db008ab3c2
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
95 lines
3.7 KiB
C++
95 lines
3.7 KiB
C++
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#ifndef SIMPLE_OPENGL2_RENDERER_H
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#define SIMPLE_OPENGL2_RENDERER_H
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "SimpleCamera.h"
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class SimpleOpenGL2Renderer : public CommonRenderInterface
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{
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struct SimpleOpenGL2RendererInternalData* m_data;
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void drawSceneInternal(int pass, int cameraUpAxis);
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void drawOpenGL(int instanceIndex);
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public:
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SimpleOpenGL2Renderer(int width, int height);
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virtual ~SimpleOpenGL2Renderer();
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virtual void init();
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virtual void updateCamera(int upAxis);
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virtual const CommonCameraInterface* getActiveCamera() const;
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virtual CommonCameraInterface* getActiveCamera();
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virtual void setActiveCamera(CommonCameraInterface* cam);
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virtual void setLightPosition(const float lightPos[3]);
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virtual void setLightPosition(const double lightPos[3]);
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virtual void resize(int width, int height);
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virtual void removeAllInstances();
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virtual void removeGraphicsInstance(int instanceUid);
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virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex);
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virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
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virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
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virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
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virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
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virtual void getCameraViewMatrix(float viewMat[16]) const;
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virtual void getCameraProjectionMatrix(float projMat[16]) const;
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virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1)
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{
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}
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virtual void renderScene();
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virtual int getScreenWidth();
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virtual int getScreenHeight();
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virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY);
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virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY);
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virtual void activateTexture(int textureIndex);
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virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
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virtual void drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize);
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virtual void drawLine(const float from[4], const float to[4], const float color[4], float lineWidth);
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virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
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virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex);
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virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);
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virtual int getTotalNumInstances() const;
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virtual void writeTransforms();
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virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);
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virtual void drawPoint(const float* position, const float color[4], float pointDrawSize);
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virtual void drawPoint(const double* position, const double color[4], double pointDrawSize);
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virtual void updateShape(int shapeIndex, const float* vertices);
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virtual void enableBlend(bool blend);
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virtual void clearZBuffer();
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virtual struct GLInstanceRendererInternalData* getInternalData()
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{
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return 0;
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}
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};
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#endif //SIMPLE_OPENGL2_RENDERER_H
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