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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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277
examples/SimpleOpenGL3/main.cpp
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@@ -1,23 +1,12 @@
//#define USE_OPENGL2
#ifdef USE_OPENGL2
#include "OpenGLWindow/SimpleOpenGL2App.h"
typedef SimpleOpenGL2App SimpleOpenGLApp ;
#else
#include "OpenGLWindow/SimpleOpenGL3App.h"
typedef SimpleOpenGL3App SimpleOpenGLApp ;
#endif //USE_OPENGL2
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "assert.h"
#include <stdio.h>
char* gVideoFileName = 0;
char* gPngFileName = 0;
@@ -30,131 +19,9 @@ static b3KeyboardCallback sOldKeyboardCB = 0;
float gWidth = 1024;
float gHeight = 768;
SimpleOpenGLApp* app = 0;
float gMouseX = 0;
float gMouseY = 0;
float g_MouseWheel = 0.0f;
int g_MousePressed[3] = {0};
int g_MousePressed2[3] = {0};
//#define B3_USE_IMGUI
#ifdef B3_USE_IMGUI
#include "OpenGLWindow/OpenGLInclude.h"
#include "ThirdPartyLibs/imgui/imgui.h"
static GLuint g_FontTexture = 0;
void ImGui_ImplBullet_CreateDeviceObjects()
{
ImGuiIO& io = ImGui::GetIO();
unsigned char* pixels;
int width, height;
io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height); // Load as RGBA 32-bits (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
// Upload texture to graphics system
GLint last_texture;
glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
glGenTextures(1, &g_FontTexture);
glBindTexture(GL_TEXTURE_2D, g_FontTexture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
// Store our identifier
io.Fonts->TexID = (void *)(intptr_t)g_FontTexture;
// Restore state
glBindTexture(GL_TEXTURE_2D, last_texture);
}
void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
{
// Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
ImGuiIO& io = ImGui::GetIO();
int fb_width = (int)(io.DisplaySize.x * io.DisplayFramebufferScale.x);
int fb_height = (int)(io.DisplaySize.y * io.DisplayFramebufferScale.y);
if (fb_width == 0 || fb_height == 0)
return;
draw_data->ScaleClipRects(io.DisplayFramebufferScale);
// We are using the OpenGL fixed pipeline to make the example code simpler to read!
// Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, vertex/texcoord/color pointers.
GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
GLint last_viewport[4]; glGetIntegerv(GL_VIEWPORT, last_viewport);
GLint last_scissor_box[4]; glGetIntegerv(GL_SCISSOR_BOX, last_scissor_box);
glPushAttrib(GL_ENABLE_BIT | GL_COLOR_BUFFER_BIT | GL_TRANSFORM_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_CULL_FACE);
glDisable(GL_DEPTH_TEST);
glEnable(GL_SCISSOR_TEST);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glEnable(GL_TEXTURE_2D);
//glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context
// Setup viewport, orthographic projection matrix
glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0.0f, io.DisplaySize.x, io.DisplaySize.y, 0.0f, -1.0f, +1.0f);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
// Render command lists
#define OFFSETOF(TYPE, ELEMENT) ((size_t)&(((TYPE *)0)->ELEMENT))
for (int n = 0; n < draw_data->CmdListsCount; n++)
{
const ImDrawList* cmd_list = draw_data->CmdLists[n];
