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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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220
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -75,6 +75,10 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperRemoveAllGraphicsInstances,
eGUIHelperCopyCameraImageData,
eGUIHelperAutogenerateGraphicsObjects,
eGUIUserDebugAddText,
eGUIUserDebugAddLine,
eGUIUserDebugRemoveItem,
eGUIUserDebugRemoveAllItems,
};
#include <stdio.h>
@@ -271,17 +275,43 @@ void* MotionlsMemoryFunc()
struct UserDebugDrawLine
{
double m_debugLineFromXYZ[3];
double m_debugLineToXYZ[3];
double m_debugLineColorRGB[3];
double m_lineWidth;
double m_lifeTime;
int m_itemUniqueId;
};
struct UserDebugText
{
char m_text[1024];
double m_textPositionXYZ[3];
double m_textColorRGB[3];
double textSize;
double m_lifeTime;
int m_itemUniqueId;
};
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
public:
GUIHelperInterface* m_childGuiHelper;
int m_uidGenerator;
const unsigned char* m_texels;
int m_textureWidth;
int m_textureHeight;
@@ -305,6 +335,7 @@ public:
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
m_uidGenerator(0),
m_texels(0),
m_textureId(-1)
{
@@ -548,6 +579,96 @@ public:
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
btAlignedObjectArray<UserDebugText> m_userDebugText;
UserDebugText m_tmpText;
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{
m_tmpText.m_itemUniqueId = m_uidGenerator++;
m_tmpText.m_lifeTime = lifeTime;
m_tmpText.textSize = size;
int len = strlen(txt);
strcpy(m_tmpText.m_text,txt);
m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
m_tmpText.m_textPositionXYZ[2] = positionXYZ[2];
m_tmpText.m_textColorRGB[0] = textColorRGB[0];
m_tmpText.m_textColorRGB[1] = textColorRGB[1];
m_tmpText.m_textColorRGB[2] = textColorRGB[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddText);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
}
btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
UserDebugDrawLine m_tmpLine;
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
{
m_tmpLine.m_lifeTime = lifeTime;
m_tmpLine.m_lineWidth = lineWidth;
m_tmpLine.m_itemUniqueId = m_uidGenerator++;
m_tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0];
m_tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1];
m_tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2];
m_tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0];
m_tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1];
m_tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2];
m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0];
m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1];
m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId;
}
int m_removeDebugItemUid;
virtual void removeUserDebugItem( int debugItemUniqueId)
{
m_removeDebugItemUid = debugItemUniqueId;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugRemoveItem);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
}
virtual void removeAllUserDebugItems( )
{
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
}
};
@@ -935,10 +1056,68 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIUserDebugAddText:
{
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIUserDebugAddLine:
{
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIUserDebugRemoveItem:
{
for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++)
{
if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
{
m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1);
m_multiThreadedHelper->m_userDebugLines.pop_back();
break;
}
}
for (int i=0;i<m_multiThreadedHelper->m_userDebugText.size();i++)
{
if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
{
m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1);
m_multiThreadedHelper->m_userDebugText.pop_back();
break;
}
}
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIUserDebugRemoveAllItems:
{
m_multiThreadedHelper->m_userDebugLines.clear();
m_multiThreadedHelper->m_userDebugText.clear();
m_multiThreadedHelper->m_uidGenerator = 0;
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperIdle:
{
break;
}
default:
{
btAssert(0);
}
}
@@ -993,15 +1172,38 @@ void PhysicsServerExample::renderScene()
//add array of lines
//draw all user- 'text3d' messages
if (m_guiHelper)
if (m_multiThreadedHelper)
{
btVector3 from(0, 0, 0);
btVector3 toX(1, 1, 1);
btVector3 color(0, 1, 0);
double width = 2;
m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, width);
for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++)
{
btVector3 from;
from.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]);
btVector3 toX;
toX.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]);
btVector3 color;
color.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1],
m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]);
m_guiHelper->getAppInterface()->drawText3D("hi", 1, 1, 1, 1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth);
}
for (int i=0;i<m_multiThreadedHelper->m_userDebugText.size();i++)
{
m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2],
m_multiThreadedHelper->m_userDebugText[i].textSize);
}
}