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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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9
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -1194,6 +1194,15 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
}
}
void OpenGLGuiHelper::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlags)
{
B3_PROFILE("OpenGLGuiHelper::drawText3D");
btAssert(m_data->m_glApp);
m_data->m_glApp->drawText3D(txt,position, orientation, color,size, optionFlags);
}
void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
{
B3_PROFILE("OpenGLGuiHelper::drawText3D");

6
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -57,8 +57,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
int destinationHeight, int* numPixelsCopied);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{