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Add C API to log contact points.

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This commit is contained in:
yunfeibai
2017-04-02 15:45:48 -07:00
parent 7c7d831767
commit 0d83667817
4 changed files with 94 additions and 4 deletions
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52
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2659,6 +2659,58 @@ int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHa
return 0;
}
int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_LINK_INDEX_A;
command->m_stateLoggingArguments.m_linkIndexA = linkIndexA;
}
return 0;
}
int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_LINK_INDEX_B;
command->m_stateLoggingArguments.m_linkIndexB = linkIndexB;
}
return 0;
}
int b3StateLoggingSetBodyIndexA(b3SharedMemoryCommandHandle commandHandle, int bodyIndexA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_A;
command->m_stateLoggingArguments.m_bodyIndexA = bodyIndexA;
}
return 0;
}
int b3StateLoggingSetBodyIndexB(b3SharedMemoryCommandHandle commandHandle, int bodyIndexB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_B;
command->m_stateLoggingArguments.m_bodyIndexB = bodyIndexB;
}
return 0;
}
int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -363,6 +363,10 @@ b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle phys
int b3StateLoggingStart(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName);
int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof);
int b3StateLoggingSetLinkIndexA(b3SharedMemoryStatusHandle commandHandle, int linkIndexA);
int b3StateLoggingSetLinkIndexB(b3SharedMemoryStatusHandle commandHandle, int linkIndexB);
int b3StateLoggingSetBodyIndexA(b3SharedMemoryStatusHandle commandHandle, int bodyIndexA);
int b3StateLoggingSetBodyIndexB(b3SharedMemoryStatusHandle commandHandle, int bodyIndexB);
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2275,7 +2275,33 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_CONTACT_POINTS)
{
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
int loggerUid = m_data->m_stateLoggersUniqueId++;
ContactPointsStateLogger* logger = new ContactPointsStateLogger(loggerUid,fileName,m_data->m_dynamicsWorld);
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_LINK_INDEX_A) && clientCmd.m_stateLoggingArguments.m_linkIndexA >= -1)
{
logger->m_filterLinkA = true;
logger->m_linkIndexA = clientCmd.m_stateLoggingArguments.m_linkIndexA;
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_LINK_INDEX_B) && clientCmd.m_stateLoggingArguments.m_linkIndexB >= -1)
{
logger->m_filterLinkB = true;
logger->m_linkIndexB = clientCmd.m_stateLoggingArguments.m_linkIndexB;
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_INDEX_A) && clientCmd.m_stateLoggingArguments.m_bodyIndexA > -1)
{
logger->m_bodyIndexA = clientCmd.m_stateLoggingArguments.m_bodyIndexA;
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_INDEX_B) && clientCmd.m_stateLoggingArguments.m_bodyIndexB > -1)
{
logger->m_bodyIndexB = clientCmd.m_stateLoggingArguments.m_bodyIndexB;
}
m_data->m_stateLoggers.push_back(logger);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
}
if (clientCmd.m_stateLoggingArguments.m_logType ==STATE_LOGGING_VR_CONTROLLERS)
{
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;

14
examples/SharedMemory/SharedMemoryCommands.h
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@@ -628,7 +628,11 @@ enum eStateLoggingEnums
STATE_LOGGING_START_LOG=1,
STATE_LOGGING_STOP_LOG=2,
STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID=4,
STATE_LOGGING_MAX_LOG_DOF=8
STATE_LOGGING_MAX_LOG_DOF=8,
STATE_LOGGING_FILTER_LINK_INDEX_A=16,
STATE_LOGGING_FILTER_LINK_INDEX_B=32,
STATE_LOGGING_FILTER_BODY_INDEX_A=64,
STATE_LOGGING_FILTER_BODY_INDEX_B=128,
};
struct VRCameraState
@@ -643,11 +647,15 @@ struct VRCameraState
struct StateLoggingRequest
{
char m_fileName[MAX_FILENAME_LENGTH];
int m_logType;//Minitaur, generic robot, VR states
int m_numBodyUniqueIds;////only if ROBOT_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set
int m_logType;//Minitaur, generic robot, VR states, contact points
int m_numBodyUniqueIds;////only if STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set
int m_bodyUniqueIds[MAX_SDF_BODIES];
int m_loggingUniqueId;
int m_maxLogDof;
int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set
int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
int m_bodyIndexA;
int m_bodyIndexB;
};
struct StateLoggingResultArgs