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
101 lines
3.8 KiB
C++
101 lines
3.8 KiB
C++
#ifndef OPENGL_GUI_HELPER_H
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#define OPENGL_GUI_HELPER_H
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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class btCollisionShape;
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class btTransform;
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#include "LinearMath/btAlignedObjectArray.h"
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struct OpenGLGuiHelper : public GUIHelperInterface
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{
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struct OpenGLGuiHelperInternalData* m_data;
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OpenGLGuiHelper(struct CommonGraphicsApp* glApp, bool useOpenGL2);
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virtual ~OpenGLGuiHelper();
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virtual struct CommonRenderInterface* getRenderInterface();
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virtual const struct CommonRenderInterface* getRenderInterface() const;
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
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virtual int registerTexture(const unsigned char* texels, int width, int height);
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
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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 removeAllGraphicsInstances();
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virtual void removeGraphicsInstance(int graphicsUid);
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virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
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virtual void render(const btDiscreteDynamicsWorld* rbWorld);
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
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virtual struct Common2dCanvasInterface* get2dCanvasInterface();
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virtual CommonParameterInterface* getParameterInterface();
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virtual struct CommonGraphicsApp* getAppInterface();
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virtual void setUpAxis(int axis);
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virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
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virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const;
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth,
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int destinationHeight, int* numPixelsCopied);
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
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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 drawText3D( const char* txt, float posX, float posY, float posZ, float size);
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virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
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{
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return -1;
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}
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virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
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{
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return -1;
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}
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virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
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{
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return -1;
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}
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virtual void removeUserDebugItem( int debugItemUniqueId)
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{
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}
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virtual void removeAllUserDebugItems( )
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{
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}
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void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
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void setVRMode(bool vrMode);
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void setVisualizerFlag(int flag, int enable);
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virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback);
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virtual void dumpFramesToVideo(const char* mp4FileName);
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int createCheckeredTexture(int r,int g, int b);
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};
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#endif //OPENGL_GUI_HELPER_H
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