Add pybullet.addUserDebugPoints

[wkentaro]

2021-10-14_20-24-42.mp4

2021-10-14_20-25-12.mp4

[wkentaro]

Can anyone help to add colors to this efficient batch rendering of the points?
At the moment, it uses glUniform4f to change color of points, which makes hard to have different color for each point.
(so current implementation draw each point one-by-one with changing color by glUniform4f, which is slow)

[wkentaro]

glUniform4f for changing the color of the point.

[wkentaro]

That's why points are drawn one-by-one, which is slow.

[wkentaro]

Managed the efficient colored points rendering.

2021-10-16_14-43-30.mp4

[erwincoumans]

Very nice, thanks for the contribution. I will check it, make sure it still works on various platforms.

Some minor suggestions:

Please add fields in 'examples/SharedMemory/SharedMemoryCommands.h' at the end of a structure, to avoid crashes when using different versions. In particular, UserDebugDrawArgs, add m_debugPointNum and m_pointSize as last new members, not in the middle of the struct.

Change comment from

"Add a user debug draw point

to

"Add user debug draw points

[erwincoumans]

Thanks for the fixes! One last request, do you have a simple example python script how to use it? You could reply with a zipped attachment (zip files work, other extension often don't).

[wkentaro]

Does this work for you? my_example.zip

pip install trimesh[easy]
python example_01.py

[erwincoumans]

Thanks for the example. Close/re-open to re-trigger CI.

[erwincoumans]

LGTM, let's merge the PR. Thanks for the contribution!

[wkentaro]

Great! 👍

[erwincoumans]

tested with pybullet 3.22 (pip install pybullet) and it works:

[erwincoumans]

There is a regression in line drawing. Not clear if this is related to this PR, but if so, we may have to revert it until fixed:

I will check if reverting this PR fixes it.

[erwincoumans]

A minor note: to improve file loading in PyBullet, disable rendering before, and re-enable rendering after loading:

p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)

root_dir = "YCB_Video_Models"
for i, model_dir in enumerate(os.listdir(root_dir)[:10]):
    model_dir = osp.join(root_dir, model_dir)
    obj_file = osp.join(model_dir, "textured_simple.obj")
    mesh = trimesh.load_mesh(obj_file)
    mesh.apply_translation([i * 0.2 - 1, 0, 0])
    points = mesh.vertices
    colors = mesh.visual.to_color().vertex_colors
    p.addUserDebugPoints(points[:5000], colors[:5000, :3] / 255)

p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)

[WhomightIB]

Yup