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https://github.com/bulletphysics/bullet3
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first draft of VR controller state logging
This commit is contained in:
Erwin Coumans
parent
5899425774
commit
711431db5c
@ -434,7 +434,7 @@ struct InternalStateLogger
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virtual ~InternalStateLogger() {}
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virtual void stop() = 0;
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virtual void logState(btScalar timeStamp)=0;
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virtual void logState(btScalar timeStep)=0;
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};
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@ -456,7 +456,7 @@ struct VideoMP4Loggger : public InternalStateLogger
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{
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m_guiHelper->dumpFramesToVideo(0);
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}
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virtual void logState(btScalar timeStamp)
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virtual void logState(btScalar timeStep)
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{
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//dumping video frames happens in another thread
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//we could add some overlay of timestamp here, if needed/wanted
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@ -586,6 +586,203 @@ struct MinitaurStateLogger : public InternalStateLogger
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}
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};
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struct b3VRControllerEvents
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{
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b3VRControllerEvent m_vrEvents[MAX_VR_CONTROLLERS];
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b3VRControllerEvents()
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{
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init();
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}
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virtual ~b3VRControllerEvents()
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{
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}
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void init()
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{
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for (int i=0;i<MAX_VR_CONTROLLERS;i++)
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{
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m_vrEvents[i].m_numButtonEvents = 0;
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m_vrEvents[i].m_numMoveEvents = 0;
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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m_vrEvents[i].m_buttons[b] = 0;
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}
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}
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}
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void addNewVREvents(const struct b3VRControllerEvent* vrEvents, int numVREvents)
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{
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//update m_vrEvents
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for (int i=0;i<numVREvents;i++)
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{
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int controlledId = vrEvents[i].m_controllerId;
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if (vrEvents[i].m_numMoveEvents)
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{
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m_vrEvents[controlledId].m_analogAxis = vrEvents[i].m_analogAxis;
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}
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if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
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{
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m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;
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m_vrEvents[controlledId].m_pos[0] = vrEvents[i].m_pos[0];
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m_vrEvents[controlledId].m_pos[1] = vrEvents[i].m_pos[1];
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m_vrEvents[controlledId].m_pos[2] = vrEvents[i].m_pos[2];
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m_vrEvents[controlledId].m_orn[0] = vrEvents[i].m_orn[0];
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m_vrEvents[controlledId].m_orn[1] = vrEvents[i].m_orn[1];
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m_vrEvents[controlledId].m_orn[2] = vrEvents[i].m_orn[2];
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m_vrEvents[controlledId].m_orn[3] = vrEvents[i].m_orn[3];
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}
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m_vrEvents[controlledId].m_numButtonEvents += vrEvents[i].m_numButtonEvents;
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m_vrEvents[controlledId].m_numMoveEvents += vrEvents[i].m_numMoveEvents;
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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m_vrEvents[controlledId].m_buttons[b] |= vrEvents[i].m_buttons[b];
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if (vrEvents[i].m_buttons[b] & eButtonIsDown)
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{
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m_vrEvents[controlledId].m_buttons[b] |= eButtonIsDown;
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} else
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{
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m_vrEvents[controlledId].m_buttons[b] &= ~eButtonIsDown;
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}
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}
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}
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};
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};
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struct VRControllerStateLogger : public InternalStateLogger
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{
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b3VRControllerEvents m_vrEvents;
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int m_loggingTimeStamp;
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std::string m_fileName;
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FILE* m_logFileHandle;
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std::string m_structTypes;
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VRControllerStateLogger(int loggingUniqueId, const std::string& fileName)
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:m_loggingTimeStamp(0),
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m_fileName(fileName),
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m_logFileHandle(0)
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{
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m_loggingUniqueId = loggingUniqueId;
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m_loggingType = STATE_LOGGING_VR_CONTROLLERS;
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btAlignedObjectArray<std::string> structNames;
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structNames.push_back("stepCount");
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structNames.push_back("timeStamp");
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structNames.push_back("controllerId");
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structNames.push_back("numMoveEvents");
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structNames.push_back("m_numButtonEvents");
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structNames.push_back("posX");
