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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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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;