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Added btCapsuleShape. This could already be simulated by simply adding 2 spheres to the btMultiSphereShape, but this was bad documented/unknown.

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For tapered capsules, you can still use btMultiSphereShape, just pass 2 spheres with different radius.
This commit is contained in:
ejcoumans
2007-01-30 00:09:08 +00:00
parent 7b5301bb43
commit 581468ceec
7 changed files with 275 additions and 36 deletions
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100
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -36,7 +36,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
@@ -257,6 +257,46 @@ public:
}
};
void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
{
glPushMatrix();
switch (upAxis)
{
case 0:
glRotatef(-90.0, 0.0, 1.0, 0.0);
glTranslatef(0.0, 0.0, -halfHeight);
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, 0.0, -halfHeight);
break;
case 2:
glTranslatef(0.0, 0.0, -halfHeight);
break;
default:
{
assert(0);
}
}
GLUquadricObj *quadObj = gluNewQuadric();
//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
glPopMatrix();
gluDeleteQuadric(quadObj);
}
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
{
@@ -319,7 +359,29 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
useWireframeFallback = false;
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
float radius = capsuleShape->getRadius();
float halfHeight = capsuleShape->getHalfHeight();
int upAxis = 1;
drawCylinder(radius,halfHeight,upAxis);
glPushMatrix();
glTranslatef(0.0, -halfHeight,0.0);
glutSolidSphere(radius,10,10);
glTranslatef(0.0, 2*halfHeight,0.0);
glutSolidSphere(radius,10,10);
glPopMatrix();
useWireframeFallback = false;
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
break;
}
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
@@ -344,43 +406,11 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
GLUquadricObj *quadObj = gluNewQuadric();
float radius = cylinder->getRadius();
float halfHeight = cylinder->getHalfExtents()[upAxis];
glPushMatrix();
switch (upAxis)
{
case 0:
glRotatef(-90.0, 0.0, 1.0, 0.0);
glTranslatef(0.0, 0.0, -halfHeight);
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, 0.0, -halfHeight);
break;
case 2:
glTranslatef(0.0, 0.0, -halfHeight);
break;
default:
{
assert(0);
}
}
//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
glPopMatrix();
gluDeleteQuadric(quadObj);
drawCylinder(radius,halfHeight,upAxis);
break;
}