I suggest the Drawing Curve should be reversed when screenshooting.

[zerobb]

Most people need draw trajectories of robots' motion as the results of research.

However, the default screenshoot tool in Coppeliasim will lose them. It is quite inconvenient.

I have to use other screenshoot software to record the scene, but it cannot get high-quality picture.

I suggest the coppeliasim can provide more convenient and good way to output picture of scene.

[fferri]

You can replace drawing objects with shapes if you want to have them in 3D output.

[coppelia]

There was a start to offer the same functionality via shapes... hopefully that will make it into the next release. Here the related code:

Code: Select all

function sim.addDrawingObject(type, size, duplicateTolerance, parentHandle, maxItems, color)
    if not _S.realDrawingObjects then
        _S.realDrawingObjects = {}
        _S.realDrawingObjects_nh = 1000000
    end
    local cyclic = (type & sim.drawing_cyclic) ~= 0
    if cyclic then
        type = type - sim.drawing_cyclic
    end
    local localCoord = (type & sim.drawing_local) ~= 0
    if localCoord then
        type = type - sim.drawing_local
    end
    
    local item = {objects = {}, cyclic = cyclic, localCoord = localCoord, type = type, size = size, tol = duplicateTolerance, parent = parentHandle, maxItems = maxItems, color = color}
    local h = _S.realDrawingObjects_nh
    _S.realDrawingObjects_nh = _S.realDrawingObjects_nh + 1
    _S.realDrawingObjects[h] = item
    return h
end

function sim.addDrawingObjectItem(handle, data)
    if handle >= 1000000 and _S.realDrawingObjects then
        local multiple = (handle & sim.handleflag_addmultiple) ~= 0
        if multiple then
            handle = handle - sim.handleflag_addmultiple
        end
        if (handle & sim.handleflag_codedstring) ~= 0 then
            handle = handle - sim.handleflag_codedstring
            data = sim.unpackFloatTable(data)
        end
        local item = _S.realDrawingObjects[handle]
        if item then
            if data and next(data) then
                local newShapes = {}
                function createTube(coord1, coord2, diameter)
                    diameter = diameter or 0.005
                    local retVal = -1
                    local v1 = Vector3(coord1)
                    local v2 = Vector3(coord2)
                    local dv = v2 - v1
                    local length = dv:norm()
                    if length > 0.001 then
                        local dw = dv / length
                        local a = math.acos(dw[3])
                        retVal = sim.createPrimitiveShape(sim.primitiveshape_cylinder, {diameter, diameter, length}, 4 + 8)
                        local p = sim.getObjectPosition(retVal)
                        sim.setObjectPosition(retVal, {p[1], p[2], p[3] + length * 0.5})
                        sim.relocateShapeFrame(retVal, {0, 0, 0, 0, 0, 0, 1})
                        if dw[3] < 0.9999 then
                            local np = sim.rotateAroundAxis({0, 0, 0, 0, 0, 0, 1}, {1, 0, 0}, {0, 0, 0}, a)
                            a = math.pi * 0.5 + math.atan2(dw[2], dw[1])
                            np = sim.rotateAroundAxis(np, {0, 0, 1}, {0, 0, 0}, a)
                            sim.setObjectPose(retVal, np)
                            sim.setObjectPosition(retVal, coord1)
                        end
                    end
                    return retVal
                end
                if item.type == sim.drawing_spherepts then
                    if not multiple then
                        data = {data[1], data[2], data[3]}
                    end
                    for i = 0, #data//3 - 1, 1 do
                        local c = {data[i * 3 + 1], data[i * 3 + 2], data[i * 3 + 3]}
                        if item.localCoord then
                            c = sim.multiplyVector(sim.getObjectPose(item.parent), c)
                        end
                        local addIt = true
                        if item.tol > 0 then
                            local p0 = Vector3(c)
                            for j = 1, #item.objects, 1 do
                                local p = Vector3(sim.getObjectPosition(item.objects[j]))
                                if (p-p0):norm() < item.tol then
                                    addIt = false
                                    break
                                end
                            end
                        end
                        if addIt then
                            local h = sim.createPrimitiveShape(sim.primitiveshape_spheroid, {item.size, item.size, item.size})
                            sim.setObjectPosition(h, c)
                            if item.parent ~= -1 then
                                sim.setObjectParent(h, item.parent)
                            end
                            newShapes[#newShapes + 1] = h
                            if #item.objects >= item.maxItems then
                                item.objects[#item.objects + 1] = h
                            else
                                if not item.nextIndex then
                                    item.nextIndex = 1
                                end
                                sim.removeObjects({item.objects[item.nextIndex]})
                                item.objects[item.nextIndex] = h
                                item.nextIndex = item.nextIndex + 1
                                if item.nextIndex > item.maxItems then
                                    item.nextIndex = 1
                                end
                            end
                        end
                    end
                end
                for i = 1, #newShapes, 1 do
                    sim.setObjectColor(newShapes[i], 0, sim.colorcomponent_ambient_diffuse, item.color)
                    sim.setObjectSpecialProperty(newShapes[i], 0)
                end
            else
                sim.removeObjects(item.objects)
                item.objects = {}
                item.nextIndex = nil
            end
        end
    end
end

function sim.removeDrawingObject(handle)
    if handle >= 1000000 and _S.realDrawingObjects then
        local item = _S.realDrawingObjects[handle]
        if item then
            sim.removeObjects(item.objects)
            _S.realDrawingObjects[handle] = nil
        end
    end
end

Cheers