gravity-collision-modeling

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<!-- Gazebo world file -->
<world name="gravity_world">
  <!-- Set gravity vector (x, y, z) in m/s^2 -->
  <gravity>0 0 -9.8</gravity>

  <!-- Physics engine configuration -->
  <physics name="default_physics" type="ode">
    <gravity>0 0 -9.8</gravity>
    <ode>
      <solver>
        <type>quick</type>
        <iters>10</iters>
        <sor>1.3</sor>
      </solver>
      <constraints>
        <cfm>0.0</cfm>
        <erp>0.2</erp>
        <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
        <contact_surface_layer>0.001</contact_surface_layer>
      </constraints>
    </ode>
  </physics>
</world>

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# Example broad phase collision detection
class BroadPhaseCollision:
    def __init__(self):
        self.spatial_grid = {}  # Grid for spatial partitioning
        self.bounding_boxes = []  # List of bounding boxes

    def find_potential_collisions(self):
        """Find pairs of objects that might be colliding"""
        potential_pairs = []

        # Use spatial partitioning to reduce comparisons
        for obj1 in self.bounding_boxes:
            nearby_objects = self.get_nearby_objects(obj1)
            for obj2 in nearby_objects:
                if self.bounding_boxes_collide(obj1, obj2):
                    potential_pairs.append((obj1, obj2))

        return potential_pairs

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# Example narrow phase collision detection
class NarrowPhaseCollision:
    def __init__(self):
        pass

    def detect_collision(self, shape1, shape2):
        """Detect precise collision between two shapes"""
        # For spheres
        if shape1.type == 'sphere' and shape2.type == 'sphere':
            return self.sphere_sphere_collision(shape1, shape2)
        # For boxes
        elif shape1.type == 'box' and shape2.type == 'box':
            return self.box_box_collision(shape1, shape2)
        # For mixed types
        else:
            return self.general_collision(shape1, shape2)

    def sphere_sphere_collision(self, sphere1, sphere2):
        """Detect collision between two spheres"""
        distance = self.calculate_distance(sphere1.center, sphere2.center)
        return distance < (sphere1.radius + sphere2.radius)

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class CollisionResponse:
    def __init__(self):
        self.restitution = 0.5  # Bounciness (0 = no bounce, 1 = perfect bounce)
        self.friction = 0.8     # Friction coefficient

    def resolve_collision(self, obj1, obj2, contact_point, contact_normal):
        """Resolve collision between two objects"""
        # Calculate relative velocity at contact point
        rel_velocity = obj2.velocity - obj1.velocity

        # Calculate velocity along normal
        vel_along_normal = rel_velocity.dot(contact_normal)

        # Do not resolve if objects are moving apart
        if vel_along_normal > 0:
            return

        # Calculate restitution (bounciness)
        e = min(obj1.restitution, obj2.restitution)

        # Calculate impulse scalar
        j = -(1 + e) * vel_along_normal
        j /= 1 / obj1.mass + 1 / obj2.mass

        # Apply impulse
        impulse = j * contact_normal
        obj1.velocity -= impulse / obj1.mass
        obj2.velocity += impulse / obj2.mass

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<!-- Gazebo world with complex indoor environment -->
<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="complex_indoor">
    <!-- Gravity -->
    <gravity>0 0 -9.8</gravity>

    <!-- Physics -->
    <physics name="default_physics" type="ode">
      <gravity>0 0 -9.8</gravity>
    </physics>

    <!-- Ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- Lighting -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- Room structure -->
    <model name="room_walls">
      <!-- Wall 1 -->
      <link name="wall1">
        <pose>0 -5 2.5 0 0 0</pose>
        <collision name="wall1_collision">
          <geometry>
            <box>
              <size>20 0.2 5</size>
            </box>
          </geometry>
        </collision>
        <visual name="wall1_visual">
          <geometry>
            <box>
              <size>20 0.2 5</size>
            </box>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
          </material>
        </visual>
      </link>

      <!-- Other walls, floor, ceiling would be defined similarly -->
    </model>

    <!-- Furniture -->
    <model name="table">
      <pose>2 0 0 0 0 0</pose>
      <link name="table_top">
        <collision name="table_collision">
          <geometry>
            <box>
              <size>1.5 0.8 0.02</size>
            </box>
          </geometry>
        </collision>
        <visual name="table_visual">
          <geometry>
            <box>
              <size>1.5 0.8 0.02</size>
            </box>
          </geometry>
        </visual>
      </link>

      <!-- Table legs -->
      <model name="leg1">
        <pose>0.6 0.3 -0.39 0 0 0</pose>
        <!-- Leg geometry -->
      </model>
      <!-- More legs... -->
    </model>

    <!-- Stairs -->
    <model name="stairs">
      <pose>-3 -2 0 0 0 0</pose>
      <!-- Define multiple steps -->
      <link name="step1">
        <pose>0 0 0.15 0 0 0</pose>
        <collision name="step1_collision">
          <geometry>
            <box>
              <size>2 1 0.3</size>
            </box>
          </geometry>
        </collision>
        <visual name="step1_visual">
          <geometry>
            <box>
              <size>2 1 0.3</size>
            </box>
          </geometry>
        </visual>
      </link>
      <!-- More steps... -->
    </model>
  </world>
</sdf>

