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Code Issues Releases Wiki Activity

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_type = CMD_STATE_LOGGING;
command->m_updateFlags = 0; command->m_updateFlags = 0;
command->m_stateLoggingArguments.m_numBodyUniqueIds = 0; command->m_stateLoggingArguments.m_numBodyUniqueIds = 0;
command->m_stateLoggingArguments.m_deviceFilterType = VR_DEVICE_CONTROLLER;
return (b3SharedMemoryCommandHandle)command; return (b3SharedMemoryCommandHandle)command;
@ -2768,6 +2769,20 @@ int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int ma
return 0; 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) int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; 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 b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId); int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId);
int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId); int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId);
int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle); int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId); int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);

108
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -661,13 +661,14 @@ struct VRControllerStateLogger : public InternalStateLogger
{ {
b3VRControllerEvents m_vrEvents; b3VRControllerEvents m_vrEvents;
int m_loggingTimeStamp; int m_loggingTimeStamp;
int m_deviceTypeFilter;
std::string m_fileName; std::string m_fileName;
FILE* m_logFileHandle; FILE* m_logFileHandle;
std::string m_structTypes; std::string m_structTypes;
VRControllerStateLogger(int loggingUniqueId, const std::string& fileName) VRControllerStateLogger(int loggingUniqueId, int deviceTypeFilter, const std::string& fileName)
:m_loggingTimeStamp(0), :m_loggingTimeStamp(0),
m_deviceTypeFilter(deviceTypeFilter),
m_fileName(fileName), m_fileName(fileName),
m_logFileHandle(0) m_logFileHandle(0)
{ {
@ -716,66 +717,68 @@ struct VRControllerStateLogger : public InternalStateLogger
int stepCount = m_loggingTimeStamp; int stepCount = m_loggingTimeStamp;
float timeStamp = m_loggingTimeStamp*timeStep; float timeStamp = m_loggingTimeStamp*timeStep;
for (int i=0;i<MAX_VR_CONTROLLERS;i++) for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{ {
b3VRControllerEvent& event = m_vrEvents.m_vrEvents[i]; b3VRControllerEvent& event = m_vrEvents.m_vrEvents[i];
if (m_deviceTypeFilter & event.m_deviceType)
if (event.m_numButtonEvents + event.m_numMoveEvents)
{ {
MinitaurLogRecord logData; if (event.m_numButtonEvents + event.m_numMoveEvents)
//serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
//log the event
logData.m_values.push_back(stepCount);
logData.m_values.push_back(timeStamp);
logData.m_values.push_back(event.m_controllerId);
logData.m_values.push_back(event.m_numMoveEvents);
logData.m_values.push_back(event.m_numButtonEvents);
logData.m_values.push_back(event.m_pos[0]);
logData.m_values.push_back(event.m_pos[1]);
logData.m_values.push_back(event.m_pos[2]);
logData.m_values.push_back(event.m_orn[0]);
logData.m_values.push_back(event.m_orn[1]);
logData.m_values.push_back(event.m_orn[2]);
logData.m_values.push_back(event.m_orn[3]);
logData.m_values.push_back(event.m_analogAxis);
int packedButtons[7]={0,0,0,0,0,0,0};
int packedButtonIndex = 0;
int packedButtonShift = 0;
//encode the 64 buttons into 7 int (3 bits each), each int stores 10 buttons
for (int b=0;b<MAX_VR_BUTTONS;b++)
{ {
int buttonMask = event.m_buttons[b]; MinitaurLogRecord logData;
buttonMask = buttonMask << (packedButtonShift*3);
packedButtons[packedButtonIndex] |= buttonMask;
packedButtonShift++;
if (packedButtonShift>=10) //serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
//log the event
logData.m_values.push_back(stepCount);
logData.m_values.push_back(timeStamp);
logData.m_values.push_back(event.m_controllerId);
logData.m_values.push_back(event.m_numMoveEvents);
logData.m_values.push_back(event.m_numButtonEvents);
logData.m_values.push_back(event.m_pos[0]);
logData.m_values.push_back(event.m_pos[1]);
logData.m_values.push_back(event.m_pos[2]);
logData.m_values.push_back(event.m_orn[0]);
logData.m_values.push_back(event.m_orn[1]);
logData.m_values.push_back(event.m_orn[2]);
logData.m_values.push_back(event.m_orn[3]);
logData.m_values.push_back(event.m_analogAxis);
int packedButtons[7]={0,0,0,0,0,0,0};
int packedButtonIndex = 0;
int packedButtonShift = 0;
//encode the 64 buttons into 7 int (3 bits each), each int stores 10 buttons
for (int b=0;b<MAX_VR_BUTTONS;b++)
{ {
packedButtonShift=0; int buttonMask = event.m_buttons[b];
packedButtonIndex++; buttonMask = buttonMask << (packedButtonShift*3);
if (packedButtonIndex>=7) packedButtons[packedButtonIndex] |= buttonMask;
packedButtonShift++;
if (packedButtonShift>=10)
{ {
btAssert(0); packedButtonShift=0;
break; packedButtonIndex++;
if (packedButtonIndex>=7)
{
btAssert(0);
break;
}
} }
} }
}
for (int b=0;b<7;b++) for (int b=0;b<7;b++)
{ {
logData.m_values.push_back(packedButtons[b]); logData.m_values.push_back(packedButtons[b]);
} }
appendMinitaurLogData(m_logFileHandle, m_structTypes, logData); appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);
event.m_numButtonEvents = 0; event.m_numButtonEvents = 0;
event.m_numMoveEvents = 0; event.m_numMoveEvents = 0;
for (int b=0;b<MAX_VR_BUTTONS;b++) for (int b=0;b<MAX_VR_BUTTONS;b++)
{ {
event.m_buttons[b] = 0; event.m_buttons[b] = 0;
}
} }
} }
} }
@ -2314,7 +2317,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName; std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
int loggerUid = m_data->m_stateLoggersUniqueId++; 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); m_data->m_stateLoggers.push_back(logger);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED; serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid; 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]; b3KeyboardEvent m_keyboardEvents[MAX_KEYBOARD_EVENTS];
}; };
enum eVRCameraEnums enum eVRCameraEnums
{ {
VR_CAMERA_ROOT_POSITION=1, VR_CAMERA_ROOT_POSITION=1,
@ -635,6 +636,7 @@ enum eStateLoggingEnums
STATE_LOGGING_FILTER_LINK_INDEX_B=32, STATE_LOGGING_FILTER_LINK_INDEX_B=32,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64, STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128, STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128,
STATE_LOGGING_FILTER_DEVICE_TYPE=256
}; };
struct VRCameraState struct VRCameraState
@ -658,6 +660,7 @@ struct StateLoggingRequest
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_bodyUniqueIdA; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A 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_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 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 bodyUniqueIdB = -1;
int linkIndexA = -2; int linkIndexA = -2;
int linkIndexB = -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; int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist, if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist,
@ -2741,6 +2742,11 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
b3StateLoggingSetLinkIndexB(commandHandle, linkIndexB); b3StateLoggingSetLinkIndexB(commandHandle, linkIndexB);
} }
if (deviceTypeFilter>=0)
{
b3StateLoggingSetDeviceTypeFilter(commandHandle,deviceTypeFilter);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STATE_LOGGING_START_COMPLETED) if (statusType == CMD_STATE_LOGGING_START_COMPLETED)