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

62
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -5816,6 +5816,37 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
hasStatus = true;
int trackingVisualShapeIndex = -1;
if (clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId>=0)
{
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
int linkIndex = clientCmd.m_userDebugDrawArgs.m_trackingLinkIndex;
if (linkIndex ==-1)
{
if (bodyHandle->m_multiBody->getBaseCollider())
{
trackingVisualShapeIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
}
} else
{
if (linkIndex >=0 && linkIndex < bodyHandle->m_multiBody->getNumLinks())
{
if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
{
trackingVisualShapeIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
}
}
}
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_ADD_PARAMETER)
{
int uid = m_data->m_guiHelper->addUserDebugParameter(
@@ -5888,11 +5919,27 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
{
//addUserDebugText3D( const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingObjectUniqueId, int optionFlags){return -1;}
int optionFlags = clientCmd.m_userDebugDrawArgs.m_optionFlags;
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)
{
optionFlags |= DEB_DEBUG_TEXT_USE_ORIENTATION;
}
int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text,
clientCmd.m_userDebugDrawArgs.m_textPositionXYZ,
clientCmd.m_userDebugDrawArgs.m_textOrientation,
clientCmd.m_userDebugDrawArgs.m_textColorRGB,
clientCmd.m_userDebugDrawArgs.m_textSize,
clientCmd.m_userDebugDrawArgs.m_lifeTime);
clientCmd.m_userDebugDrawArgs.m_lifeTime,
trackingVisualShapeIndex,
optionFlags);
if (uid>=0)
{
@@ -5908,7 +5955,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_userDebugDrawArgs.m_debugLineToXYZ,
clientCmd.m_userDebugDrawArgs.m_debugLineColorRGB,
clientCmd.m_userDebugDrawArgs.m_lineWidth,
clientCmd.m_userDebugDrawArgs.m_lifeTime);
clientCmd.m_userDebugDrawArgs.m_lifeTime,
trackingVisualShapeIndex);
if (uid>=0)
{
@@ -5953,14 +6001,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//static int skip=1;
void PhysicsServerCommandProcessor::syncPhysicsToGraphics()
{
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
}
void PhysicsServerCommandProcessor::renderScene(int renderFlags)
{
if (m_data->m_guiHelper)
{
if (0==(renderFlags&COV_DISABLE_SYNC_RENDERING))
{
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
}
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD