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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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11
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
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@@ -34,21 +34,24 @@ public:
virtual void removeAllInstances();
virtual void removeGraphicsInstance(int instanceUid);
virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
virtual void getCameraViewMatrix(float viewMat[16]) const;
virtual void getCameraProjectionMatrix(float projMat[16]) const;
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 renderScene();
virtual int getScreenWidth();
virtual int getScreenHeight();
virtual int registerTexture(const unsigned char* texels, int width, int height);
virtual void updateTexture(int textureIndex, const unsigned char* texels);
virtual void activateTexture(int textureIndex);
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY);
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY);
virtual void activateTexture(int textureIndex);
virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);