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

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -85,6 +85,9 @@ struct GUIHelperInterface
 	virtual void	removeAllUserDebugItems( ){};
 	virtual void	setVisualizerFlagCallback(VisualizerFlagCallback callback){}
 
+	//empty name stops dumping video
+	virtual void	dumpFramesToVideo(const char* mp4FileName) {};
+
 };
 
 

examples/ExampleBrowser/CMakeLists.txt

@@ -191,6 +191,8 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/PhysicsLoopBackC_API.h
 	../SharedMemory/PhysicsServerCommandProcessor.cpp
 	../SharedMemory/PhysicsServerCommandProcessor.h
+	../SharedMemory/SharedMemoryCommands.h
+	../SharedMemory/SharedMemoryPublic.h
 	../BasicDemo/BasicExample.cpp
 	../BasicDemo/BasicExample.h
 	../InverseDynamics/InverseDynamicsExample.cpp

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -371,6 +371,7 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
     if (flag == COV_ENABLE_GUI)
     {
         renderGui = enable;
+		renderGrid = enable;
     }
     
     if (flag == COV_ENABLE_WIREFRAME)
@@ -868,8 +869,8 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	}
 		
 	
-	int width = 1024;
+	int width = 1280;
-    int height=768;
+    int height=640;
 #ifndef NO_OPENGL3
     SimpleOpenGL3App* simpleApp=0;
 	sUseOpenGL2 =args.CheckCmdLineFlag("opengl2");

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -568,3 +568,10 @@ struct CommonGraphicsApp* OpenGLGuiHelper::getAppInterface()
 	return m_data->m_glApp;
 }
 
+void	OpenGLGuiHelper::dumpFramesToVideo(const char* mp4FileName)
+{
+	if (m_data->m_glApp)
+	{
+		m_data->m_glApp->dumpFramesToVideo(mp4FileName);
+	}
+}

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -85,6 +85,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void	setVisualizerFlagCallback(VisualizerFlagCallback callback);
 
+	virtual void	dumpFramesToVideo(const char* mp4FileName);
+
 };
 
 #endif //OPENGL_GUI_HELPER_H

examples/ExampleBrowser/premake4.lua

@@ -88,6 +88,8 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/PhysicsServerCommandProcessor.h",
 		"../SharedMemory/TinyRendererVisualShapeConverter.cpp",
 		"../SharedMemory/TinyRendererVisualShapeConverter.h",
+		"../SharedMemory/SharedMemoryCommands.h",
+		"../SharedMemory/SharedMemoryPublic.h",
 		"../MultiThreading/MultiThreadingExample.cpp",
 		"../MultiThreading/b3PosixThreadSupport.cpp",
 		"../MultiThreading/b3Win32ThreadSupport.cpp",

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -774,16 +774,18 @@ void SimpleOpenGL3App::swapBuffer()
 			m_data->m_frameDumpPngFileName = 0;
         }
     }
- m_window->endRendering();
+	m_window->endRendering();
-        m_window->startRendering();
+	m_window->startRendering();
 }
 
 // see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/
 void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
 {
-    int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
+	if (mp4FileName)
-    int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
+	{
-    char cmd[8192];
+		int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
+		int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
+		char cmd[8192];
 
 #ifdef _WIN32
 	sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
@@ -803,15 +805,25 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
     //              sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
     //              "-threads 0 -preset fast -y -crf 21 -vf vflip %s",width,height,mp4FileName);
 
-    if (m_data->m_ffmpegFile)
+		if (m_data->m_ffmpegFile)
-    {
+		{
-        pclose(m_data->m_ffmpegFile);
+			pclose(m_data->m_ffmpegFile);
-    }
+		}
-	if (mp4FileName)
+		if (mp4FileName)
-	{
+		{
-		m_data->m_ffmpegFile = popen(cmd, "w");
+			m_data->m_ffmpegFile = popen(cmd, "w");
 
-		m_data->m_frameDumpPngFileName = mp4FileName;
+			m_data->m_frameDumpPngFileName = mp4FileName;
+		}
+	} else
+	{
+		if (m_data->m_ffmpegFile)
+		{
+			fflush(m_data->m_ffmpegFile);
+			pclose(m_data->m_ffmpegFile);
+			m_data->m_frameDumpPngFileName = 0;
+		}
+		m_data->m_ffmpegFile = 0;
 	}
 }
 void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)

examples/RobotSimulator/RobotSimulatorMain.cpp

@@ -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);
 	}
 

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -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);
+	}
+}

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -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);

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,
 };
 
 

examples/pybullet/premake4.lua

@@ -125,6 +125,8 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/Win32SharedMemory.h",
 			"../../examples/SharedMemory/PosixSharedMemory.cpp",
 			"../../examples/SharedMemory/PosixSharedMemory.h",
+			"../../examples/SharedMemory/SharedMemoryCommands.h",
+			"../../examples/SharedMemory/SharedMemoryPublic.h",
 			"../../examples/Utils/b3ResourcePath.cpp",
 			"../../examples/Utils/b3ResourcePath.h",
 			"../../examples/Utils/RobotLoggingUtil.cpp",