Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

94
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -3363,9 +3363,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName);
int uid = m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName);
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
if (uid>=0)
{
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
} else
{
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
}
hasStatus = true;
break;
@@ -3403,6 +3409,34 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
bool ok = importer->loadFile(relativeFileName);
if (ok)
{
int numRb = importer->getNumRigidBodies();
serverStatusOut.m_sdfLoadedArgs.m_numBodies = 0;
for( int i=0;i<numRb;i++)
{
btCollisionObject* colObj = importer->getRigidBodyByIndex(i);
if (colObj)
{
btRigidBody* rb = btRigidBody::upcast(colObj);
if (rb)
{
int bodyUniqueId = m_data->allocHandle();
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
colObj->setUserIndex2(bodyUniqueId);
bodyHandle->m_rigidBody = rb;
if (serverStatusOut.m_sdfLoadedArgs.m_numBodies<MAX_SDF_BODIES)
{
serverStatusOut.m_sdfLoadedArgs.m_numBodies++;
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = bodyUniqueId;
}
}
}
}
serverCmd.m_type = CMD_BULLET_LOADING_COMPLETED;
m_data->m_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld);
hasStatus = true;
@@ -3441,6 +3475,62 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_USER_DEBUG_DRAW:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
hasStatus = true;
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
{
int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text,
clientCmd.m_userDebugDrawArgs.m_textPositionXYZ,
clientCmd.m_userDebugDrawArgs.m_textColorRGB,
clientCmd.m_userDebugDrawArgs.m_textSize,
clientCmd.m_userDebugDrawArgs.m_lifeTime);
if (uid>=0)
{
serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_LINE)
{
int uid = m_data->m_guiHelper->addUserDebugLine(
clientCmd.m_userDebugDrawArgs.m_debugLineFromXYZ,
clientCmd.m_userDebugDrawArgs.m_debugLineToXYZ,
clientCmd.m_userDebugDrawArgs.m_debugLineColorRGB,
clientCmd.m_userDebugDrawArgs.m_lineWidth,
clientCmd.m_userDebugDrawArgs.m_lifeTime);
if (uid>=0)
{
serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ALL)
{
m_data->m_guiHelper->removeAllUserDebugItems();
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ONE_ITEM)
{
m_data->m_guiHelper->removeUserDebugItem(clientCmd.m_userDebugDrawArgs.m_removeItemUniqueId);
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
break;
}
default:
{
b3Error("Unknown command encountered");