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

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

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

9
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -64,8 +64,8 @@ public:
///vertices must be in the format x,y,z, nx,ny,nz, u,v
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
virtual int registerTexture(const unsigned char* texels, int width, int height);
virtual void updateTexture(int textureIndex, const unsigned char* texels);
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true);
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true);
virtual void activateTexture(int textureIndex);
@@ -76,7 +76,8 @@ public:
void writeTransforms();
virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex);
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex);
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
{
@@ -113,6 +114,8 @@ public:
virtual void drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize);
virtual void drawPoint(const float* position, const float color[4], float pointSize=1);
virtual void drawPoint(const double* position, const double color[4], double pointDrawSize=1);
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);
virtual void updateCamera(int upAxis=1);
virtual const CommonCameraInterface* getActiveCamera() const;