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fix quadruped, allow user to pick the maximum number of dofs to log

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This commit is contained in:
erwincoumans
2017-03-04 15:30:57 -08:00
parent 44b140dd38
commit c7579d7b82
7 changed files with 39 additions and 7 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1856,6 +1856,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
int loggerUid = m_data->m_stateLoggersUniqueId++;
int maxLogDof = 12;
if ((clientCmd.m_updateFlags & STATE_LOGGING_MAX_LOG_DOF))
{
maxLogDof = clientCmd.m_stateLoggingArguments.m_maxLogDof;
}
GenericRobotStateLogger* logger = new GenericRobotStateLogger(loggerUid,fileName,m_data->m_dynamicsWorld);
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID) && (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
@@ -1863,7 +1868,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
logger->m_filterObjectUniqueId = true;
for (int i = 0; i < clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds; ++i)
{
logger->m_bodyIdList.push_back(clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[i]);
int objectUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[i];
logger->m_bodyIdList.push_back(objectUniqueId);
}
}