mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +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
165 lines
4.2 KiB
C
165 lines
4.2 KiB
C
//
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// Copyright (c) 2011 Andreas Krinke andreas.krinke@gmx.de
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// Copyright (c) 2009 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef FONTSTASH_H
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#define FONTSTASH_H
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#define MAX_ROWS 128
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#define VERT_COUNT (16*128)
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#define INDEX_COUNT (VERT_COUNT*2)
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struct vec2
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{
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vec2(float x, float y)
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{
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p[0] = x;
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p[1] = y;
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}
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float p[2];
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};
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struct vec4
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{
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vec4(float x,float y, float z, float w)
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{
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p[0] = x;
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p[1] = y;
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p[2] = z;
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p[3] = w;
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}
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float p[4];
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};
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typedef struct
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{
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vec4 position;
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vec4 colour;
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vec2 uv;
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} Vertex;
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struct sth_quad
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{
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float x0,y0,s0,t0;
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float x1,y1,s1,t1;
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};
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struct sth_row
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{
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short x,y,h;
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};
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struct sth_glyph
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{
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unsigned int codepoint;
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short size;
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struct sth_texture* texture;
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int x0_,y0,x1,y1;
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float xadv,xoff,yoff;
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int next;
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};
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struct sth_texture
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{
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union
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{
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void* m_userData;
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int m_userId;
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};
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unsigned char* m_texels;
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// TODO: replace rows with pointer
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struct sth_row rows[MAX_ROWS];
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int nrows;
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int nverts;
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Vertex newverts[VERT_COUNT];
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struct sth_texture* next;
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};
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struct RenderCallbacks
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{
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virtual ~RenderCallbacks() {}
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virtual void setColorRGBA(float color[4])=0;
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virtual void setWorldPosition(float pos[3])=0;
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virtual void setWorldOrientation(float orn[4])=0;
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virtual void updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)=0;
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virtual void render(sth_texture* texture)=0;
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};
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struct sth_stash* sth_create(int cachew, int cacheh, RenderCallbacks* callbacks);
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int sth_add_font(struct sth_stash* stash, const char* path);
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int sth_add_font_from_memory(struct sth_stash* stash, unsigned char* buffer);
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int sth_add_bitmap_font(struct sth_stash* stash, int ascent, int descent, int line_gap);
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/*void sth_add_glyph(struct sth_stash* stash, int idx, unsigned int uid, const char* s,
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short size, short base, int x, int y, int w, int h,
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float xoffset, float yoffset, float xadvance);
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*/
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void sth_begin_draw(struct sth_stash* stash);
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void sth_end_draw(struct sth_stash* stash);
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void sth_draw_texture(struct sth_stash* stash,
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int idx, float size,
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float x, float y,
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int screenwidth, int screenheight,
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const char* s, float* dx, float colorRGBA[4]);
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void sth_flush_draw(struct sth_stash* stash);
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void sth_draw_text3D(struct sth_stash* stash,
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int idx, float fontSize,
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float x, float y, float z,
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const char* s, float* dx, float textScale, float colorRGBA[4], int bla);
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void sth_draw_text(struct sth_stash* stash,
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int idx, float size,
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float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale, float colorRGBA[4]);
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inline void sth_draw_text(struct sth_stash* stash,
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int idx, float size,
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float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly=false, float retinaScale=1.)
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{
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float colorRGBA[4]={1,1,1,1};
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sth_draw_text(stash,idx,size,x,y,string,dx,screenwidth,screenheight,measureOnly, retinaScale, colorRGBA);
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}
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void sth_dim_text(struct sth_stash* stash, int idx, float size, const char* string,
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float* minx, float* miny, float* maxx, float* maxy);
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void sth_vmetrics(struct sth_stash* stash,
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int idx, float size,
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float* ascender, float* descender, float * lineh);
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void sth_delete(struct sth_stash* stash);
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#endif // FONTSTASH_H
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