allow to enable/disable GUI, shadows, wireframe of OpenGL Visualizer from API

(pybullet.configureDebugVisualizer)

12 files changed, 181 insertions, 5 deletions

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 5ecd98273..73feb3198 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -46,6 +46,8 @@ struct GUIHelperInterface
 
 	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
 	
+    virtual void setVisualizerFlag(int flag, int enable){};
+    
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
                                   unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
                                   float* depthBuffer, int depthBufferSizeInPixels, 
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 9ffce6c96..74aaca1b4 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -125,10 +125,10 @@ bool sUseOpenGL2 = false;
 extern bool useShadowMap;
 #endif
 
-static bool visualWireframe=false;
+bool visualWireframe=false;
 static bool renderVisualGeometry=true;
 static bool renderGrid = true;
-static bool renderGui = true;
+bool renderGui = true;
 static bool enable_experimental_opencl = false;
 
 int gDebugDrawFlags = 0;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 87bff6e59..32a91d581 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -374,6 +374,30 @@ void OpenGLGuiHelper::setUpAxis(int axis)
 
 }
 
+extern bool useShadowMap;
+extern bool visualWireframe;
+extern bool renderGui;
+#include "../SharedMemory/SharedMemoryPublic.h"
+
+void OpenGLGuiHelper::setVisualizerFlag(int flag, int enable)
+{
+    //temporary direct access
+    if (flag == COV_ENABLE_SHADOWS)
+    {
+        useShadowMap = enable;
+    }
+    if (flag == COV_ENABLE_GUI)
+    {
+        renderGui = enable;
+    }
+    
+    if (flag == COV_ENABLE_WIREFRAME)
+    {
+        visualWireframe = enable;
+    }
+}
+
+
 void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
 {
 	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 642b9dea1..f2008ab5e 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -42,6 +42,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void setUpAxis(int axis);
 	
+    void setVisualizerFlag(int flag, int enable);
+    
 	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
 	
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index b116999d6..b89d618f5 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2551,3 +2551,50 @@ int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid
 	return 0;
 }
 
+
+///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
+b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient)
+{
+    PhysicsClient* cl = (PhysicsClient*)physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    
+    command->m_type = CMD_CONFIGURE_OPENGL_VISUALIZER;
+    command->m_updateFlags = 0;
+    
+    return (b3SharedMemoryCommandHandle)command;
+}
+
+void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+    if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+    {
+        command->m_updateFlags |= COV_SET_FLAGS;
+        command->m_configureOpenGLVisualizerArguments.m_setFlag = flag;
+        command->m_configureOpenGLVisualizerArguments.m_setEnabled = enabled;
+    }
+}
+
+void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3])
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+    
+    if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+    {
+        command->m_updateFlags |= COV_SET_CAMERA_VIEW_MATRIX;
+        command->m_configureOpenGLVisualizerArguments.m_cameraDistance = cameraDistance;
+        command->m_configureOpenGLVisualizerArguments.m_cameraPitch = cameraPitch;
+        command->m_configureOpenGLVisualizerArguments.m_cameraYaw = cameraYaw;
+        command->m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0] = cameraTargetPosition[0];
+        command->m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1] = cameraTargetPosition[1];
+        command->m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2] = cameraTargetPosition[2];
+    }
+}
+
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index b22b9635c..61638bb7f 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -98,7 +98,13 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
 ///Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returns
 ///status CMD_DEBUG_LINES_COMPLETED
 void    b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
+    
+///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
+b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
+void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
+void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3]);
 
+    
 /// Add/remove user-specific debug lines and debug text messages
 b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime);
 b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime);
diff --git a/examples/SharedMemory/PhysicsClientTCP.cpp b/examples/SharedMemory/PhysicsClientTCP.cpp
index 443fc3bef..9ad9fdab9 100644
--- a/examples/SharedMemory/PhysicsClientTCP.cpp
+++ b/examples/SharedMemory/PhysicsClientTCP.cpp
@@ -175,7 +175,6 @@ bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
 			sz = sizeof(SharedMemoryCommand);
             data = (unsigned char*)&clientCmd;
     	}
-		int res;
 						
         m_data->m_tcpSocket.Send((const uint8 *)data,sz);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 0f7139257..3a6341e36 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -507,7 +507,7 @@ struct MinitaurStateLogger : public InternalStateLogger
 		if (m_logFileHandle)
 		{
 			
-			btVector3 pos = m_minitaurMultiBody->getBasePos();
+			//btVector3 pos = m_minitaurMultiBody->getBasePos();
 
