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expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4)

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This commit is contained in:
Erwin Coumans
2017-03-16 09:13:33 -07:00
parent b7b46b12d3
commit 59d16b2c42
16 changed files with 180 additions and 22 deletions
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44
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
sim->setTimeOut(10);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
b3Scalar fixedTimeStep = 1./240.;
@@ -59,7 +59,9 @@ int main(int argc, char* argv[])
}
#endif
sim->setRealTimeSimulation(false);
int vidLogId = -1;
int minitaurLogId = -1;
while (sim->canSubmitCommand())
{
b3KeyboardEventsData keyEvents;
@@ -67,14 +69,48 @@ int main(int argc, char* argv[])
if (keyEvents.m_numKeyboardEvents)
{
printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
//printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
//m_keyState is a flag combination of eButtonIsDown,eButtonTriggered, eButtonReleased
for (int i=0;i<keyEvents.m_numKeyboardEvents;i++)
{
printf("keyEvent[%d].m_keyCode = %d, state = %d\n", i,keyEvents.m_keyboardEvents[i].m_keyCode,keyEvents.m_keyboardEvents[i].m_keyState);
if (keyEvents.m_keyboardEvents[i].m_keyCode=='0')
{
if ( keyEvents.m_keyboardEvents[i].m_keyState&eButtonTriggered)
{
if (vidLogId < 0)
{
vidLogId = sim->startStateLogging(STATE_LOGGING_VIDEO_MP4,"video.mp4");
}
else
{
sim->stopStateLogging(vidLogId);
vidLogId=-1;
}
}
}
if (keyEvents.m_keyboardEvents[i].m_keyCode=='m')
{
if ( minitaurLogId<0 && keyEvents.m_keyboardEvents[i].m_keyState&eButtonTriggered)
{
minitaurLogId = sim->startStateLogging(STATE_LOGGING_MINITAUR,"simlog.bin");
}
if (minitaurLogId>=0 && keyEvents.m_keyboardEvents[i].m_keyState&eButtonReleased)
{
sim->stopStateLogging(minitaurLogId);
minitaurLogId=-1;
}
}
//printf("keyEvent[%d].m_keyCode = %d, state = %d\n", i,keyEvents.m_keyboardEvents[i].m_keyCode,keyEvents.m_keyboardEvents[i].m_keyState);
}
}
sim->stepSimulation();
static double yaw=0;
double distance = 10.5+9 * b3Sin(yaw);
yaw+=0.008;
sim->resetDebugVisualizerCamera(distance,yaw,20,b3MakeVector3(0,0,0.1));
b3Clock::usleep(1000.*1000.*fixedTimeStep);
}

27
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -134,6 +134,18 @@ bool b3RobotSimulatorClientAPI::isConnected() const
return (m_data->m_physicsClientHandle != 0);
}
void b3RobotSimulatorClientAPI::setTimeOut(double timeOutInSec)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SetTimeOut(m_data->m_physicsClientHandle,timeOutInSec);
}
void b3RobotSimulatorClientAPI::disconnect()
{
if (!isConnected())
@@ -853,3 +865,18 @@ void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
b3StateLoggingStop(commandHandle, stateLoggerUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos)
{
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
if (commandHandle)
{
if ((cameraDistance >= 0))
{
b3Vector3FloatData camTargetPos;
targetPos.serializeFloat(camTargetPos);
b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle, cameraDistance, cameraPitch, cameraYaw, camTargetPos.m_floats);
}
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
}

5
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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@@ -130,6 +130,8 @@ public:
bool isConnected() const;
void setTimeOut(double timeOutInSec);
void syncBodies();
void resetSimulation();
@@ -181,8 +183,9 @@ public:
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds, int maxLogDof = -1);
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
void stopStateLogging(int stateLoggerUniqueId);
void getVREvents(b3VREventsData* vrEventsData);