add python dumpLog.py utility to view log files created using 'startStateLogging'

don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -201,7 +201,7 @@ void MyKeyboardCallback(int key, int state)
 	//if (handled)
 	//	return;
 
-	if (s_window && s_window->isModifierKeyPressed(B3G_CONTROL))
+	//if (s_window && s_window->isModifierKeyPressed(B3G_CONTROL))
 	{
 		if (key=='a' && state)
 		{

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -10,7 +10,7 @@
 
 bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
 {
-
+	B3_PROFILE("loadAndRegisterMeshFromFileInternal");
 	meshData.m_gfxShape = 0;
 	meshData.m_textureImage = 0;
 	meshData.m_textureHeight = 0;
@@ -26,7 +26,10 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		btVector3 shift(0,0,0);
     	
 		std::vector<tinyobj::shape_t> shapes;
-		std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
+		{
+			B3_PROFILE("tinyobj::LoadObj");
+			std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
+		}
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
 		

examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp

@@ -9,9 +9,16 @@
 
 GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
 {
+	B3_PROFILE("LoadMeshFromObj");
 	std::vector<tinyobj::shape_t> shapes;
-	std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
+	{
+		B3_PROFILE("tinyobj::LoadObj2");
+		std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
+	}
 
-	GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
-	return gfxShape;
+	{
+		B3_PROFILE("btgCreateGraphicsShapeFromWavefrontObj");
+		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
+		return gfxShape;
+	}
 }

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -421,6 +421,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
 
 static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
 {
+	B3_PROFILE("createConvexHullFromShapes");
 	btCompoundShape* compound = new btCompoundShape();
 	compound->setMargin(gUrdfDefaultCollisionMargin);
 
@@ -633,6 +634,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 		case UrdfGeometry::FILE_OBJ:
 			if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
 			{
+				
 				glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), 0);
 			}
 			else
@@ -744,16 +746,23 @@ upAxisMat.setIdentity();
 		{
 			BT_PROFILE("convert trimesh");
 			btTriangleMesh* meshInterface = new btTriangleMesh();
-			for (int i=0; i<glmesh->m_numIndices/3; i++)
 			{
-				const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
-				const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
-				const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
-				meshInterface->addTriangle(v0,v1,v2);
+				BT_PROFILE("convert vertices");
+
+				for (int i=0; i<glmesh->m_numIndices/3; i++)
+				{
+					const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
+					const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
+					const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
+					meshInterface->addTriangle(v0,v1,v2);
+				}
+			}
+			{
+				BT_PROFILE("create btBvhTriangleMeshShape");
+				btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
+				//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
+				shape = trimesh;
 			}
-			btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
-			//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
-			shape = trimesh;
 
 		} else
 		{

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -696,7 +696,8 @@ struct VRControllerStateLogger : public InternalStateLogger
 		structNames.push_back("buttons4");
 		structNames.push_back("buttons5");
 		structNames.push_back("buttons6");
-		m_structTypes = "IfIIIffffffffIIIIIII";
+		structNames.push_back("deviceType");
+		m_structTypes = "IfIIIffffffffIIIIIIII";
 
 		const char* fileNameC = fileName.c_str();
 		m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
@@ -770,7 +771,7 @@ struct VRControllerStateLogger : public InternalStateLogger
 							{
 								logData.m_values.push_back(packedButtons[b]);
 							}
-
+							logData.m_values.push_back(event.m_deviceType);
 							appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);
 
 							event.m_numButtonEvents = 0;
@@ -829,7 +830,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
         structNames.push_back("omegaZ");
         structNames.push_back("qNum");
 
-		m_structTypes = "IfIfffffffffffffI";
+		m_structTypes = "IfifffffffffffffI";
 
 		for (int i=0;i<m_maxLogDof;i++)
 		{
@@ -1004,7 +1005,7 @@ struct ContactPointsStateLogger : public InternalStateLogger
 		structNames.push_back("contactNormalOnBZ");
 		structNames.push_back("contactDistance");
 		structNames.push_back("normalForce");
-		m_structTypes = "IfIIIIIfffffffffff";
+		m_structTypes = "IfIiiiifffffffffff";
 		
 		const char* fileNameC = fileName.c_str();
 		m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
@@ -5811,6 +5812,7 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	if (m_data && m_data->m_guiHelper)
 	{
 		m_data->m_guiHelper->removeAllGraphicsInstances();
+		m_data->m_guiHelper->removeAllUserDebugItems();
 	}
 	if (m_data)
 	{

examples/Utils/RobotLoggingUtil.cpp

@@ -84,6 +84,27 @@ int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>&
 					switch (structTypes[i])
 					{
 					case 'I':
+					{
+						size_t s = fread(blaat,sizeof(int),1,f);
+						if (s != 1)
+						{
+							eof = true;
+							retVal = eCorruptValue;
+							break;
+
+						}
+						int v = (int) *(unsigned int*)blaat;
+						if (s==1)
+						{
+							if (verbose)
+							{
+								printf("%s = %d\n",structNames[i].c_str(),v);
+							}
+							record.m_values.push_back(v);
+						}
+						break;
+					}
+					case 'i':
 					{
 						size_t s = fread(blaat,sizeof(int),1,f);
 						if (s != 1)
@@ -219,6 +240,7 @@ void appendMinitaurLogData(FILE* f, std::string& structTypes, const MinitaurLogR
 			{
 				switch(structTypes[i])
 				{
+				case 'i':
 				case 'I':
 				{
 					fwrite(&logData.m_values[i].m_intVal,sizeof(int),1,f);

examples/pybullet/examples/dumpLog.py

@@ -0,0 +1,74 @@
+import time
+import math
+from datetime import datetime
+import struct
+import sys
+import os, fnmatch
+import argparse
+from time import sleep
+
+def readLogFile(filename, verbose = True):
+  f = open(filename, 'rb')
+
+  print('Opened'),
+  print(filename)
+
+  keys = f.readline().decode('utf8').rstrip('\n').split(',')
+  fmt = f.readline().decode('utf8').rstrip('\n')
+
+  # The byte number of one record
+  sz = struct.calcsize(fmt)
+  # The type number of one record
+  ncols = len(fmt)
+
+  if verbose:
+    print('Keys:'),
+    print(keys)
+    print('Format:'),
+    print(fmt)
+    print('Size:'),
+    print(sz)
+    print('Columns:'),
+    print(ncols)
+
+  # Read data
+  wholeFile = f.read()
+  # split by alignment word
+  chunks = wholeFile.split(b'\xaa\xbb')
+  log = list()
+  if verbose:
+  	print("num chunks:")
+  	print(len(chunks))
+  chunkIndex = 0
+  for chunk in chunks:
+    print("len(chunk)=",len(chunk)," sz = ", sz)
+    if len(chunk) == sz:
+      print("chunk #",chunkIndex)
+      chunkIndex=chunkIndex+1
+      values = struct.unpack(fmt, chunk)
+      record = list()
+      for i in range(ncols):
+        record.append(values[i])
+        if verbose:
+        	print("    ",keys[i],"=",values[i])
+
+      log.append(record)
+
+  return log
+
+
+numArgs = len(sys.argv)
+
+print ('Number of arguments:', numArgs, 'arguments.')
+print ('Argument List:', str(sys.argv))
+fileName = "log.bin"
+
+if (numArgs>1):
+	fileName = sys.argv[1]
+
+print("filename=")
+print(fileName)
+
+verbose = True
+	
+readLogFile(fileName,verbose)

examples/pybullet/examples/manyspheres.py

@@ -1,7 +1,13 @@
 import pybullet as p
 import time
 
-p.connect(p.GUI)
+conid = p.connect(p.SHARED_MEMORY)
+if (conid<0):
+	p.connect(p.GUI)
+	
+p.setInternalSimFlags(0)
+p.resetSimulation()
+	
 p.loadURDF("plane.urdf",useMaximalCoordinates=True)
 p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True)
 
@@ -12,7 +18,7 @@ p.setPhysicsEngineParameter(numSolverIterations=10)
 p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
 for i in range (10):
     for j in range (10):
-        for k in range (5):
+        for k in range (10):
             ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)

examples/pybullet/examples/quadruped.py

@@ -143,7 +143,7 @@ p.setRealTimeSimulation(useRealTime)
 print("quadruped Id = ")
 print(quadruped)
 p.saveWorld("quadru.py")
-logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR,"quadrupedLog.txt",[quadruped])
+logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR,"quadrupedLog.bin",[quadruped])
 
 
 

examples/pybullet/examples/vr_kuka_setup.py

@@ -1,6 +1,9 @@
 import pybullet as p
 #p.connect(p.UDP,"192.168.86.100")
-p.connect(p.SHARED_MEMORY)
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
 p.resetSimulation()
 
 objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]

examples/pybullet/examples/vrtracker.py

@@ -19,6 +19,9 @@ if (c<0):
 p.setInternalSimFlags(0)#don't load default robot assets etc
 p.resetSimulation()
 p.loadURDF("plane.urdf")
+p.loadURDF("cube.urdf",0,0,1)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
 
 prevPosition=[None]*p.VR_MAX_CONTROLLERS
 colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
@@ -32,6 +35,10 @@ colors[3] = [0,0,0.5]
 colors[4] = [0.5,0.5,0.]
 colors[5] = [.5,.5,.5]
 
+p.startStateLogging(p.STATE_LOGGING_VR_CONTROLLERS, "vr_hmd.bin",deviceTypeFilter=p.VR_DEVICE_HMD)
+p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "generic_data.bin")
+p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS, "contact_points.bin")
+
 while True:
 	events = p.getVREvents(p.VR_DEVICE_HMD+p.VR_DEVICE_GENERIC_TRACKER)
 	for e in (events):

examples/pybullet/pybullet.c

@@ -2697,8 +2697,8 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
 	static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "deviceTypeFilter", "physicsClientId", NULL};
 	int physicsClientId = 0;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist,
-									 &loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiiii", kwlist,
+									 &loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &deviceTypeFilter, &physicsClientId))
 		return NULL;
 
 	sm = getPhysicsClient(physicsClientId);