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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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10
examples/OpenGLWindow/SimpleOpenGL2App.cpp
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@@ -297,13 +297,14 @@ void SimpleOpenGL2App::swapBuffer()
m_window->startRendering();
}
void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY, float size)
void SimpleOpenGL2App::drawText( const char* txt, int posXi, int posYi, float size, float colorRGBA[4])
{
}
static void restoreOpenGLState()
static void restoreOpenGLState()
{
@@ -339,6 +340,11 @@ void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY, float size
}
void SimpleOpenGL2App::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
{
}
void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
{
saveOpenGLState(gApp2->m_renderer->getScreenWidth(),gApp2->m_renderer->getScreenHeight());