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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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8
examples/SharedMemory/SharedMemoryCommands.h
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@@ -625,6 +625,9 @@ enum EnumUserDebugDrawFlags
USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32,
USER_DEBUG_ADD_PARAMETER=64,
USER_DEBUG_READ_PARAMETER=128,
USER_DEBUG_HAS_OPTION_FLAGS=256,
USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
USER_DEBUG_HAS_TRACKING_OBJECT=1024,
};
@@ -640,8 +643,13 @@ struct UserDebugDrawArgs
char m_text[MAX_FILENAME_LENGTH];
double m_textPositionXYZ[3];
double m_textOrientation[4];
int m_trackingObjectUniqueId;
int m_trackingLinkIndex;
double m_textColorRGB[3];
double m_textSize;
int m_optionFlags;
double m_rangeMin;
double m_rangeMax;