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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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144
examples/OpenGLWindow/fontstash.cpp
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@@ -487,6 +487,9 @@ error:
return 0;
}
static int get_quad(struct sth_stash* stash, struct sth_font* fnt, struct sth_glyph* glyph, short isize, float* x, float* y, struct sth_quad* q)
{
float rx,ry;
@@ -514,7 +517,36 @@ static int get_quad(struct sth_stash* stash, struct sth_font* fnt, struct sth_gl
return 1;
}
static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width, float height)
static int get_quad3D(struct sth_stash* stash, struct sth_font* fnt, struct sth_glyph* glyph, short isize2, float* x, float* y, struct sth_quad* q, float fontSize, float textScale)
{
short isize=1;
float rx,ry;
float scale = textScale/fontSize;//0.1;//1.0f;
if (fnt->type == BMFONT)
scale = isize/(glyph->size);
rx = (*x + scale * float(glyph->xoff));
ry = (scale * float(glyph->yoff));
q->x0 = rx;
q->y0 = *y -(ry);
q->x1 = rx + scale * float(glyph->x1 - glyph->x0_);
q->y1 = *y-(ry + scale * float(glyph->y1 - glyph->y0));
q->s0 = float(glyph->x0_) * stash->itw;
q->t0 = float(glyph->y0) * stash->ith;
q->s1 = float(glyph->x1) * stash->itw;
q->t1 = float(glyph->y1) * stash->ith;
*x += scale * glyph->xadv;
return 1;
}
static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width, float height, float colorRGBA[4])
{
bool scale=true;
if (scale)
@@ -532,15 +564,34 @@ static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width,
v->uv.p[0] = s;
v->uv.p[1] = t;
v->colour.p[0] = 0.1f;//1.f;
v->colour.p[1] = 0.1f;
v->colour.p[2] = 0.1f;
v->colour.p[3] = 1.f;
v->colour.p[0] = colorRGBA[0];
v->colour.p[1] = colorRGBA[1];
v->colour.p[2] = colorRGBA[2];
v->colour.p[3] = colorRGBA[3];
return v+1;
}
static Vertex* setv3D(Vertex* v, float x, float y, float z, float s, float t, float colorRGBA[4])
{
v->position.p[0] = x;
v->position.p[1] = y;
v->position.p[2] = z;
v->position.p[3] = 1.f;
v->uv.p[0] = s;
v->uv.p[1] = t;
v->colour.p[0] = colorRGBA[0];
v->colour.p[1] = colorRGBA[1];
v->colour.p[2] = colorRGBA[2];
v->colour.p[3] = colorRGBA[3];
return v+1;
}
static void flush_draw(struct sth_stash* stash)
@@ -598,7 +649,7 @@ void sth_draw_texture(struct sth_stash* stash,
int idx, float size,
float x, float y,
int screenwidth, int screenheight,
const char* s, float* dx)
const char* s, float* dx, float colorRGBA[4])
{
int width = stash->tw;
int height=stash->th;
@@ -642,13 +693,13 @@ void sth_draw_texture(struct sth_stash* stash,
q.x1 = q.x0+width;
q.y1 = q.y0+height;
v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight);
v = setv(v, q.x1, q.y0, 1,0,(float)screenwidth,(float)screenheight);
v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight);
v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x1, q.y0, 1,0,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight);
v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight);
v = setv(v, q.x0, q.y1, 0,1,(float)screenwidth,(float)screenheight);
v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x0, q.y1, 0,1,(float)screenwidth,(float)screenheight,colorRGBA);
texture->nverts += 6;
}
@@ -667,7 +718,7 @@ void sth_flush_draw(struct sth_stash* stash)
void sth_draw_text(struct sth_stash* stash,
int idx, float size,
float x, float y,
const char* s, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale)
const char* s, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale, float colorRGBA[4])
{
unsigned int codepoint;
@@ -708,13 +759,68 @@ void sth_draw_text(struct sth_stash* stash,
{
v = &texture->newverts[texture->nverts];
v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight);
v = setv(v, q.x1, q.y0, q.s1, q.t0,(float)screenwidth,(float)screenheight);
v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight);
v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x1, q.y0, q.s1, q.t0,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight);
v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight);
v = setv(v, q.x0, q.y1, q.s0, q.t1,(float)screenwidth,(float)screenheight);
v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight,colorRGBA);
v = setv(v, q.x0, q.y1, q.s0, q.t1,(float)screenwidth,(float)screenheight,colorRGBA);
texture->nverts += 6;
}
}
if (dx) *dx = x;
}
void sth_draw_text3D(struct sth_stash* stash,
int idx, float fontSize,
float x, float y, float z,
const char* s, float* dx, float textScale, float colorRGBA[4], int unused)
{
unsigned int codepoint;
struct sth_glyph* glyph = NULL;
struct sth_texture* texture = NULL;
unsigned int state = 0;
struct sth_quad q;
short isize = (short)(fontSize*10.0f);
Vertex* v;
struct sth_font* fnt = NULL;
s_retinaScale = 1;
if (stash == NULL) return;
if (!stash->textures) return;
fnt = stash->fonts;
while(fnt != NULL && fnt->idx != idx) fnt = fnt->next;
if (fnt == NULL) return;
if (fnt->type != BMFONT && !fnt->data) return;
for (; *s; ++s)
{
if (decutf8(&state, &codepoint, *(unsigned char*)s))
continue;
glyph = get_glyph(stash, fnt, codepoint, isize);
if (!glyph) continue;
texture = glyph->texture;
if (texture->nverts+6 >= VERT_COUNT)
flush_draw(stash);
if (!get_quad3D(stash, fnt, glyph, isize, &x, &y, &q, fontSize, textScale)) continue;
{
v = &texture->newverts[texture->nverts];
v = setv3D(v, q.x0, q.y0, z,q.s0, q.t0,colorRGBA);
v = setv3D(v, q.x1, q.y0, z,q.s1, q.t0,colorRGBA);
v = setv3D(v, q.x1, q.y1, z,q.s1, q.t1,colorRGBA);
v = setv3D(v, q.x0, q.y0, z,q.s0, q.t0,colorRGBA);
v = setv3D(v, q.x1, q.y1, z,q.s1, q.t1,colorRGBA);
v = setv3D(v, q.x0, q.y1, z,q.s0, q.t1,colorRGBA);
texture->nverts += 6;
}