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structNames.push_back("posY");
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structNames.push_back("posZ");
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structNames.push_back("oriX");
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structNames.push_back("oriY");
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structNames.push_back("oriZ");
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structNames.push_back("oriW");
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structNames.push_back("analogAxis");
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structNames.push_back("buttons0");
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structNames.push_back("buttons1");
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structNames.push_back("buttons2");
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structNames.push_back("buttons3");
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structNames.push_back("buttons4");
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structNames.push_back("buttons5");
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structNames.push_back("buttons6");
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m_structTypes = "IfIIIffffffffIIIIIII";
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const char* fileNameC = fileName.c_str();
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m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
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}
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virtual void stop()
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{
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if (m_logFileHandle)
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{
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closeMinitaurLogFile(m_logFileHandle);
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m_logFileHandle = 0;
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}
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}
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virtual void logState(btScalar timeStep)
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{
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if (m_logFileHandle)
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{
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int stepCount = m_loggingTimeStamp;
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float timeStamp = m_loggingTimeStamp*timeStep;
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for (int i=0;i<MAX_VR_CONTROLLERS;i++)
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{
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b3VRControllerEvent& event = m_vrEvents.m_vrEvents[i];
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if (event.m_numButtonEvents + event.m_numMoveEvents)
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{
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MinitaurLogRecord logData;
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//serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
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//log the event
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logData.m_values.push_back(stepCount);
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logData.m_values.push_back(timeStamp);
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logData.m_values.push_back(event.m_controllerId);
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logData.m_values.push_back(event.m_numMoveEvents);
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logData.m_values.push_back(event.m_numButtonEvents);
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logData.m_values.push_back(event.m_pos[0]);
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logData.m_values.push_back(event.m_pos[1]);
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logData.m_values.push_back(event.m_pos[2]);
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logData.m_values.push_back(event.m_orn[0]);
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logData.m_values.push_back(event.m_orn[1]);
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logData.m_values.push_back(event.m_orn[2]);
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logData.m_values.push_back(event.m_orn[3]);
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logData.m_values.push_back(event.m_analogAxis);
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int packedButtons[7]={0,0,0,0,0,0,0};
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int packedButtonIndex = 0;
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int packedButtonShift = 0;
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//encode the 64 buttons into 7 int (3 bits each), each int stores 10 buttons
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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int buttonMask = event.m_buttons[b];
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buttonMask = buttonMask << (packedButtonShift*3);
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packedButtons[packedButtonIndex] |= buttonMask;
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packedButtonShift++;
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if (packedButtonShift>=10)
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{
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packedButtonShift=0;
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packedButtonIndex++;
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if (packedButtonIndex>=7)
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{
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btAssert(0);
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break;
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}
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}
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}
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for (int b=0;b<7;b++)
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{
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logData.m_values.push_back(packedButtons[b]);
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}
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appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);
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event.m_numButtonEvents = 0;
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event.m_numMoveEvents = 0;
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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event.m_buttons[b] = 0;
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}
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}
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}
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fflush(m_logFileHandle);
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m_loggingTimeStamp++;
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}
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}
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};
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struct GenericRobotStateLogger : public InternalStateLogger
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{
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float m_loggingTimeStamp;
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@ -848,7 +1045,7 @@ struct PhysicsServerCommandProcessorInternalData
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bool m_allowRealTimeSimulation;
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bool m_hasGround;
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b3VRControllerEvent m_vrEvents[MAX_VR_CONTROLLERS];
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b3VRControllerEvents m_vrEvents1;
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btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
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btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
