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add user debug line/text features in pybullet + shared memory API:

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addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
This commit is contained in:
Erwin Coumans
2016-11-14 07:39:34 -08:00
parent d49e3d787a
commit c521d816c6
17 changed files with 809 additions and 35 deletions
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103
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -793,6 +793,7 @@ int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyInd
{
switch (status->m_type)
{
case CMD_BULLET_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
int i,maxBodies;
@@ -1062,6 +1063,107 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
}
/// Add/remove user-specific debug lines and debug text messages
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_USER_DEBUG_DRAW;
command->m_updateFlags = USER_DEBUG_HAS_LINE; //USER_DEBUG_HAS_TEXT
command->m_userDebugDrawArgs.m_debugLineFromXYZ[0] = fromXYZ[0];
command->m_userDebugDrawArgs.m_debugLineFromXYZ[1] = fromXYZ[1];
command->m_userDebugDrawArgs.m_debugLineFromXYZ[2] = fromXYZ[2];
command->m_userDebugDrawArgs.m_debugLineToXYZ[0] = toXYZ[0];
command->m_userDebugDrawArgs.m_debugLineToXYZ[1] = toXYZ[1];
command->m_userDebugDrawArgs.m_debugLineToXYZ[2] = toXYZ[2];
command->m_userDebugDrawArgs.m_debugLineColorRGB[0] = colorRGB[0];
command->m_userDebugDrawArgs.m_debugLineColorRGB[1] = colorRGB[1];
command->m_userDebugDrawArgs.m_debugLineColorRGB[2] = colorRGB[2];
command->m_userDebugDrawArgs.m_lineWidth = lineWidth;
command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_USER_DEBUG_DRAW;
command->m_updateFlags = USER_DEBUG_HAS_TEXT;
int len = strlen(txt);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_userDebugDrawArgs.m_text,txt);
} else
{
command->m_userDebugDrawArgs.m_text[0] = 0;
}
command->m_userDebugDrawArgs.m_textPositionXYZ[0] = positionXYZ[0];
command->m_userDebugDrawArgs.m_textPositionXYZ[1] = positionXYZ[1];
command->m_userDebugDrawArgs.m_textPositionXYZ[2] = positionXYZ[2];
command->m_userDebugDrawArgs.m_textColorRGB[0] = colorRGB[0];
command->m_userDebugDrawArgs.m_textColorRGB[1] = colorRGB[1];
command->m_userDebugDrawArgs.m_textColorRGB[2] = colorRGB[2];
command->m_userDebugDrawArgs.m_textSize = textSize;
command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_USER_DEBUG_DRAW;
command->m_updateFlags = USER_DEBUG_REMOVE_ONE_ITEM;
command->m_userDebugDrawArgs.m_removeItemUniqueId = debugItemUniqueId;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_USER_DEBUG_DRAW;
command->m_updateFlags = USER_DEBUG_REMOVE_ALL;
return (b3SharedMemoryCommandHandle) command;
}
int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_USER_DEBUG_DRAW_COMPLETED);
if (status->m_type != CMD_USER_DEBUG_DRAW_COMPLETED)
return -1;
return status->m_userDebugDrawArgs.m_debugItemUniqueId;
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
{
@@ -1627,6 +1729,7 @@ b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;