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Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link.

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example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
This commit is contained in:
Erwin Coumans
2017-05-23 22:05:26 -07:00
parent 19933a9454
commit db008ab3c2
30 changed files with 1195 additions and 517 deletions
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17
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -84,12 +84,11 @@ struct GUIHelperInterface
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size)=0;
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)=0;
virtual int addUserDebugText3D( const char* txt, const double posisionXYZ[3], const double textColorRGB[3], double size, double lifeTime){return -1;};
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime ){return -1;};
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags){return -1;}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex){return -1;};
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue){return -1;};
virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0;}
@@ -174,12 +173,12 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
{
return -1;
}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex)
{
return -1;
}

23
examples/CommonInterfaces/CommonGraphicsAppInterface.h
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@@ -37,6 +37,12 @@ enum EnumSphereLevelOfDetail
};
struct CommonGraphicsApp
{
enum drawText3DOption
{
eDrawText3D_OrtogonalFaceCamera=1,
eDrawText3D_TrueType=2,
eDrawText3D_TrackObject=4,
};
class CommonWindowInterface* m_window;
struct CommonRenderInterface* m_renderer;
struct CommonParameterInterface* m_parameterInterface;
@@ -120,8 +126,21 @@ struct CommonGraphicsApp
virtual int getUpAxis() const = 0;
virtual void swapBuffer() = 0;
virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual void drawText( const char* txt, int posX, int posY)
{
float size=1;
float colorRGBA[4]={1,1,1,1};
drawText(txt,posX,posY, size, colorRGBA);
}
virtual void drawText( const char* txt, int posX, int posY, float size)
{
float colorRGBA[4]={1,1,1,1};
drawText(txt,posX,posY,size,colorRGBA);
}
virtual void drawText( const char* txt, int posX, int posY, float size, float colorRGBA[4]) = 0;
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size)=0;
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)=0;
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0;
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;

18
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -17,6 +17,14 @@ enum
B3_USE_SHADOWMAP_RENDERMODE,
};
struct CommonGfxVertex3D
{
float x,y,z,w;
float nx,ny,nz;
float u,v;
};
struct CommonRenderInterface
{
virtual ~CommonRenderInterface() {}
@@ -46,13 +54,17 @@ struct CommonRenderInterface
virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
virtual void drawPoint(const float* position, const float color[4], float pointDrawSize)=0;
virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)=0;
virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1)=0;
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
virtual void updateShape(int shapeIndex, const float* vertices)=0;
virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
virtual void updateTexture(int textureIndex, const unsigned char* texels)=0;
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0;
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0;
virtual void activateTexture(int textureIndex)=0;
virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0;
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex)=0;