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
261 lines
7.2 KiB
C++
261 lines
7.2 KiB
C++
#ifndef NO_OPENGL3
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#include "opengl_fontstashcallbacks.h"
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#include "../OpenGLWindow/GLPrimitiveRenderer.h"
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#include "../OpenGLWindow/GLPrimInternalData.h"
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#include "fontstash.h"
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#include "../OpenGLWindow/OpenGLInclude.h"
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#include <assert.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#define STB_IMAGE_WRITE_IMPLEMENTATION
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#include "stb_image_write.h"
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static unsigned int s_indexData[INDEX_COUNT];
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static GLuint s_indexArrayObject, s_indexBuffer;
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static GLuint s_vertexArrayObject,s_vertexBuffer;
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OpenGL2RenderCallbacks::OpenGL2RenderCallbacks(GLPrimitiveRenderer* primRender)
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:m_primRender2(primRender)
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{
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}
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OpenGL2RenderCallbacks::~OpenGL2RenderCallbacks()
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{
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}
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PrimInternalData* OpenGL2RenderCallbacks::getData()
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{
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return m_primRender2->getData();
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}
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InternalOpenGL2RenderCallbacks::~InternalOpenGL2RenderCallbacks()
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{
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}
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void InternalOpenGL2RenderCallbacks::display2()
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{
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assert(glGetError()==GL_NO_ERROR);
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// glViewport(0,0,10,10);
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//const float timeScale = 0.008f;
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PrimInternalData* data = getData();
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glUseProgram(data->m_shaderProg);
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glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
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glBindVertexArray(s_vertexArrayObject);
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assert(glGetError()==GL_NO_ERROR);
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// glBindTexture(GL_TEXTURE_2D,m_texturehandle);
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assert(glGetError()==GL_NO_ERROR);
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float identity[16]={1,0,0,0,
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0,1,0,0,
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0,0,1,0,
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0,0,0,1};
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glUniformMatrix4fv(data->m_viewmatUniform, 1, false, identity);
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glUniformMatrix4fv(data->m_projMatUniform, 1, false, identity);
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vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
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glUniform2fv(data->m_positionUniform, 1, (const GLfloat *)&p);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(data->m_positionAttribute);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(data->m_colourAttribute);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(data->m_textureAttribute);
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glVertexAttribPointer(data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
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glVertexAttribPointer(data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
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glVertexAttribPointer(data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
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assert(glGetError()==GL_NO_ERROR);
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/*
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_indexBuffer);
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//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
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int indexCount = 6;
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err = glGetError();
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assert(err==GL_NO_ERROR);
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glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
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err = glGetError();
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assert(err==GL_NO_ERROR);
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*/
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// glutSwapBuffers();
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}
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void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)
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{
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assert(glGetError()==GL_NO_ERROR);
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if (glyph)
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{
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// Update texture (entire texture, could use glyph to update partial texture using glTexSubImage2D)
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GLuint* gltexture = (GLuint*) texture->m_userData;
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glBindTexture(GL_TEXTURE_2D, *gltexture);
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glPixelStorei(GL_UNPACK_ALIGNMENT,1);
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assert(glGetError()==GL_NO_ERROR);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
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assert(glGetError()==GL_NO_ERROR);
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} else
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{
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if (textureWidth && textureHeight)
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{
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GLuint* texId = new GLuint;
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texture->m_userData = texId;
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//create new texture
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glGenTextures(1, texId);
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assert(glGetError()==GL_NO_ERROR);
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glBindTexture(GL_TEXTURE_2D, *texId);
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texture->m_texels = (unsigned char*)malloc(textureWidth*textureHeight);
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memset(texture->m_texels,0,textureWidth*textureHeight);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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assert(glGetError()==GL_NO_ERROR);
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////////////////////////////
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//create the other data
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{
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glGenVertexArrays(1, &s_vertexArrayObject);
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glBindVertexArray(s_vertexArrayObject);
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glGenBuffers(1, &s_vertexBuffer);
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glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
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glBufferData(GL_ARRAY_BUFFER, VERT_COUNT * sizeof(Vertex), texture->newverts, GL_DYNAMIC_DRAW);
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assert(glGetError()==GL_NO_ERROR);
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for (int i=0;i<INDEX_COUNT;i++)
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{
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s_indexData[i] = i;
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}
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glGenBuffers(1, &s_indexBuffer);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
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glBufferData(GL_ELEMENT_ARRAY_BUFFER,INDEX_COUNT*sizeof(int), s_indexData,GL_STATIC_DRAW);
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assert(glGetError()==GL_NO_ERROR);
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}
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} else
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{
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//delete texture
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if (texture->m_userData)
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{
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GLuint* id = (GLuint*)texture->m_userData;
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glDeleteTextures(1, id);
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//delete id;
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delete id;//texture->m_userData;
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texture->m_userData = 0;
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}
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}
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}
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}
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void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
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{
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display2();
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GLuint* texId = (GLuint*) texture->m_userData;
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assert(glGetError()==GL_NO_ERROR);
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glActiveTexture(GL_TEXTURE0);
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assert(glGetError()==GL_NO_ERROR);
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glBindTexture(GL_TEXTURE_2D, *texId);
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bool useFiltering = false;
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if (useFiltering)
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{
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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} else
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{
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
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}
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assert(glGetError()==GL_NO_ERROR);
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glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
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glBindVertexArray(s_vertexArrayObject);
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glBufferData(GL_ARRAY_BUFFER, texture->nverts * sizeof(Vertex), &texture->newverts[0].position.p[0], GL_DYNAMIC_DRAW);
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assert(glGetError()==GL_NO_ERROR);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
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//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
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int indexCount = texture->nverts;
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assert(glGetError()==GL_NO_ERROR);
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glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
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assert(glGetError()==GL_NO_ERROR);
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glBindVertexArray(0);
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glBindBuffer(GL_ARRAY_BUFFER, 0);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
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// glDisableVertexAttribArray(m_textureAttribute);
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glUseProgram(0);
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}
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void dumpTextureToPng(int textureWidth, int textureHeight, const char* fileName)
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{
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glPixelStorei(GL_PACK_ALIGNMENT,1);
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unsigned char* pixels = (unsigned char*)malloc(textureWidth*textureHeight);
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glReadPixels(0,0,textureWidth, textureHeight, GL_RED, GL_UNSIGNED_BYTE, pixels);
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//swap the pixels
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unsigned char* tmp = (unsigned char*)malloc(textureWidth);
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for (int j=0;j<textureHeight;j++)
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{
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pixels[j*textureWidth+j]=255;
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}
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if (0)
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{
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for (int j=0;j<textureHeight/2;j++)
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{
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for (int i=0;i<textureWidth;i++)
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{
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tmp[i] = pixels[j*textureWidth+i];
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pixels[j*textureWidth+i]=pixels[(textureHeight-j-1)*textureWidth+i];
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pixels[(textureHeight-j-1)*textureWidth+i] = tmp[i];
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}
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}
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}
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int comp=1;//1=Y
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stbi_write_png(fileName, textureWidth,textureHeight, comp, pixels, textureWidth);
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free(pixels);
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}
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#endif
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