mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +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
45 lines
1.8 KiB
C++
45 lines
1.8 KiB
C++
#ifndef SIMPLE_OPENGL3_APP_H
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#define SIMPLE_OPENGL3_APP_H
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#include "../OpenGLWindow/GLInstancingRenderer.h"
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#include "../OpenGLWindow/GLPrimitiveRenderer.h"
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#include "../CommonInterfaces/CommonWindowInterface.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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struct SimpleOpenGL3App : public CommonGraphicsApp
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{
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struct SimpleInternalData* m_data;
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class GLPrimitiveRenderer* m_primRenderer;
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class GLInstancingRenderer* m_instancingRenderer;
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virtual void setBackgroundColor(float red, float green, float blue);
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SimpleOpenGL3App(const char* title, int width,int height, bool allowRetina=true);
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virtual ~SimpleOpenGL3App();
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virtual int registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f, int textureIndex = -1, float textureScaling = 1);
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virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1);
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virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
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void dumpNextFrameToPng(const char* pngFilename);
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void dumpFramesToVideo(const char* mp4Filename);
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void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes);
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void drawGrid(DrawGridData data=DrawGridData());
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virtual void setUpAxis(int axis);
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virtual int getUpAxis() const;
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virtual void swapBuffer();
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virtual void drawText( const char* txt, int posX, int posY, float size, float colorRGBA[4]);
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virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
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virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
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virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA);
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struct sth_stash* getFontStash();
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};
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#endif //SIMPLE_OPENGL3_APP_H
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