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add single step simulation, using 'o' key. use 'i' key to suspend simulation first

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default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
This commit is contained in:
erwin coumans
2016-08-19 10:30:02 -07:00
parent a68c9ca845
commit 62d5b7c5c0
9 changed files with 174 additions and 122 deletions
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6
src/LinearMath/btIDebugDraw.h
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@@ -166,9 +166,9 @@ class btIDebugDraw
virtual 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));
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
}
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,