The problem of trajectory display in Simulation

[Lnferior]

I use sim.addGraphCurve to add moving tracks in the environment. I can see the tracks normally in Legacy OpenGL, but I find that the tracks are gone in OpenGL3. I think I can still see the tracks in OpenGL3. What should I do?
Cheers

[coppelia]

Hello,

this is correct. The same actually also happens with drawing objects.
What you should do is create primitive shapes, similar to as in following example:

Code: Select all

function createTubeStrip(path, color, diameter, singleShape)

    function createTube(coord1, coord2, color, diameter)
        color = color or {0, 0, 0}
        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.setObjectColor(retVal, 0, sim.colorcomponent_ambient_diffuse, color)
            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
    
    local allTubes = {}
    for i = 0, #path // 3 - 2, 1 do
        local coord1 = {path[3 * i + 1], path[3 * i + 2], path[3 * i + 3]}
        local coord2 = {path[3 * i + 4], path[3 * i + 5], path[3 * i + 6]}
        local h = createTube(coord1, coord2, color, diameter)
        if h >= 0 then
            allTubes[#allTubes + 1] = h
        end
    end
    local retVal = -1
    if singleShape then
        if #allTubes >= 1 then
            if #allTubes > 1 then
                retVal = sim.groupShapes(allTubes, true)
            else
                retVal = allTubes[1]
            end
            sim.relocateShapeFrame(retVal, {0, 0, 0, 0, 0, 0, 1})
        end
    else
        retVal = allTubes
    end
    return retVal
end

function sysCall_init()
    sim = require('sim')
    local path = {0.0, 0.0, 0.0, 0.5, 0.0, 0.1, 0.5, 0.5, 0.2, 0.0, 0.5, 0.3, 0.0, 0.0, 0.4, 0.0, 0.0, 0.0}
    local color = {1.0, 0.0, 0.0}
    local diameter = 0.02
    local singleShape = true
    local ret = createTubeStrip(path, color, diameter, singleShape)
    print(ret)
end

Cheers