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

50
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
View File

@@ -139,6 +139,11 @@ void SimpleOpenGL2Renderer::removeGraphicsInstance(int instanceUid)
m_data->m_graphicsInstancesPool.freeHandle(instanceUid);
}
bool SimpleOpenGL2Renderer::readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)
{
return false;
}
void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex)
{
}
@@ -388,7 +393,7 @@ void SimpleOpenGL2Renderer::renderScene()
}
int SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height)
int SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY)
{
b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
@@ -406,12 +411,12 @@ int SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int widt
h.m_height = height;
m_data->m_textureHandles.push_back(h);
updateTexture(textureIndex, texels);
updateTexture(textureIndex, texels,flipTexelsY);
return textureIndex;
}
void SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels)
void SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY)
{
if (textureIndex>=0)
{
@@ -420,27 +425,36 @@ void SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned ch
glActiveTexture(GL_TEXTURE0);
b3Assert(glGetError() ==GL_NO_ERROR);
InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
b3Assert(glGetError() ==GL_NO_ERROR);
//textures need to be flipped for OpenGL...
b3AlignedObjectArray<unsigned char> flippedTexels;
flippedTexels.resize(h.m_width* h.m_height * 3);
for (int i = 0; i < h.m_width; i++)
if (flipTexelsY)
{
for (int j = 0; j < h.m_height; j++)
//textures need to be flipped for OpenGL...
b3AlignedObjectArray<unsigned char> flippedTexels;
flippedTexels.resize(h.m_width* h.m_height * 3);
for (int i = 0; i < h.m_width; i++)
{
flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
flippedTexels[(i + j*h.m_width) * 3+2] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
for (int j = 0; j < h.m_height; j++)
{
flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
flippedTexels[(i + j*h.m_width) * 3+2] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
}
}
// const GLubyte* image= (const GLubyte*)texels;
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
} else
{
// const GLubyte* image= (const GLubyte*)texels;
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
}
glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
b3Assert(glGetError() ==GL_NO_ERROR);
// const GLubyte* image= (const GLubyte*)texels;
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
b3Assert(glGetError() ==GL_NO_ERROR);
b3Assert(glGetError() ==GL_NO_ERROR);
glGenerateMipmap(GL_TEXTURE_2D);
b3Assert(glGetError() ==GL_NO_ERROR);
}