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Add pybullet.addUserDebugPoints

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This commit is contained in:
Kentaro Wada
2021-10-16 17:38:05 +01:00
parent 48dc1c45da
commit 00dcce85f5
17 changed files with 365 additions and 50 deletions
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examples/OpenGLWindow/GLInstancingRenderer.cpp
+14 -8
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@@ -302,6 +302,7 @@ static GLint lines_ModelViewMatrix = 0;
static GLint lines_ProjectionMatrix = 0;
static GLint lines_position = 0;
static GLint lines_colour = 0;
static GLint lines_colourIn = 0;
GLuint lineVertexBufferObject = 0;
GLuint lineVertexArrayObject = 0;
GLuint lineIndexVbo = 0;
@@ -1247,6 +1248,7 @@ void GLInstancingRenderer::InitShaders()
lines_ModelViewMatrix = glGetUniformLocation(linesShader, "ModelViewMatrix");
lines_ProjectionMatrix = glGetUniformLocation(linesShader, "ProjectionMatrix");
lines_colour = glGetUniformLocation(linesShader, "colour");
lines_colourIn = glGetAttribLocation(linesShader, "colourIn");
lines_position = glGetAttribLocation(linesShader, "position");
glLinkProgram(linesShader);
glUseProgram(linesShader);
@@ -1889,7 +1891,7 @@ void GLInstancingRenderer::drawPoint(const float* positions, const float color[4
{
drawPoints(positions, color, 1, 3 * sizeof(float), pointDrawSize);
}
void GLInstancingRenderer::drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize)
void GLInstancingRenderer::drawPoints(const float* positions, const float* colors, int numPoints, int pointStrideInBytes, float pointDrawSize)
{
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, 0);
@@ -1898,13 +1900,11 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform4f(lines_colour, color[0], color[1], color[2], color[3]);
glUniform4f(lines_colour, 0, 0, 0, -1);
glPointSize(pointDrawSize);
glBindVertexArray(lineVertexArrayObject);
glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);
int maxPointsInBatch = MAX_POINTS_IN_BATCH;
int remainingPoints = numPoints;
int offsetNumPoints = 0;
@@ -1913,10 +1913,16 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
int curPointsInBatch = b3Min(maxPointsInBatch, remainingPoints);
if (curPointsInBatch)
{
glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch * pointStrideInBytes, positions + offsetNumPoints * (pointStrideInBytes / sizeof(float)));
glEnableVertexAttribArray(0);
int numFloats = 3; // pointStrideInBytes / sizeof(float);
glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);
glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch * pointStrideInBytes, positions + offsetNumPoints * 3);
glEnableVertexAttribArray(lines_position);
glVertexAttribPointer(lines_position, 3, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
glBindBuffer(GL_ARRAY_BUFFER, lineVertexArrayObject);
glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch * 4 * sizeof(float), colors + offsetNumPoints * 4);
glEnableVertexAttribArray(lines_colourIn);
glVertexAttribPointer(lines_colourIn, 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
glDrawArrays(GL_POINTS, 0, curPointsInBatch);
remainingPoints -= curPointsInBatch;
offsetNumPoints += curPointsInBatch;