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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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12
examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
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@@ -14,8 +14,8 @@
static unsigned int s_indexData[INDEX_COUNT];
GLuint s_indexArrayObject, s_indexBuffer;
GLuint s_vertexArrayObject,s_vertexBuffer;
static GLuint s_indexArrayObject, s_indexBuffer;
static GLuint s_vertexArrayObject,s_vertexBuffer;
OpenGL2RenderCallbacks::OpenGL2RenderCallbacks(GLPrimitiveRenderer* primRender)
:m_primRender2(primRender)
@@ -54,7 +54,13 @@ void InternalOpenGL2RenderCallbacks::display2()
assert(glGetError()==GL_NO_ERROR);
float identity[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,1};
glUniformMatrix4fv(data->m_viewmatUniform, 1, false, identity);
glUniformMatrix4fv(data->m_projMatUniform, 1, false, identity);
vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
glUniform2fv(data->m_positionUniform, 1, (const GLfloat *)&p);