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class CollisionLOD:
    def __init__(self):
        self.detail_levels = {
            'high': {'sphere_count': 100, 'box_subdivisions': 10},
            'medium': {'sphere_count': 50, 'box_subdivisions': 5},
            'low': {'sphere_count': 20, 'box_subdivisions': 2}
        }

    def get_collision_model(self, distance, complexity_level):
        """Get appropriate collision model based on distance and complexity"""
        if distance > 10:  # Far away
            lod_level = 'low'
        elif distance > 5:  # Medium distance
            lod_level = 'medium'
        else:  # Close up
            lod_level = 'high'

        return self.create_collision_model(lod_level, complexity_level)

    def create_collision_model(self, lod_level, complexity_level):
        """Create collision model based on LOD and complexity"""
        # Implementation would create simplified collision geometry
        pass

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class SpatialPartitioning:
    def __init__(self, world_size, cell_size):
        self.world_size = world_size
        self.cell_size = cell_size
        self.grid = self.create_grid()

    def create_grid(self):
        """Create spatial partitioning grid"""
        grid_size = int(self.world_size / self.cell_size)
        return [[[] for _ in range(grid_size)] for _ in range(grid_size)]

    def add_object(self, obj, position):
        """Add object to appropriate grid cell"""
        grid_x = int(position[0] / self.cell_size)
        grid_y = int(position[1] / self.cell_size)

        if 0 <= grid_x < len(self.grid) and 0 <= grid_y < len(self.grid[0]):
            self.grid[grid_x][grid_y].append(obj)

    def get_nearby_objects(self, position, radius=1.0):
        """Get objects in nearby grid cells"""
        nearby_objects = []

        # Calculate grid range
        grid_x = int(position[0] / self.cell_size)
        grid_y = int(position[1] / self.cell_size)

        range_cells = int(radius / self.cell_size) + 1

        for dx in range(-range_cells, range_cells + 1):
            for dy in range(-range_cells, range_cells + 1):
                nx, ny = grid_x + dx, grid_y + dy
                if 0 <= nx < len(self.grid) and 0 <= ny < len(self.grid[0]):
                    nearby_objects.extend(self.grid[nx][ny])

        return nearby_objects

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class BalanceController:
    def __init__(self):
        self.com_height = 0.8  # Center of mass height
        self.support_polygon = []  # Area where CoM must stay

    def check_stability(self, robot_pose, foot_positions):
        """Check if robot is stable based on CoM position"""
        # Calculate center of mass projection on ground
        com_projection = self.calculate_com_projection(robot_pose)

        # Calculate support polygon from foot positions
        support_polygon = self.calculate_support_polygon(foot_positions)

        # Check if CoM is within support polygon
        is_stable = self.point_in_polygon(com_projection, support_polygon)

        return is_stable, support_polygon

    def calculate_support_polygon(self, foot_positions):
        """Calculate support polygon from foot contact points"""
        # For bipedal robot, this is typically a polygon connecting foot points
        if len(foot_positions) >= 2:
            # Create convex hull of foot positions
            return self.convex_hull(foot_positions)
        else:
            # Single foot support
            return [foot_positions[0]]

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class ManipulationController:
    def __init__(self):
        self.gripper_open = True
        self.object_grasped = None

    def attempt_grasp(self, gripper_pose, object_pose):
        """Attempt to grasp an object"""
        # Check if gripper is close enough to object
        distance = self.calculate_distance(gripper_pose, object_pose)

        if distance < 0.05 and self.gripper_open:  # Within grasp distance
            # Check for proper orientation
            if self.check_grasp_orientation(gripper_pose, object_pose):
                # Check for collision-free grasp
                if not self.would_collide_during_grasp(gripper_pose, object_pose):
                    self.object_grasped = object_pose
                    self.gripper_open = False
                    return True, "Grasp successful"

        return False, "Grasp failed"

    def would_collide_during_grasp(self, gripper_pose, object_pose):
        """Check if grasp would cause collisions"""
        # Simulate the grasp motion and check for collisions
        # with environment and robot self-collision
        pass

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class EnvironmentComplexityManager:
    def __init__(self):
        self.current_complexity = 'medium'
        self.performance_threshold = 0.8  # Target performance ratio

    def adjust_environment_complexity(self, current_performance):
        """Adjust environment complexity based on performance"""
        if current_performance < self.performance_threshold * 0.8:
            # Performance too low, reduce complexity
            self.reduce_complexity()
        elif current_performance > self.performance_threshold * 1.2:
            # Performance high, can increase complexity
            self.increase_complexity()

    def reduce_complexity(self):
        """Reduce environment complexity"""
        if self.current_complexity == 'high':
            self.current_complexity = 'medium'
            self.simplify_collision_meshes()
        elif self.current_complexity == 'medium':
            self.current_complexity = 'low'
            self.remove_decoration_objects()

    def increase_complexity(self):
        """Increase environment complexity"""
        if self.current_complexity == 'low':
            self.current_complexity = 'medium'
            self.add_decoration_objects()
        elif self.current_complexity == 'medium':
            self.current_complexity = 'high'
            self.increase_collision_detail()

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