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Code Issues Releases Wiki Activity

pybullet: allow to replace existing text, to avoid flickering (remove/add)

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allow texture caching (disable using the disable file caching)
This commit is contained in:
erwincoumans 2017-10-25 08:15:01 -07:00
parent e9415f5912
commit ed8de36ffa
17 changed files with 256 additions and 88 deletions
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2
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@ -99,7 +99,7 @@ struct GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size){}
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag){}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags){return -1;}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid){return -1;}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex){return -1;};
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue){return -1;};
virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0;}

65
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@ -8,14 +8,37 @@
#include "Bullet3Common/b3FileUtils.h"
#include "stb_image/stb_image.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
#include "Bullet3Common/b3HashMap.h"
struct CachedTextureResult
{
std::string m_textureName;
int m_width;
int m_height;
unsigned char* m_pixels;
CachedTextureResult()
:m_width(0),
m_height(0),
m_pixels(0)
{
}
};
static b3HashMap<b3HashString, CachedTextureResult> gCachedTextureResults;
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
{
B3_PROFILE("loadAndRegisterMeshFromFileInternal");
meshData.m_gfxShape = 0;
meshData.m_textureImage = 0;
meshData.m_textureImage1 = 0;
meshData.m_textureHeight = 0;
meshData.m_textureWidth = 0;
meshData.m_isCached = false;
char relativeFileName[1024];
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
@ -37,7 +60,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
B3_PROFILE("Load Texture");
//int textureIndex = -1;
//try to load some texture
for (int i = 0; meshData.m_textureImage == 0 && i < shapes.size(); i++)
for (int i = 0; meshData.m_textureImage1 == 0 && i < shapes.size(); i++)
{
const tinyobj::shape_t& shape = shapes[i];
if (shape.material.diffuse_texname.length() > 0)
@ -56,21 +79,51 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
sprintf(relativeFileName, "%s%s", prefix[i], filename);
char relativeFileName2[1024];
if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
{
if (b3IsFileCachingEnabled())
{
CachedTextureResult* texture = gCachedTextureResults[relativeFileName];
if (texture)
{
image = texture->m_pixels;
width = texture->m_width;
height = texture->m_height;
meshData.m_textureWidth = width;
meshData.m_textureHeight = height;
meshData.m_textureImage1 = image;
meshData.m_isCached = true;
}
}
if (image==0)
{
image = stbi_load(relativeFileName, &width, &height, &n, 3);
meshData.m_textureImage = image;
meshData.m_textureImage1 = image;
if (image)
{
meshData.m_textureWidth = width;
meshData.m_textureHeight = height;
if (b3IsFileCachingEnabled())
{
CachedTextureResult result;
result.m_textureName = relativeFileName;
result.m_width = width;
result.m_height = height;
result.m_pixels = image;
meshData.m_isCached = true;
gCachedTextureResults.insert(relativeFileName,result);
}
}
else
{
b3Warning("Unsupported texture image format [%s]\n", relativeFileName);
meshData.m_textureWidth = 0;
meshData.m_textureHeight = 0;
break;
}
}
}
else

3
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
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@ -7,7 +7,8 @@ struct b3ImportMeshData
{
struct GLInstanceGraphicsShape* m_gfxShape;
unsigned char* m_textureImage;//in 3 component 8-bit RGB data
unsigned char* m_textureImage1;//in 3 component 8-bit RGB data
bool m_isCached;
int m_textureWidth;
int m_textureHeight;
};

12
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@ -878,12 +878,13 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
{
if (meshData.m_textureImage)
if (meshData.m_textureImage1)
{
BulletURDFTexture texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texData.textureData1 = meshData.m_textureImage1;
texData.m_isCached = meshData.m_isCached;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
@ -1137,7 +1138,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
if (textures.size())
{
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
}
{
B3_PROFILE("registerGraphicsShape");
@ -1151,7 +1152,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
for (int i=0;i<textures.size();i++)
{
B3_PROFILE("free textureData");
free( textures[i].textureData);
if (!textures[i].m_isCached)
{
free( textures[i].textureData1);
}
}
return graphicsIndex;
}

3
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@ -9,7 +9,8 @@ struct BulletURDFTexture
{
int m_width;
int m_height;
unsigned char* textureData;
unsigned char* textureData1;
bool m_isCached;
};

