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Fix log playback for particle emitters #745

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merged 2 commits into from
Apr 9, 2021
Merged

Fix log playback for particle emitters #745

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647f8d0
fixed particle emitter forward playback
jennuine Apr 6, 2021
7814dc0
Merge branch 'ign-gazebo4' into jennuine/emitter_playback
jennuine Apr 9, 2021
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29 changes: 29 additions & 0 deletions src/systems/log/LogPlayback.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
#include "ignition/gazebo/components/Geometry.hh"
#include "ignition/gazebo/components/LogPlaybackStatistics.hh"
#include "ignition/gazebo/components/Material.hh"
#include "ignition/gazebo/components/ParticleEmitter.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/World.hh"

Expand Down Expand Up @@ -124,6 +125,9 @@ class ignition::gazebo::systems::LogPlaybackPrivate
/// \brief Saves which entity poses have changed according to the latest
/// LogPlaybackPrivate::Parse call.
public: std::unordered_map<Entity, msgs::Pose> recentEntityPoseUpdates;

// \brief Saves which particle emitter emitting components have changed
public: std::unordered_map<Entity, bool> prevParticleEmitterCmds;
};

bool LogPlaybackPrivate::started{false};
Expand Down Expand Up @@ -636,6 +640,31 @@ void LogPlayback::Update(const UpdateInfo &_info, EntityComponentManager &_ecm)
return true;
});

// particle emitters
_ecm.Each<components::ParticleEmitterCmd>(
[&](const Entity &_entity,
const components::ParticleEmitterCmd *_emitter) -> bool
{
if (this->dataPtr->prevParticleEmitterCmds.find(_entity) ==
this->dataPtr->prevParticleEmitterCmds.end())
{
this->dataPtr->prevParticleEmitterCmds[_entity]
= _emitter->Data().emitting().data();
return true;
}

if (this->dataPtr->prevParticleEmitterCmds[_entity] !=
_emitter->Data().emitting().data())
{
this->dataPtr->prevParticleEmitterCmds[_entity]
= _emitter->Data().emitting().data();
_ecm.SetChanged(_entity, components::ParticleEmitterCmd::typeId,
ComponentState::OneTimeChange);
}

return true;
});

// for seek back in time only
// remove entities that should not be present in the current time step
for (auto entity : entitiesToRemove)
Expand Down