mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
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
60 lines
1.3 KiB
C++
60 lines
1.3 KiB
C++
#ifndef _OPENGL_FONTSTASH_CALLBACKS_H
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#define _OPENGL_FONTSTASH_CALLBACKS_H
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#include "fontstash.h"
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struct PrimInternalData;
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class GLPrimitiveRenderer;
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struct InternalOpenGL2RenderCallbacks : public RenderCallbacks
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{
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virtual PrimInternalData* getData()=0;
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virtual ~InternalOpenGL2RenderCallbacks();
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virtual void updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight);
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virtual void render(sth_texture* texture);
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void display2();
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};
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void dumpTextureToPng( int screenWidth, int screenHeight, const char* fileName);
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struct SimpleOpenGL2RenderCallbacks : public InternalOpenGL2RenderCallbacks
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{
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PrimInternalData* m_data;
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virtual PrimInternalData* getData()
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{
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return m_data;
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}
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SimpleOpenGL2RenderCallbacks(PrimInternalData* data)
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:m_data(data)
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{
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}
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virtual ~SimpleOpenGL2RenderCallbacks()
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{
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}
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};
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struct OpenGL2RenderCallbacks : public InternalOpenGL2RenderCallbacks
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{
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GLPrimitiveRenderer* m_primRender2;
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virtual PrimInternalData* getData();
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virtual void setWorldPosition(float pos[3]){}
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virtual void setWorldOrientation(float orn[4]){}
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virtual void setColorRGBA(float color[4]){}
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OpenGL2RenderCallbacks(GLPrimitiveRenderer* primRender);
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virtual ~OpenGL2RenderCallbacks();
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};
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#endif//_OPENGL_FONTSTASH_CALLBACKS_H
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