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Rename body index to body unique id.

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This commit is contained in:
yunfeibai
2017-04-04 10:38:25 -07:00
parent 1e91e78469
commit b168f53ed9
6 changed files with 35 additions and 35 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2685,28 +2685,28 @@ int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int l
return 0; return 0;
} }
int b3StateLoggingSetBodyIndexA(b3SharedMemoryCommandHandle commandHandle, int bodyIndexA) int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING); b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING) if (command->m_type == CMD_STATE_LOGGING)
{ {
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_A; command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A;
command->m_stateLoggingArguments.m_bodyIndexA = bodyIndexA; command->m_stateLoggingArguments.m_bodyUniqueIdA = bodyAUniqueId;
} }
return 0; return 0;
} }
int b3StateLoggingSetBodyIndexB(b3SharedMemoryCommandHandle commandHandle, int bodyIndexB) int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING); b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING) if (command->m_type == CMD_STATE_LOGGING)
{ {
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_B; command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B;
command->m_stateLoggingArguments.m_bodyIndexB = bodyIndexB; command->m_stateLoggingArguments.m_bodyUniqueIdB = bodyBUniqueId;
} }
return 0; return 0;
} }

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -365,8 +365,8 @@ int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHa
int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof); int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof);
int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA); int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB); int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
int b3StateLoggingSetBodyIndexA(b3SharedMemoryCommandHandle commandHandle, int bodyIndexA); int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId);
int b3StateLoggingSetBodyIndexB(b3SharedMemoryCommandHandle commandHandle, int bodyIndexB); int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId);
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle); int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId); int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -962,8 +962,8 @@ struct ContactPointsStateLogger : public InternalStateLogger
bool m_filterLinkB; bool m_filterLinkB;
int m_linkIndexA; int m_linkIndexA;
int m_linkIndexB; int m_linkIndexB;
int m_bodyIndexA; int m_bodyUniqueIdA;
int m_bodyIndexB; int m_bodyUniqueIdB;
ContactPointsStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld) ContactPointsStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld)
:m_loggingTimeStamp(0), :m_loggingTimeStamp(0),
@@ -974,8 +974,8 @@ struct ContactPointsStateLogger : public InternalStateLogger
m_filterLinkB(false), m_filterLinkB(false),
m_linkIndexA(-2), m_linkIndexA(-2),
m_linkIndexB(-2), m_linkIndexB(-2),
m_bodyIndexA(-1), m_bodyUniqueIdA(-1),
m_bodyIndexB(-1) m_bodyUniqueIdB(-1)
{ {
m_loggingUniqueId = loggingUniqueId; m_loggingUniqueId = loggingUniqueId;
m_loggingType = STATE_LOGGING_CONTACT_POINTS; m_loggingType = STATE_LOGGING_CONTACT_POINTS;
@@ -1062,18 +1062,18 @@ struct ContactPointsStateLogger : public InternalStateLogger
btAssert(bodyA || mblA); btAssert(bodyA || mblA);
//apply the filter, if the user provides it //apply the filter, if the user provides it
if (m_bodyIndexA >= 0) if (m_bodyUniqueIdA >= 0)
{ {
if ((m_bodyIndexA != objectIndexA) && if ((m_bodyUniqueIdA != objectIndexA) &&
(m_bodyIndexA != objectIndexB)) (m_bodyUniqueIdA != objectIndexB))
continue; continue;
} }
//apply the second object filter, if the user provides it //apply the second object filter, if the user provides it
if (m_bodyIndexB >= 0) if (m_bodyUniqueIdB >= 0)
{ {
if ((m_bodyIndexB != objectIndexA) && if ((m_bodyUniqueIdB != objectIndexA) &&
(m_bodyIndexB != objectIndexB)) (m_bodyUniqueIdB != objectIndexB))
continue; continue;
} }
@@ -2290,13 +2290,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
logger->m_filterLinkB = true; logger->m_filterLinkB = true;
logger->m_linkIndexB = clientCmd.m_stateLoggingArguments.m_linkIndexB; logger->m_linkIndexB = clientCmd.m_stateLoggingArguments.m_linkIndexB;
} }
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_INDEX_A) && clientCmd.m_stateLoggingArguments.m_bodyIndexA > -1) if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA > -1)
{ {
logger->m_bodyIndexA = clientCmd.m_stateLoggingArguments.m_bodyIndexA; logger->m_bodyUniqueIdA = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA;
} }
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_INDEX_B) && clientCmd.m_stateLoggingArguments.m_bodyIndexB > -1) if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB > -1)
{ {
logger->m_bodyIndexB = clientCmd.m_stateLoggingArguments.m_bodyIndexB; logger->m_bodyUniqueIdB = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB;
} }
m_data->m_stateLoggers.push_back(logger); m_data->m_stateLoggers.push_back(logger);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;

