: [: -gt: unexpected operator

README.md: add bullet install to README.

52c2a82

compile BulletCollision.cpp with difining MACHINE for typedef eusfloa…

8558b5c

…t_t.

compile eusbullet.l even if bullet is not installed. instead, return …

a831108

…immediately from C function in the case of not bullet.

check BULLET_VER variable is not emply.

0442489

pass float argument as array to avoid defforeign's bug in armhf.

26c6677

fix bug in callMakeMeshModel: copy all elements of verticesPoints.

7994441

mmurooka force-pushed the jskeus-bullet branch from 9a6aeab to 7994441 Compare September 17, 2019 16:47

mmurooka mentioned this pull request Sep 19, 2019

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

Merged

mmurooka closed this Sep 19, 2019

k-okada mentioned this pull request Jun 10, 2020

add travis job to check COLLISION_LIB #570

Merged

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Add eusbullet for using bullet collision function #538

Add eusbullet for using bullet collision function #538

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mmurooka commented Mar 30, 2019

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mmurooka commented Mar 31, 2019 •

edited

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mmurooka commented Sep 19, 2019

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	#if HAVE_BULLET
	#define CALL_WITH_BULLET_CHECK(X) X
	#else
	#define CALL_WITH_BULLET_CHECK(X) fprintf(stderr, "jskeus is compiled without bullet, so you can not use function %s, Please install bullet >= 2.83\n", __PRETTY_FUNCTION__); return -1;
	#endif

	#if HAVE_BULLET
	double _posA[3], _quatA[4], _posB[3], _quatB[4];
	double _dist[1], _dir[3], _pA[3], _pB[3];
	eusinteger_t ret;
	for (int i = 0; i < 3; i++ ) {_posA[i] = posA[i]; _posB[i] = posB[i]; }
	for (int i = 0; i < 4; i++ ) {_quatA[i] = quatA[i]; _quatB[i] = quatB[i]; }
	_dist[0] = dist[0];
	for (int i = 0; i < 3; i++ ) {_dir[i] = dir[i]; _pA[i] = pA[i]; _pB[i] = pB[i];}
	ret = calcCollisionDistance(modelAddrA, modelAddrB,
	_posA, _quatA, _posB, _quatB,
	_dist, _dir, _pA, _pB);
	dist[0] = _dist[0];
	for (int i = 0; i < 3; i++ ) {dir[i] = _dir[i]; pA[i] = _pA[i]; pB[i] = _pB[i];}
	#endif

Add eusbullet for using bullet collision function #538

Add eusbullet for using bullet collision function #538

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mmurooka commented Sep 19, 2019

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