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@ -963,15 +1160,7 @@ struct PhysicsServerCommandProcessorInternalData
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m_pickedConstraint(0),
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m_pickingMultiBodyPoint2Point(0)
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{
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for (int i=0;i<MAX_VR_CONTROLLERS;i++)
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{
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m_vrEvents[i].m_numButtonEvents = 0;
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m_vrEvents[i].m_numMoveEvents = 0;
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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m_vrEvents[i].m_buttons[b] = 0;
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}
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}
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m_vrEvents1.init();
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initHandles();
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#if 0
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@ -1919,6 +2108,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
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serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
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}
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if (clientCmd.m_stateLoggingArguments.m_logType ==STATE_LOGGING_VR_CONTROLLERS)
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{
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std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
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int loggerUid = m_data->m_stateLoggersUniqueId++;
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VRControllerStateLogger* logger = new VRControllerStateLogger(loggerUid,fileName);
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m_data->m_stateLoggers.push_back(logger);
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serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
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serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
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}
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}
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if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
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{
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@ -1969,14 +2169,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
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for (int i=0;i<MAX_VR_CONTROLLERS;i++)
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{
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if (m_data->m_vrEvents[i].m_numButtonEvents + m_data->m_vrEvents[i].m_numMoveEvents)
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b3VRControllerEvent& event = m_data->m_vrEvents1.m_vrEvents[i];
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if (event.m_numButtonEvents + event.m_numMoveEvents)
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{
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serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = m_data->m_vrEvents[i];
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m_data->m_vrEvents[i].m_numButtonEvents = 0;
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m_data->m_vrEvents[i].m_numMoveEvents = 0;
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serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
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event.m_numButtonEvents = 0;
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event.m_numMoveEvents = 0;
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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m_data->m_vrEvents[i].m_buttons[b] = 0;
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event.m_buttons[b] = 0;
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}
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}
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}
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@ -5247,41 +5449,13 @@ void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTime
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void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
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{
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//update m_vrEvents
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for (int i=0;i<numVREvents;i++)
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m_data->m_vrEvents1.addNewVREvents(vrEvents,numVREvents);
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for (int i=0;i<m_data->m_stateLoggers.size();i++)
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{
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int controlledId = vrEvents[i].m_controllerId;
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if (vrEvents[i].m_numMoveEvents)
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if (m_data->m_stateLoggers[i]->m_loggingType==STATE_LOGGING_VR_CONTROLLERS)
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{
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m_data->m_vrEvents[controlledId].m_analogAxis = vrEvents[i].m_analogAxis;
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}
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if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
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{
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m_data->m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;
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m_data->m_vrEvents[controlledId].m_pos[0] = vrEvents[i].m_pos[0];
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m_data->m_vrEvents[controlledId].m_pos[1] = vrEvents[i].m_pos[1];
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m_data->m_vrEvents[controlledId].m_pos[2] = vrEvents[i].m_pos[2];
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m_data->m_vrEvents[controlledId].m_orn[0] = vrEvents[i].m_orn[0];
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m_data->m_vrEvents[controlledId].m_orn[1] = vrEvents[i].m_orn[1];
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m_data->m_vrEvents[controlledId].m_orn[2] = vrEvents[i].m_orn[2];
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m_data->m_vrEvents[controlledId].m_orn[3] = vrEvents[i].m_orn[3];
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}
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m_data->m_vrEvents[controlledId].m_numButtonEvents += vrEvents[i].m_numButtonEvents;
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m_data->m_vrEvents[controlledId].m_numMoveEvents += vrEvents[i].m_numMoveEvents;
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for (int b=0;b<MAX_VR_BUTTONS;b++)
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{
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m_data->m_vrEvents[controlledId].m_buttons[b] |= vrEvents[i].m_buttons[b];
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if (vrEvents[i].m_buttons[b] & eButtonIsDown)
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{
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m_data->m_vrEvents[controlledId].m_buttons[b] |= eButtonIsDown;
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} else
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{
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m_data->m_vrEvents[controlledId].m_buttons[b] &= ~eButtonIsDown;
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}
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VRControllerStateLogger* vrLogger = (VRControllerStateLogger*) m_data->m_stateLoggers[i];
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vrLogger->m_vrEvents.addNewVREvents(vrEvents,numVREvents);
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}
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}
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