const ImDrawVert* vtx_buffer = cmd_list->VtxBuffer.Data;
const ImDrawIdx* idx_buffer = cmd_list->IdxBuffer.Data;
glVertexPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, pos)));
glTexCoordPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, uv)));
glColorPointer(4, GL_UNSIGNED_BYTE, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, col)));
for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++)
{
const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i];
if (pcmd->UserCallback)
{
pcmd->UserCallback(cmd_list, pcmd);
}
else
{
glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->TextureId);
glScissor((int)pcmd->ClipRect.x, (int)(fb_height - pcmd->ClipRect.w), (int)(pcmd->ClipRect.z - pcmd->ClipRect.x), (int)(pcmd->ClipRect.w - pcmd->ClipRect.y));
glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer);
}
idx_buffer += pcmd->ElemCount;
}
}
#undef OFFSETOF
// Restore modified state
glDisableClientState(GL_COLOR_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisableClientState(GL_VERTEX_ARRAY);
glBindTexture(GL_TEXTURE_2D, (GLuint)last_texture);
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glPopAttrib();
glViewport(last_viewport[0], last_viewport[1], (GLsizei)last_viewport[2], (GLsizei)last_viewport[3]);
glScissor(last_scissor_box[0], last_scissor_box[1], (GLsizei)last_scissor_box[2], (GLsizei)last_scissor_box[3]);
}
#endif //B3_USE_IMGUI
void MyWheelCallback(float deltax, float deltay)
{
g_MouseWheel += deltax+deltay;
if (sOldWheelCB)
sOldWheelCB(deltax,deltay);
}
@@ -169,29 +36,12 @@ void MyResizeCallback( float width, float height)
void MyMouseMoveCallback( float x, float y)
{
printf("Mouse Move: %f, %f\n", x,y);
gMouseX = x;
gMouseY = y;
if (sOldMouseMoveCB)
sOldMouseMoveCB(x,y);
}
void MyMouseButtonCallback(int button, int state, float x, float y)
{
gMouseX = x;
gMouseY = y;
{
if (button>=0 && button<3)
{
if (state)
{
g_MousePressed[button] = state;
}
g_MousePressed2[button] = state;
}
}
if (sOldMouseButtonCB)
sOldMouseButtonCB(button,state,x,y);
}
@@ -209,56 +59,17 @@ void MyKeyboardCallback(int keycode, int state)
}
bool ImGui_ImplGlfw_Init()
{
#if 0
ImGuiIO& io = ImGui::GetIO();
io.KeyMap[ImGuiKey_Tab] = GLFW_KEY_TAB; // Keyboard mapping. ImGui will use those indices to peek into the io.KeyDown[] array.
io.KeyMap[ImGuiKey_LeftArrow] = GLFW_KEY_LEFT;
io.KeyMap[ImGuiKey_RightArrow] = GLFW_KEY_RIGHT;
io.KeyMap[ImGuiKey_UpArrow] = GLFW_KEY_UP;
io.KeyMap[ImGuiKey_DownArrow] = GLFW_KEY_DOWN;
io.KeyMap[ImGuiKey_PageUp] = GLFW_KEY_PAGE_UP;
io.KeyMap[ImGuiKey_PageDown] = GLFW_KEY_PAGE_DOWN;
io.KeyMap[ImGuiKey_Home] = GLFW_KEY_HOME;
io.KeyMap[ImGuiKey_End] = GLFW_KEY_END;
io.KeyMap[ImGuiKey_Delete] = GLFW_KEY_DELETE;
io.KeyMap[ImGuiKey_Backspace] = GLFW_KEY_BACKSPACE;
io.KeyMap[ImGuiKey_Enter] = GLFW_KEY_ENTER;
io.KeyMap[ImGuiKey_Escape] = GLFW_KEY_ESCAPE;
io.KeyMap[ImGuiKey_A] = GLFW_KEY_A;
io.KeyMap[ImGuiKey_C] = GLFW_KEY_C;
io.KeyMap[ImGuiKey_V] = GLFW_KEY_V;
io.KeyMap[ImGuiKey_X] = GLFW_KEY_X;
io.KeyMap[ImGuiKey_Y] = GLFW_KEY_Y;
io.KeyMap[ImGuiKey_Z] = GLFW_KEY_Z;
io.RenderDrawListsFn = ImGui_ImplGlfw_RenderDrawLists; // Alternatively you can set this to NULL and call ImGui::GetDrawData() after ImGui::Render() to get the same ImDrawData pointer.