1
examples/OpenGLWindow/SimpleOpenGL2App.cpp
View File

@ -210,6 +210,7 @@ void SimpleOpenGL2App::setBackgroundColor(float red, float green, float blue)
void SimpleOpenGL2App::drawGrid(DrawGridData data)
{
glEnable(GL_COLOR_MATERIAL);
int gridSize = data.gridSize;
float upOffset = data.upOffset;
int upAxis = data.upAxis;

5
examples/RenderingExamples/TinyVRGui.cpp
View File

@ -168,7 +168,10 @@ bool TinyVRGui::init()
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
if (!meshData.m_isCached)
{
free(meshData.m_textureImage1);
}
}

12
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -2594,6 +2594,18 @@ B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle com
}
B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItemUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
b3Assert(command->m_updateFlags & USER_DEBUG_HAS_TEXT);
command->m_userDebugDrawArgs.m_replaceItemUniqueId = replaceItemUniqueId;
command->m_updateFlags |= USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID;
}
B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
{

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -170,6 +170,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[/*3*/], double colorRGB[/*3*/], double textSize, double lifeTime);
B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[/*4*/]);
B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItem);
B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);

2
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@ -78,7 +78,7 @@ struct PhysicsClientSharedMemoryInternalData {
m_hasLastServerStatus(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
m_timeOutInSeconds(30)
m_timeOutInSeconds(1e30)
{}
void processServerStatus();

24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1,5 +1,4 @@
#include "PhysicsServerCommandProcessor.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
@ -4483,7 +4482,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (textures.size())
{
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
}
int graphicsIndex = -1;
{
@ -8146,7 +8145,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId>=0)
{
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
if (bodyHandle)
{
int linkIndex = -1;
if (bodyHandle->m_multiBody)
{
int linkIndex = clientCmd.m_userDebugDrawArgs.m_parentLinkIndex;
if (linkIndex ==-1)
@ -8166,7 +8169,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
}
if (bodyHandle->m_rigidBody)
{
trackingVisualShapeIndex = bodyHandle->m_rigidBody->getUserIndex();
}
}
}
@ -8252,7 +8259,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
int replaceItemUniqueId = -1;
if ((clientCmd.m_updateFlags & USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID)!=0)
{
replaceItemUniqueId = clientCmd.m_userDebugDrawArgs.m_replaceItemUniqueId;
}
int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text,
@ -8262,7 +8273,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_userDebugDrawArgs.m_textSize,
clientCmd.m_userDebugDrawArgs.m_lifeTime,
trackingVisualShapeIndex,
optionFlags);
optionFlags,
replaceItemUniqueId);
if (uid>=0)
{

63
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -13,13 +13,14 @@
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
#include "SharedMemoryPublic.h"
//#define BT_ENABLE_VR
#ifdef BT_ENABLE_VR
#include "../RenderingExamples/TinyVRGui.h"
#endif//BT_ENABLE_VR
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
bool gEnablePicking=true;
@ -36,9 +37,7 @@ static bool gEnableDefaultKeyboardShortcuts = true;
static bool gEnableDefaultMousePicking = true;
//extern btVector3 gLastPickPos;
btVector3 gVRTeleportPosLocal(0,0,0);
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
btScalar gVRTeleportRotZ = 0;
@ -1132,10 +1131,17 @@ public:
UserDebugText m_tmpText;
int m_resultUserDebugTextUid;
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags)
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid)
{
if (replaceItemUid>=0)
{
m_tmpText.m_itemUniqueId = replaceItemUid;
} else
{
m_tmpText.m_itemUniqueId = m_uidGenerator++;
}
m_tmpText.m_lifeTime = lifeTime;
m_tmpText.textSize = size;
//int len = strlen(txt);
@ -2172,9 +2178,25 @@ void PhysicsServerExample::updateGraphics()
{
B3_PROFILE("eGUIUserDebugAddText");
bool replaced = false;
for (int i=0;i<m_multiThreadedHelper->m_userDebugText.size();i++)
{
if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_tmpText.m_itemUniqueId)
{
m_multiThreadedHelper->m_userDebugText[i] = m_multiThreadedHelper->m_tmpText;
m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_tmpText.m_itemUniqueId;
replaced = true;
}
}
if (!replaced)
{
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_userDebugText[m_multiThreadedHelper->m_userDebugText.size()-1].m_itemUniqueId;
}
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddParameter:
@ -2503,10 +2525,35 @@ void PhysicsServerExample::drawUserDebugLines()
}
{
btAlignedObjectArray<std::string> pieces;
btAlignedObjectArray<std::string> separators;
separators.push_back("\n");
urdfStringSplit(pieces,m_multiThreadedHelper->m_userDebugText[i].m_text,separators);
m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
pos,orientation,colorRGBA,
m_multiThreadedHelper->m_userDebugText[i].textSize,optionFlag);
double sz = m_multiThreadedHelper->m_userDebugText[i].textSize;
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(pos[0],pos[1],pos[2]));
tr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
//float newpos[3]={pos[0]-float(t)*sz,pos[1],pos[2]};
for (int t=0;t<pieces.size();t++)
{
btTransform offset;
offset.setIdentity();
offset.setOrigin(btVector3(0,-float(t)*sz,0));
btTransform result = tr*offset;
float newpos[3] = {result.getOrigin()[0],result.getOrigin()[1],result.getOrigin()[2]};
m_guiHelper->getAppInterface()->drawText3D(pieces[t].c_str(),
newpos,orientation,colorRGBA,
sz,optionFlag);
}
}
/*m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,

