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Handy functions for debug visualization was added

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This commit is contained in:
rponom
2009-01-16 03:04:55 +00:00
parent e7ca0e6a9c
commit 21afccdb29
1 changed files with 128 additions and 0 deletions
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128
src/LinearMath/btIDebugDraw.h
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@@ -29,6 +29,7 @@ DEALINGS IN THE SOFTWARE.
#define IDEBUG_DRAW__H
#include "btVector3.h"
#include "btTransform.h"
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
@@ -52,6 +53,8 @@ class btIDebugDraw
DBG_EnableSatComparison = 256,
DBG_DisableBulletLCP = 512,
DBG_EnableCCD = 1024,
DBG_DrawConstraints = (1 << 11),
DBG_DrawConstraintLimits = (1 << 12),
DBG_MAX_DEBUG_DRAW_MODE
};
@@ -122,6 +125,131 @@ class btIDebugDraw
edgecoord[i]*=-1.f;
}
}
void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
}
void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
{
const btVector3& vx = axis;
btVector3 vy = normal.cross(axis);
btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
int nSteps = (int)((maxAngle - minAngle) / step);
if(!nSteps) nSteps = 1;
btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
if(drawSect)
{
drawLine(center, prev, color);
}
for(int i = 1; i <= nSteps; i++)
{
btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
drawLine(prev, next, color);
prev = next;
}
if(drawSect)
{
drawLine(center, prev, color);
}
}
void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
{
btVector3 vA[74];
btVector3 vB[74];
btVector3 *pvA = vA, *pvB = vB, *pT;
btVector3 npole = center + up * radius;
btVector3 spole = center - up * radius;
btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
const btVector3& kv = up;
const btVector3& iv = axis;
btVector3 jv = kv.cross(iv);
bool drawN = false;
bool drawS = false;
if(minTh <= -SIMD_HALF_PI)
{
minTh = -SIMD_HALF_PI + step;
drawN = true;
}
if(maxTh >= SIMD_HALF_PI)
{
maxTh = SIMD_HALF_PI - step;
drawS = true;
}
if(minTh > maxTh)
{
minTh = -SIMD_HALF_PI + step;
maxTh = SIMD_HALF_PI - step;
drawN = drawS = true;
}
int n_hor = (int)((maxTh - minTh) / step) + 1;
if(n_hor < 2) n_hor = 2;
btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
if(minPs > maxPs)
{
minPs = -SIMD_PI + step;
maxPs = SIMD_PI;
}
int n_vert = (int)((maxPs - minPs) / step) + 1;
if(n_vert < 2) n_vert = 2;
btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
for(int i = 0; i < n_hor; i++)
{
btScalar th = minTh + btScalar(i) * step_h;
btScalar sth = radius * btSin(th);
btScalar cth = radius * btCos(th);
for(int j = 0; j < n_vert; j++)
{
btScalar psi = minPs + btScalar(j) * step_v;
btScalar sps = btSin(psi);
btScalar cps = btCos(psi);
pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
if(i)
{
drawLine(pvA[j], pvB[j], color);
}
else if(drawS)
{
drawLine(spole, pvB[j], color);
}
if(j)
{
drawLine(pvB[j-1], pvB[j], color);
}
if((i == (n_hor - 1)) && drawN)
{
drawLine(npole, pvB[j], color);
}
if( ((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
{
drawLine(center, pvB[j], color);
}
}
pT = pvA; pvA = pvB; pvB = pT;
}
}
void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
{
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
}
};