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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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37
examples/pybullet/pybullet.c
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@@ -3077,13 +3077,18 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
PyObject* textPositionObj = 0;
PyObject* textColorRGBObj = 0;
PyObject* textOrientationObj = 0;
double textOrientation[4];
int trackingObjectUniqueId=-1;
int trackingLinkIndex=-1;
double textSize = 1.f;
double lifeTime = 0.f;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "physicsClientId", NULL};
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "trackObjectUniqueId", "trackLinkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|Oddi", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &trackingObjectUniqueId, &trackingLinkIndex, &physicsClientId))
{
return NULL;
}
@@ -3113,6 +3118,23 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
commandHandle = b3InitUserDebugDrawAddText3D(sm, text, posXYZ, colorRGB, textSize, lifeTime);
if (trackingObjectUniqueId>=0)
{
b3UserDebugItemSetTrackingObject(commandHandle, trackingObjectUniqueId,trackingLinkIndex);
}
if (textOrientationObj)
{
res = pybullet_internalSetVector4d(textOrientationObj, textOrientation);
if (!res)
{
PyErr_SetString(SpamError, "Error converting textOrientation[4]");
return NULL;
} else
{
b3UserDebugTextSetOrientation(commandHandle,textOrientation);
}
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)
@@ -3136,6 +3158,8 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
double fromXYZ[3];
double toXYZ[3];
double colorRGB[3] = {1, 1, 1};
int trackingObjectUniqueId=-1;
int trackingLinkIndex=-1;
PyObject* lineFromObj = 0;
PyObject* lineToObj = 0;
@@ -3144,9 +3168,9 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
double lifeTime = 0.f;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "physicsClientId", NULL};
static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "trackObjectUniqueId", "trackLinkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddi", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddiii", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &trackingObjectUniqueId, &trackingLinkIndex, &physicsClientId))
{
return NULL;
}
@@ -3177,6 +3201,11 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
commandHandle = b3InitUserDebugDrawAddLine3D(sm, fromXYZ, toXYZ, colorRGB, lineWidth, lifeTime);
if (trackingObjectUniqueId>=0)
{
b3UserDebugItemSetTrackingObject(commandHandle, trackingObjectUniqueId,trackingLinkIndex);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)