4
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -700,7 +700,7 @@ enum EnumUserDebugDrawFlags
USER_DEBUG_HAS_OPTION_FLAGS=256,
USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
USER_DEBUG_HAS_PARENT_OBJECT=1024,
USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID=2048,
};
struct UserDebugDrawArgs
@ -721,7 +721,7 @@ struct UserDebugDrawArgs
double m_textColorRGB[3];
double m_textSize;
int m_optionFlags;
int m_replaceItemUniqueId;
double m_rangeMin;
double m_rangeMax;

30
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@ -38,9 +38,10 @@ subject to the following restrictions:
struct MyTexture2
{
unsigned char* textureData;
unsigned char* textureData1;
int m_width;
int m_height;
bool m_isCached;
};
struct TinyRendererObjectArray
@ -308,12 +309,13 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
{
if (meshData.m_textureImage)
if (meshData.m_textureImage1)
{
MyTexture2 texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texData.textureData1 = meshData.m_textureImage1;
texData.m_isCached = meshData.m_isCached;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
@ -628,27 +630,32 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId);
unsigned char* textureImage=0;
unsigned char* textureImage1=0;
int textureWidth=0;
int textureHeight=0;
bool isCached = false;
if (textures.size())
{
textureImage = textures[0].textureData;
textureImage1 = textures[0].textureData1;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
isCached = textures[0].m_isCached;
}
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
textureImage, textureWidth, textureHeight);
textureImage1, textureWidth, textureHeight);
}
visuals->m_renderObjects.push_back(tinyObj);
}
for (int i=0;i<textures.size();i++)
{
free(textures[i].textureData);
if (!textures[i].m_isCached)
{
free(textures[i].textureData1);
}
}
}
}
@ -1090,7 +1097,10 @@ void TinyRendererVisualShapeConverter::resetAll()
for (int i=0;i<m_data->m_textures.size();i++)
{
free(m_data->m_textures[i].textureData);
if (!m_data->m_textures[i].m_isCached)
{
free(m_data->m_textures[i].textureData1);
}
}
m_data->m_textures.clear();
m_data->m_swRenderInstances.clear();
@ -1117,7 +1127,7 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId,
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
if ((shapeIndex < 0) || (shapeIndex == v))
{
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
}
}
}
@ -1131,7 +1141,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
MyTexture2 texData;
texData.m_width = width;
texData.m_height = height;
texData.textureData = texels;
texData.textureData1 = texels;
m_data->m_textures.push_back(texData);
return m_data->m_textures.size()-1;
}