io.SetClipboardTextFn = ImGui_ImplGlfw_SetClipboardText;
io.GetClipboardTextFn = ImGui_ImplGlfw_GetClipboardText;
io.ClipboardUserData = g_Window;
#ifdef _WIN32
io.ImeWindowHandle = glfwGetWin32Window(g_Window);
#endif
#endif
return true;
}
int main(int argc, char* argv[])
{
{
b3CommandLineArgs myArgs(argc, argv);
app = new SimpleOpenGLApp("SimpleOpenGLApp", gWidth, gHeight);
app->m_renderer->getActiveCamera()->setCameraDistance(13);
app->m_renderer->getActiveCamera()->setCameraPitch(0);
app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App", gWidth, gHeight, true);
app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
sOldKeyboardCB = app->m_window->getKeyboardCallback();
app->m_window->setKeyboardCallback(MyKeyboardCallback);
sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
@@ -290,9 +101,9 @@ int main(int argc, char* argv[])
b3Vector3 pos = b3MakeVector3(0, 0, 0);
b3Quaternion orn(0, 0, 0, 1);
b3Vector3 color = b3MakeVector3(1, 0, 0);
b3Vector4 color = b3MakeVector4(1, 0, 0,1);
b3Vector3 scaling = b3MakeVector3 (1, 1, 1);
app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
//app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
app->m_renderer->writeTransforms();
do
@@ -307,8 +118,6 @@ int main(int argc, char* argv[])
app->dumpNextFrameToPng(fileName);
}
//update the texels of the texture using a simple pattern, animated using frame index
@@ -328,62 +137,50 @@ int main(int argc, char* argv[])
app->m_renderer->activateTexture(textureHandle);
app->m_renderer->updateTexture(textureHandle, image);
//float color[4] = { 255, 1, 1, 1 };
//app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
float color[4] = { 1, 0, 0, 1 };
app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
app->m_renderer->init();
app->m_renderer->updateCamera(1);
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
app->m_renderer->renderScene();
app->drawGrid();
char bla[1024];
sprintf(bla, "Simple test frame %d", frameCount);
sprintf(bla, "2d text:%d", frameCount);
//app->drawText(bla, 10, 10);
float yellow[4] = {1,1,0,1};
app->drawText(bla, 10, 10, 1, yellow);
int optionFlag = 0;
float position[3] = {1,1,1};
float position2[3] = {0,0,5};
#ifdef B3_USE_IMGUI
{
bool show_test_window = true;
bool show_another_window = false;
ImVec4 clear_color = ImColor(114, 144, 154);
float orientation[4] = {0,0,0,1};
//app->drawText3D(bla,0,0,1,1);
// Start the frame
ImGuiIO& io = ImGui::GetIO();
if (!g_FontTexture)
ImGui_ImplBullet_CreateDeviceObjects();
sprintf(bla, "3d bitmap camera facing text:%d", frameCount);
app->drawText3D(bla,position2,orientation,color,1,CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
sprintf(bla, "3d bitmap text:%d", frameCount);
app->drawText3D(bla,position,orientation,color,0.001,0);
io.DisplaySize = ImVec2((float)gWidth, (float)gHeight);
io.DisplayFramebufferScale = ImVec2(gWidth > 0 ? ((float)1.) : 0, gHeight > 0 ? ((float)1.) : 0);
io.DeltaTime = (float)(1.0f/60.0f);
io.MousePos = ImVec2((float)gMouseX, (float)gMouseY);
io.RenderDrawListsFn = ImGui_ImplBullet_RenderDrawLists;
float green[4] = {0,1,0,1};
float blue[4] = {0,0,1,1};
sprintf(bla, "3d ttf camera facing text:%d", frameCount);
app->drawText3D(bla,position2,orientation,green,1,CommonGraphicsApp::eDrawText3D_TrueType|CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
for (int i=0;i<3;i++)
{
io.MouseDown[i] = g_MousePressed[i]|g_MousePressed2[i];
g_MousePressed[i] = false;
}
app->drawText3D(bla,position2,orientation,green,1,CommonGraphicsApp::eDrawText3D_TrueType|CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
sprintf(bla, "3d ttf text:%d", frameCount);
b3Quaternion orn;
orn.setEulerZYX(B3_HALF_PI/2.,0,B3_HALF_PI/2.);
app->drawText3D(bla,position2,orn,blue,1,CommonGraphicsApp::eDrawText3D_TrueType);
io.MouseWheel = g_MouseWheel;
//app->drawText3D(bla,position, orientation,color,0.1,optionFlag);
ImGui::NewFrame();
ImGui::ShowTestWindow();
ImGui::ShowMetricsWindow();
#if 0
static float f = 0.0f;
ImGui::Text("Hello, world!");
ImGui::SliderFloat("float", &f, 0.0f, 1.0f);
ImGui::ColorEdit3("clear color", (float*)&clear_color);
if (ImGui::Button("Test Window")) show_test_window ^= 1;
if (ImGui::Button("Another Window")) show_another_window ^= 1;
ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
#endif
ImGui::Render();
}
#endif //B3_USE_IMGUI
app->swapBuffer();
} while (!app->m_window->requestedExit());
@@ -394,4 +191,4 @@ int main(int argc, char* argv[])
delete[] image;
}
return 0;
}
}