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apply the deviceTypeFilter also to VR state logging.

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This commit is contained in:
Erwin Coumans
2017-04-08 11:48:12 -07:00
parent 2e47310e76
commit 82b6bc8770
5 changed files with 84 additions and 51 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2648,6 +2648,7 @@ b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle phys
command->m_type = CMD_STATE_LOGGING;
command->m_updateFlags = 0;
command->m_stateLoggingArguments.m_numBodyUniqueIds = 0;
command->m_stateLoggingArguments.m_deviceFilterType = VR_DEVICE_CONTROLLER;
return (b3SharedMemoryCommandHandle)command;
@@ -2768,6 +2769,20 @@ int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int ma
return 0;
}
int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_DEVICE_TYPE;
command->m_stateLoggingArguments.m_deviceFilterType = deviceTypeFilter;
}
return 0;
}
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -372,6 +372,7 @@ int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int l
int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId);
int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId);
int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -661,13 +661,14 @@ struct VRControllerStateLogger : public InternalStateLogger
{
b3VRControllerEvents m_vrEvents;
int m_loggingTimeStamp;
int m_deviceTypeFilter;
std::string m_fileName;
FILE* m_logFileHandle;
std::string m_structTypes;
VRControllerStateLogger(int loggingUniqueId, const std::string& fileName)
VRControllerStateLogger(int loggingUniqueId, int deviceTypeFilter, const std::string& fileName)
:m_loggingTimeStamp(0),
m_deviceTypeFilter(deviceTypeFilter),
m_fileName(fileName),
m_logFileHandle(0)
{
@@ -720,7 +721,8 @@ struct VRControllerStateLogger : public InternalStateLogger
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
b3VRControllerEvent& event = m_vrEvents.m_vrEvents[i];
if (m_deviceTypeFilter & event.m_deviceType)
{
if (event.m_numButtonEvents + event.m_numMoveEvents)
{
MinitaurLogRecord logData;
@@ -779,6 +781,7 @@ struct VRControllerStateLogger : public InternalStateLogger
}
}
}
}
fflush(m_logFileHandle);
m_loggingTimeStamp++;
@@ -2314,7 +2317,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
int loggerUid = m_data->m_stateLoggersUniqueId++;
VRControllerStateLogger* logger = new VRControllerStateLogger(loggerUid,fileName);
int deviceFilterType = VR_DEVICE_CONTROLLER;
if (clientCmd.m_updateFlags & STATE_LOGGING_FILTER_DEVICE_TYPE)
{
deviceFilterType = clientCmd.m_stateLoggingArguments.m_deviceFilterType;
}
VRControllerStateLogger* logger = new VRControllerStateLogger(loggerUid,deviceFilterType, fileName);
m_data->m_stateLoggers.push_back(logger);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -618,6 +618,7 @@ struct SendKeyboardEvents
b3KeyboardEvent m_keyboardEvents[MAX_KEYBOARD_EVENTS];
};
enum eVRCameraEnums
{
VR_CAMERA_ROOT_POSITION=1,
@@ -635,6 +636,7 @@ enum eStateLoggingEnums
STATE_LOGGING_FILTER_LINK_INDEX_B=32,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128,
STATE_LOGGING_FILTER_DEVICE_TYPE=256
};
struct VRCameraState
@@ -658,6 +660,7 @@ struct StateLoggingRequest
int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
int m_bodyUniqueIdA; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A flag is set
int m_bodyUniqueIdB; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B flag is set
int m_deviceFilterType; //user to select (filter) which VR devices to log
};
struct StateLoggingResultArgs

8
examples/pybullet/pybullet.c
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@@ -2683,8 +2683,9 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
int deviceTypeFilter = -1;
static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
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,
@@ -2741,6 +2742,11 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
b3StateLoggingSetLinkIndexB(commandHandle, linkIndexB);
}
if (deviceTypeFilter>=0)
{
b3StateLoggingSetDeviceTypeFilter(commandHandle,deviceTypeFilter);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STATE_LOGGING_START_COMPLETED)