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PyBullet: expose STATE_LOGGING_ALL_COMMANDS and STATE_REPLAY_ALL_COMMANDS

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See examples/pybullet/examples/commandLogAndPlayback.py for an example.
This commit is contained in:
erwincoumans
2018-06-12 16:56:45 -07:00
parent 459d07a302
commit 4d6741f5cd
4 changed files with 75 additions and 3 deletions
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57
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1582,9 +1582,11 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<b3MouseEvent> m_mouseEvents;
CommandLogger* m_commandLogger;
int m_commandLoggingUid;
CommandLogPlayback* m_logPlayback;
int m_logPlaybackUid;
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
@@ -1661,7 +1663,9 @@ struct PhysicsServerCommandProcessorInternalData
:m_pluginManager(proc),
m_useRealTimeSimulation(false),
m_commandLogger(0),
m_commandLoggingUid(-1),
m_logPlayback(0),
m_logPlaybackUid(-1),
m_physicsDeltaTime(1./240.),
m_numSimulationSubSteps(0),
m_userConstraintUIDGenerator(1),
@@ -3090,6 +3094,31 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
{
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_ALL_COMMANDS)
{
if(m_data->m_commandLogger==0)
{
enableCommandLogging(true, clientCmd.m_stateLoggingArguments.m_fileName);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
int loggerUid = m_data->m_stateLoggersUniqueId++;
m_data->m_commandLoggingUid = loggerUid;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
}
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_REPLAY_ALL_COMMANDS)
{
if(m_data->m_logPlayback==0)
{
replayFromLogFile(clientCmd.m_stateLoggingArguments.m_fileName);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
int loggerUid = m_data->m_stateLoggersUniqueId++;
m_data->m_logPlaybackUid = loggerUid;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
}
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS)
{
if (m_data->m_profileTimingLoggingUid<0)
@@ -3168,6 +3197,9 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
}
}
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_GENERIC_ROBOT)
{
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
@@ -3245,6 +3277,27 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
{
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_logPlaybackUid)
{
if(m_data->m_logPlayback)
{
delete m_data->m_logPlayback;
m_data->m_logPlayback = 0;
m_data->m_logPlaybackUid = -1;
}
}
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_commandLoggingUid)
{
if(m_data->m_commandLogger)
{
enableCommandLogging(false,0);
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
m_data->m_commandLoggingUid = -1;
}
}
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;