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Merge pull request #3996 from wkentaro/addUserDebugPoints

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Add pybullet.addUserDebugPoints
This commit is contained in:
erwincoumans
2022-03-06 20:54:09 -08:00
committed by GitHub
parent 2e4e25b330 fd98afe764
commit a8e1ce8273
17 changed files with 365 additions and 50 deletions
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49
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1647,6 +1647,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<const unsigned char*> m_heightfieldDatas;
btAlignedObjectArray<int> m_allocatedTextures;
btAlignedObjectArray<unsigned char*> m_allocatedTexturesRequireFree;
btAlignedObjectArray<double*> m_debugPointsDatas;
btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
@@ -3043,9 +3044,16 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
//we can't free them right away, due to caching based on memory pointer in PhysicsServerExample
free(m_data->m_allocatedTexturesRequireFree[i]);
}
for (int i = 0; i < m_data->m_debugPointsDatas.size(); i++)
{
free(m_data->m_debugPointsDatas[i]);
}
m_data->m_heightfieldDatas.clear();
m_data->m_allocatedTextures.clear();
m_data->m_allocatedTexturesRequireFree.clear();
m_data->m_debugPointsDatas.clear();
m_data->m_meshInterfaces.clear();
m_data->m_collisionShapes.clear();
m_data->m_bulletCollisionShape2UrdfCollision.clear();
@@ -6148,6 +6156,47 @@ bool PhysicsServerCommandProcessor::processUserDebugDrawCommand(const struct Sha
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_POINTS)
{
int replaceItemUid = -1;
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID)
{
replaceItemUid = clientCmd.m_userDebugDrawArgs.m_replaceItemUniqueId;
}
int pointNum = clientCmd.m_userDebugDrawArgs.m_debugPointNum;
double* pointPositionsUpload = (double*)bufferServerToClient;
double* pointPositions = (double*)malloc(pointNum * 3 * sizeof(double));
double* pointColorsUpload = (double*)(bufferServerToClient + pointNum * 3 * sizeof(double));
double* pointColors = (double*)malloc(pointNum * 3 * sizeof(double));
for (int i = 0; i < pointNum; i++) {
pointPositions[i * 3 + 0] = pointPositionsUpload[i * 3 + 0];
pointPositions[i * 3 + 1] = pointPositionsUpload[i * 3 + 1];
pointPositions[i * 3 + 2] = pointPositionsUpload[i * 3 + 2];
pointColors[i * 3 + 0] = pointColorsUpload[i * 3 + 0];
pointColors[i * 3 + 1] = pointColorsUpload[i * 3 + 1];
pointColors[i * 3 + 2] = pointColorsUpload[i * 3 + 2];
}
m_data->m_debugPointsDatas.push_back(pointPositions);
m_data->m_debugPointsDatas.push_back(pointColors);
int uid = m_data->m_guiHelper->addUserDebugPoints(
pointPositions,
pointColors,
clientCmd.m_userDebugDrawArgs.m_pointSize,
clientCmd.m_userDebugDrawArgs.m_lifeTime,
trackingVisualShapeIndex,
replaceItemUid,
clientCmd.m_userDebugDrawArgs.m_debugPointNum);
if (uid >= 0)
{
serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ALL)
{
m_data->m_guiHelper->removeAllUserDebugItems();