Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix pybullet.addUserDebugText borders around letters

Browse Source 
bump up pybullet version
In a few pybullet examples, first connect to SHARED_MEMORY, if not connected use GUI mode
This commit is contained in:
erwincoumans
2017-10-10 22:11:32 -07:00
parent c155e105a5
commit de44e4811a
6 changed files with 22 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -8246,9 +8246,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int optionFlags = clientCmd.m_userDebugDrawArgs.m_optionFlags;
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)
if ((clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)==0)
{
optionFlags |= DEB_DEBUG_TEXT_USE_ORIENTATION;
optionFlags |= DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA;
}

18
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -2441,22 +2441,26 @@ void PhysicsServerExample::drawUserDebugLines()
for (int i = 0; i<m_multiThreadedHelper->m_userDebugText.size(); i++)
{
// int optionFlag = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera|CommonGraphicsApp::eDrawText3D_TrueType;
//int optionFlag = 0;//CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera|CommonGraphicsApp::eDrawText3D_TrueType;
//int optionFlag = CommonGraphicsApp::eDrawText3D_TrueType;
float orientation[4] = {0,0,0,1};
//int optionFlag = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
int optionFlag = 0;
float orientation[4] = {0,0,0,1};
if (m_multiThreadedHelper->m_userDebugText[i].m_optionFlags&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
{
optionFlag |= CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
} else
{
orientation[0] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[0];
orientation[1] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[1];
orientation[2] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[2];
orientation[3] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[3];
optionFlag |= CommonGraphicsApp::eDrawText3D_TrueType;
} else
{
optionFlag |= CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
}
float colorRGBA[4] = {
m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[0],
m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[1],
@@ -2526,7 +2530,6 @@ void PhysicsServerExample::renderScene()
B3_PROFILE("PhysicsServerExample::RenderScene");
drawUserDebugLines();
if (m_physicsServer.isRealTimeSimulationEnabled())
{
@@ -2679,6 +2682,7 @@ void PhysicsServerExample::renderScene()
}
}
drawUserDebugLines();
//m_args[0].m_cs->unlock();

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -583,7 +583,7 @@ enum b3ConfigureDebugVisualizerEnum
enum b3AddUserDebugItemEnum
{
DEB_DEBUG_TEXT_USE_ORIENTATION=1,
DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA=1,
DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS=2,
DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT=4,
};

4
examples/pybullet/examples/createVisualShape.py
View File

@@ -20,7 +20,9 @@ def getRayFromTo(mouseX,mouseY):
rayFrom[2]+rayForward[2] - 0.5 * horizon[2] + 0.5 * vertical[2]+float(mouseX)*dHor[2]-float(mouseY)*dVer[2]]
return rayFrom,rayTo
p.connect(p.GUI)
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setTimeStep(1./120.)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")

5
examples/pybullet/examples/debugDrawItems.py
View File

@@ -1,6 +1,9 @@
import pybullet as p
import time
p.connect(p.GUI)
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
p.loadURDF("plane.urdf")
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textSize=1.5,parentObjectUniqueId=kuka, parentLinkIndex=6)