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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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24
examples/OpenGLWindow/fontstash.h
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@@ -22,7 +22,7 @@
#define MAX_ROWS 128
#define VERT_COUNT (6*128)
#define VERT_COUNT (16*128)
#define INDEX_COUNT (VERT_COUNT*2)
@@ -102,6 +102,9 @@ struct sth_texture
struct RenderCallbacks
{
virtual ~RenderCallbacks() {}
virtual void setColorRGBA(float color[4])=0;
virtual void setWorldPosition(float pos[3])=0;
virtual void setWorldOrientation(float orn[4])=0;
virtual void updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)=0;
virtual void render(sth_texture* texture)=0;
};
@@ -124,13 +127,28 @@ 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]);
void sth_flush_draw(struct sth_stash* stash);
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 bla);
void sth_draw_text(struct sth_stash* stash,
int idx, float size,
float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly=0, float retinaScale=1);
float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale, float colorRGBA[4]);
inline void sth_draw_text(struct sth_stash* stash,
int idx, float size,
float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly=false, float retinaScale=1.)
{
float colorRGBA[4]={1,1,1,1};
sth_draw_text(stash,idx,size,x,y,string,dx,screenwidth,screenheight,measureOnly, retinaScale, colorRGBA);
}
void sth_dim_text(struct sth_stash* stash, int idx, float size, const char* string,
float* minx, float* miny, float* maxx, float* maxy);