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

examples/SharedMemory/CMakeLists.txt

@@ -38,6 +38,8 @@ SET(SharedMemory_SRCS
 	PhysicsServerCommandProcessor.h
 	TinyRendererVisualShapeConverter.cpp
 	TinyRendererVisualShapeConverter.h
+	SharedMemoryCommands.h
+	SharedMemoryPublic.h
 	../TinyRenderer/geometry.cpp
 	../TinyRenderer/model.cpp
 	../TinyRenderer/tgaimage.cpp

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -438,6 +438,31 @@ struct InternalStateLogger
 
 };
 
+struct VideoMP4Loggger : public InternalStateLogger
+{
+
+	struct GUIHelperInterface* m_guiHelper;
+	std::string m_fileName;
+	VideoMP4Loggger(int loggerUid,const char* fileName,GUIHelperInterface* guiHelper)
+		:m_guiHelper(guiHelper)
+	{
+		m_fileName = fileName;
+		m_loggingUniqueId = loggerUid;
+		m_loggingType = STATE_LOGGING_VIDEO_MP4;
+		m_guiHelper->dumpFramesToVideo(fileName);
+	}
+
+	virtual void stop()
+	{
+		m_guiHelper->dumpFramesToVideo(0);
+	}
+	virtual void logState(btScalar timeStamp)
+	{
+		//dumping video frames happens in another thread
+		//we could add some overlay of timestamp here, if needed/wanted
+	}
+};
+
 struct MinitaurStateLogger : public InternalStateLogger
 {
 	int m_loggingTimeStamp;
@@ -1797,6 +1822,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
 					{
 
+						if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4)
+						{
+							if (clientCmd.m_stateLoggingArguments.m_fileName)
+							{
+								int loggerUid = m_data->m_stateLoggersUniqueId++;
+								VideoMP4Loggger* logger = new VideoMP4Loggger(loggerUid,clientCmd.m_stateLoggingArguments.m_fileName,this->m_data->m_guiHelper);
+								m_data->m_stateLoggers.push_back(logger);
+								serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
+								serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
+							}
+						}
 						
 						if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_MINITAUR)
 						{

examples/SharedMemory/PhysicsServerExample.cpp

@@ -179,8 +179,10 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIUserDebugAddParameter,
 	eGUIUserDebugRemoveItem,
 	eGUIUserDebugRemoveAllItems,
+	eGUIDumpFramesToVideo,
 };
 
+
 #include <stdio.h>
 //#include "BulletMultiThreaded/PlatformDefinitions.h"
 
@@ -489,7 +491,7 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 		args->m_cs->unlock();
 	}
 
-
+	args->m_physicsServerPtr->disconnectSharedMemory(true);
 	//do nothing
 
 }
@@ -959,6 +961,16 @@ public:
 	
 	}
 
+	const char* m_mp4FileName;
+	virtual void	dumpFramesToVideo(const char* mp4FileName)
+	{
+		m_cs->lock();
+		m_mp4FileName = mp4FileName;
+		m_cs->setSharedParam(1, eGUIDumpFramesToVideo);
+		workerThreadWait();
+		m_mp4FileName = 0;
+	}
+
 };
 
 
@@ -1614,6 +1626,14 @@ void	PhysicsServerExample::updateGraphics()
 		m_multiThreadedHelper->mainThreadRelease();
 			break;
 	}
+
+	case eGUIDumpFramesToVideo:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->dumpFramesToVideo(m_multiThreadedHelper->m_mp4FileName);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
+
 	case eGUIHelperIdle:
 		{
 			break;

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -188,6 +188,8 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
 
 void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory)
 {
+	m_data->m_commandProcessor->deleteDynamicsWorld();
+
 	m_data->m_commandProcessor->setGuiHelper(0);
 
 	if (m_data->m_verboseOutput)

examples/SharedMemory/SharedMemoryPublic.h

@@ -330,7 +330,8 @@ enum  b3StateLoggingType
 	STATE_LOGGING_MINITAUR = 0,
 	STATE_LOGGING_GENERIC_ROBOT = 1,
 	STATE_LOGGING_VR_CONTROLLERS = 2,
-	STATE_LOGGING_COMMANDS = 3,
+	STATE_LOGGING_VIDEO_MP4 = 3,
+	STATE_LOGGING_COMMANDS = 4,
 };