 			MinitaurLogRecord logData;
 			//'t', 'r', 'p', 'y', 'q0', 'q1', 'q2', 'q3', 'q4', 'q5', 'q6', 'q7', 'u0', 'u1', 'u2', 'u3', 'u4', 'u5', 'u6', 'u7', 'xd', 'mo'
@@ -3385,6 +3385,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					hasStatus = true;
 					break;
 				}
+                    
+                case CMD_CONFIGURE_OPENGL_VISUALIZER:
+                {
+                    SharedMemoryStatus& serverCmd = serverStatusOut;
+                    serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
+                    
+                    hasStatus = true;
+                    if (clientCmd.m_updateFlags&COV_SET_FLAGS)
+                    {
+                        m_data->m_guiHelper->setVisualizerFlag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag,
+                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled);
+                    }
+                    if (clientCmd.m_updateFlags&COV_SET_CAMERA_VIEW_MATRIX)
+                    {
+                        m_data->m_guiHelper->resetCamera( clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance,
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw,
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0],
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
+                    }
+                    break;
+                }
+                                       
                 case CMD_REQUEST_CONTACT_POINT_INFORMATION:
                     {
                         SharedMemoryStatus& serverCmd =serverStatusOut;
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 520a6d904..cb05ce921 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -504,6 +504,13 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 
 public:
 
+    
+    void setVisualizerFlag(int flag, int enable)
+    {
+        m_childGuiHelper->setVisualizerFlag(flag,enable);
+    }
+
+    
 	GUIHelperInterface* m_childGuiHelper;
 
 	int m_uidGenerator;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 5bc2a508d..52a2ea53d 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -643,6 +643,23 @@ struct StateLoggingResultArgs
 	int m_loggingUniqueId;
 };
 
+enum InternalOpenGLVisualizerUpdateFlags
+{
+    COV_SET_CAMERA_VIEW_MATRIX=1,
+    COV_SET_FLAGS=2,
+};
+
+struct ConfigureOpenGLVisualizerRequest
+{
+    double m_cameraDistance;
+    double m_cameraPitch;
+    double m_cameraYaw;
+    double m_cameraTargetPosition[3];
+  
+    int m_setFlag;
+    int m_setEnabled;
+};
+
 struct SharedMemoryCommand
 {
 	int m_type;
@@ -685,6 +702,7 @@ struct SharedMemoryCommand
         struct LoadBunnyArgs m_loadBunnyArguments;
 		struct VRCameraState m_vrCameraStateArguments;
 		struct StateLoggingRequest m_stateLoggingArguments;
+        struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
     };
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 526a4ec4d..7fa209856 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -49,6 +49,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_SET_VR_CAMERA_STATE,
 	CMD_SYNC_BODY_INFO,
 	CMD_STATE_LOGGING,
+    CMD_CONFIGURE_OPENGL_VISUALIZER,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -126,6 +127,7 @@ enum EnumSharedMemoryServerStatus
 		CMD_STATE_LOGGING_COMPLETED,
 		CMD_STATE_LOGGING_START_COMPLETED,
 		CMD_STATE_LOGGING_FAILED,
+    
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
@@ -398,4 +400,10 @@ enum EnumRenderer
     //ER_FIRE_RAYS=(1<<18),
 };
 
+enum EnumConfigureOpenGLVisualizer
+{
+    COV_ENABLE_GUI=1,
+    COV_ENABLE_SHADOWS,
+    COV_ENABLE_WIREFRAME,
+};
 #endif//SHARED_MEMORY_PUBLIC_H
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 179f052a0..00ddec83f 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2619,7 +2619,6 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
 
 static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 
@@ -2958,6 +2957,36 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject *
 }
 
 
+static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject *keywds)
+{
+    int flag=1;
+    int enable = -1;
+    
+    int physicsClientId = 0;
+    b3PhysicsClientHandle sm=0;
+    static char *kwlist[] = { "flag", "enable", "physicsClientId", NULL };
+    
+    if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iii", kwlist,
+                                     &flag, &enable, &physicsClientId))
+        return NULL;
+    
+    sm = getPhysicsClient(physicsClientId);
+    if (sm == 0)
+    {
+        PyErr_SetString(SpamError, "Not connected to physics server.");
+        return NULL;
+    }
+   
+    {
+        b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
+        b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
+        b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+    }
+    Py_INCREF(Py_None);
+    return Py_None;
+}
+
+
 
 static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds)
 {
@@ -5051,6 +5080,10 @@ static PyMethodDef SpamMethods[] = {
 		"If you ommit the color, the custom color will be removed."
 	  },
 
+    {	"configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS,
+        "For the 3D OpenGL Visualizer, enable/disable GUI, shadows. Set the camera parameters."
+    },
+
 
     {"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS| METH_KEYWORDS,
 	"Return the visual shape information for one object." },
@@ -5188,6 +5221,12 @@ initpybullet(void)
   PyModule_AddIntConstant(m, "STATE_LOGGING_GENERIC_ROBOT", STATE_LOGGING_GENERIC_ROBOT);
   PyModule_AddIntConstant(m, "STATE_LOGGING_VR_CONTROLLERS", STATE_LOGGING_VR_CONTROLLERS);
 
+  PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
+  PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
+  PyModule_AddIntConstant(m, "COV_ENABLE_WIREFRAME", COV_ENABLE_WIREFRAME);
+
+    
+    
   SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
   Py_INCREF(SpamError);
   PyModule_AddObject(m, "error", SpamError);