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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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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);
}
}