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prepare state logging system (log state of robot, vr controllers after each stepSimulation)

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This commit is contained in:
Erwin Coumans
2017-02-17 10:47:55 -08:00
parent 6db217b36a
commit 34c3fca8d5
18 changed files with 330 additions and 8 deletions
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9
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -20,6 +20,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
struct PhysicsServerCommandProcessorInternalData* m_data;
//todo: move this to physics client side / Python
void createDefaultRobotAssets();
@@ -84,10 +86,15 @@ public:
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
//logging /playback the shared memory commands
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
//logging of object states (position etc)
void logObjectStates(btScalar timeStep);
void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents);
void enableRealTimeSimulation(bool enableRealTimeSim);
void applyJointDamping(int bodyUniqueId);