8
examples/SharedMemory/SharedMemoryCommands.h
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@@ -631,8 +631,8 @@ enum eStateLoggingEnums
STATE_LOGGING_MAX_LOG_DOF=8, STATE_LOGGING_MAX_LOG_DOF=8,
STATE_LOGGING_FILTER_LINK_INDEX_A=16, STATE_LOGGING_FILTER_LINK_INDEX_A=16,
STATE_LOGGING_FILTER_LINK_INDEX_B=32, STATE_LOGGING_FILTER_LINK_INDEX_B=32,
STATE_LOGGING_FILTER_BODY_INDEX_A=64, STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64,
STATE_LOGGING_FILTER_BODY_INDEX_B=128, STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128,
}; };
struct VRCameraState struct VRCameraState
@@ -654,8 +654,8 @@ struct StateLoggingRequest
int m_maxLogDof; int m_maxLogDof;
int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set
int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
int m_bodyIndexA; int m_bodyUniqueIdA; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A flag is set
int m_bodyIndexB; int m_bodyUniqueIdB; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B flag is set
}; };
struct StateLoggingResultArgs struct StateLoggingResultArgs

2
examples/pybullet/examples/kuka_with_cube.py
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@@ -48,7 +48,7 @@ p.setRealTimeSimulation(useRealTimeSimulation)
trailDuration = 15 trailDuration = 15
logId1 = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2]) logId1 = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
logId2 = p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS,"LOG0002.txt",bodyIndexA=1) logId2 = p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS,"LOG0002.txt",bodyUniqueIdA=2)
for i in xrange(5): for i in xrange(5):
print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1]) print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])

16
examples/pybullet/pybullet.c
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@@ -2678,16 +2678,16 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
char* fileName = 0; char* fileName = 0;
PyObject* objectUniqueIdsObj = 0; PyObject* objectUniqueIdsObj = 0;
int maxLogDof = -1; int maxLogDof = -1;
int bodyIndexA = -1; int bodyUniqueIdA = -1;
int bodyIndexB = -1; int bodyUniqueIdB = -1;
int linkIndexA = -2; int linkIndexA = -2;
int linkIndexB = -2; int linkIndexB = -2;
static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyIndexA", "bodyIndexB", "linkIndexA", "linkIndexB", "physicsClientId", NULL}; static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
int physicsClientId = 0; int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist, if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyIndexA, &bodyIndexB, &linkIndexA, &linkIndexB, &physicsClientId)) &loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &physicsClientId))
return NULL; return NULL;
sm = getPhysicsClient(physicsClientId); sm = getPhysicsClient(physicsClientId);
@@ -2723,13 +2723,13 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof); b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof);
} }
if (bodyIndexA > -1) if (bodyUniqueIdA > -1)
{ {
b3StateLoggingSetLinkIndexA(commandHandle, bodyIndexA); b3StateLoggingSetBodyAUniqueId(commandHandle, bodyUniqueIdA);
} }
if (bodyIndexB > -1) if (bodyUniqueIdB > -1)
{ {
b3StateLoggingSetBodyIndexB(commandHandle, bodyIndexB); b3StateLoggingSetBodyBUniqueId(commandHandle, bodyUniqueIdB);
} }
if (linkIndexA > -2) if (linkIndexA > -2)
{ {