55
examples/SimpleOpenGL3/main.cpp
View File

@ -1,14 +1,27 @@
//#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;
static char* gVideoFileName = 0;
static char* gPngFileName = 0;
static b3WheelCallback sOldWheelCB = 0;
static b3ResizeCallback sOldResizeCB = 0;
@ -17,15 +30,15 @@ static b3MouseButtonCallback sOldMouseButtonCB = 0;
static b3KeyboardCallback sOldKeyboardCB = 0;
//static b3RenderCallback sOldRenderCB = 0;
float gWidth = 1024;
float gHeight = 768;
static float gWidth = 1024;
static float gHeight = 768;
void MyWheelCallback(float deltax, float deltay)
void MyWheelCallback2(float deltax, float deltay)
{
if (sOldWheelCB)
sOldWheelCB(deltax,deltay);
}
void MyResizeCallback( float width, float height)
void MyResizeCallback2( float width, float height)
{
gWidth = width;
gHeight = height;
@ -33,21 +46,21 @@ void MyResizeCallback( float width, float height)
if (sOldResizeCB)
sOldResizeCB(width,height);
}
void MyMouseMoveCallback( float x, float y)
void MyMouseMoveCallback2( float x, float y)
{
printf("Mouse Move: %f, %f\n", x,y);
if (sOldMouseMoveCB)
sOldMouseMoveCB(x,y);
}
void MyMouseButtonCallback(int button, int state, float x, float y)
void MyMouseButtonCallback2(int button, int state, float x, float y)
{
if (sOldMouseButtonCB)
sOldMouseButtonCB(button,state,x,y);
}
void MyKeyboardCallback(int keycode, int state)
static void MyKeyboardCallback2(int keycode, int state)
{
//keycodes are in examples/CommonInterfaces/CommonWindowInterface.h
//for example B3G_ESCAPE for escape key
@ -65,21 +78,21 @@ int main(int argc, char* argv[])
b3CommandLineArgs myArgs(argc, argv);
SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App", gWidth, gHeight, true);
SimpleOpenGLApp* app = new SimpleOpenGLApp("SimpleOpenGL3App", gWidth, gHeight);
app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
app->m_renderer->getActiveCamera()->setCameraDistance(13);
app->m_renderer->getActiveCamera()->setCameraPitch(0);
app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
sOldKeyboardCB = app->m_window->getKeyboardCallback();
app->m_window->setKeyboardCallback(MyKeyboardCallback);
app->m_window->setKeyboardCallback(MyKeyboardCallback2);
sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
app->m_window->setMouseMoveCallback(MyMouseMoveCallback2);
sOldMouseButtonCB = app->m_window->getMouseButtonCallback();
app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
app->m_window->setMouseButtonCallback(MyMouseButtonCallback2);
sOldWheelCB = app->m_window->getWheelCallback();
app->m_window->setWheelCallback(MyWheelCallback);
app->m_window->setWheelCallback(MyWheelCallback2);
sOldResizeCB = app->m_window->getResizeCallback();
app->m_window->setResizeCallback(MyResizeCallback);
app->m_window->setResizeCallback(MyResizeCallback2);
myArgs.GetCmdLineArgument("mp4_file", gVideoFileName);
@ -134,10 +147,12 @@ int main(int argc, char* argv[])
app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
app->m_renderer->init();
int upAxis = 1;
app->m_renderer->updateCamera(upAxis);
app->m_renderer->renderScene();
app->drawGrid();
char bla[1024];
sprintf(bla, "2d text:%d", frameCount);

3
examples/SimpleOpenGL3/main_imgui.cpp
View File

@ -73,6 +73,7 @@ void ImGui_ImplBullet_CreateDeviceObjects()
void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
{
glEnable(GL_COLOR_MATERIAL);
// 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);
@ -96,7 +97,7 @@ void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
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
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);

10
examples/pybullet/pybullet.c
View File

@ -3444,11 +3444,12 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
double lifeTime = 0.f;
int physicsClientId = 0;
int debugItemUniqueId = -1;
int replaceItemUniqueId = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "parentObjectUniqueId", "parentLinkIndex", "replaceItemUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &parentObjectUniqueId, &parentLinkIndex, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &parentObjectUniqueId, &parentLinkIndex, &replaceItemUniqueId, &physicsClientId))
{
return NULL;
}
@ -3495,6 +3496,11 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
}
}
if (replaceItemUniqueId>=0)
{
b3UserDebugItemSetReplaceItemUniqueId(commandHandle,replaceItemUniqueId);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);