More patches from Francisco Leon, will be tested multi-platform etc. today

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
+Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely, 
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -47,84 +47,144 @@ subject to the following restrictions:
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
-//#define USE_DISPLAY_LISTS 1
+class GlDrawcallback : public btTriangleCallback
+{
+public:
+	bool	m_wireframe;
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+		if (m_wireframe)
+		{
+			glBegin(GL_LINES);
+			glColor3f(1, 0, 0);
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 1, 0);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 0, 1);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		} else
+		{
+			btVector3 diff1 = triangle[1] - triangle[0];
+			btVector3 diff2 = triangle[2] - triangle[0];
+			btVector3 normal = diff1.cross(diff2);
+			normal.normalize();
+			glBegin(GL_TRIANGLES);
+			glColor3f(1.0f, 0.3f, 0.6f);
+			glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glColor3f(1.0f, 0.3f, 0.6f);
+			glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(1.0f, 0.3f, 0.6f);
+			glNormal3d(normal.getX(),normal.getY(),normal.getZ());
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glEnd();
+		}
+	}
+};
+
+class GlDrawcallback_plane : public btTriangleCallback
+{
+public:
+	bool	m_wireframe;
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+		if(m_wireframe)
+		{
+			glDisable(GL_CULL_FACE);
+			glBegin(GL_LINES);
+			glColor3f(0.5, 0, 1);
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0.5, 0, 1);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0.5, 0, 1);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		}
+		else
+		{
+			glBegin(GL_TRIANGLES);
+			glColor3f(0.4, -0.4, 0.5);
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+
+			glColor3f(0.4, -0.4, 1.0);
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+
+			glColor3f(0.4, -0.4, 0.5);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glEnd();
+		}
+	}
+};
+
+
+
+class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
+{
+public:
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	{
+		glBegin(GL_TRIANGLES);//LINES);
+		glColor3f(1, 0, 0);
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 1, 0);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 0, 1);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glEnd();
+	}
+};
+
+
+
+#define USE_DISPLAY_LISTS 1
 #ifdef USE_DISPLAY_LISTS
 
-#include <map>
-
-using namespace std;
-
 //Set for storing Display list per trimesh
 struct TRIMESH_KEY
 {
 	btCollisionShape* m_shape;
-	GLuint m_dlist;//OpenGL display list	
+	GLuint m_dlist;//OpenGL display list
-};
+	GLuint m_dlist_wireframe;//OpenGL display list
 
-typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
+	inline bool operator <(const TRIMESH_KEY& other) const
-
-typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
-
-TRIMESH_KEY_MAP g_display_lists;
-
-class GlDisplaylistDrawcallback : public btTriangleCallback
-{
-public:
-
-	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
 	{
+		return (m_shape < other.m_shape);
+	}
 
-		btVector3 diff1 = triangle[1] - triangle[0];
+	inline bool operator >(const TRIMESH_KEY& other) const
-		btVector3 diff2 = triangle[2] - triangle[0];
+	{
-		btVector3 normal = diff1.cross(diff2);
+		return (m_shape > other.m_shape);
-
-		normal.normalize();
-
-		glBegin(GL_TRIANGLES);
-		glColor3f(0, 1, 0);
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
-
-		glColor3f(0, 1, 0);
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
-
-		glColor3f(0, 1, 0);
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
-		glEnd();
-
-		/*glBegin(GL_LINES);
-		glColor3f(1, 1, 0);
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
-		glColor3f(1, 1, 0);
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
-		glColor3f(1, 1, 0);
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
-		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
-		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
-		glEnd();*/
-
-		
 	}
 };
 
-GLuint  OGL_get_displaylist_for_shape(btCollisionShape * shape)
+typedef btAlignedObjectArray<TRIMESH_KEY> TRIMESH_KEY_MAP;
+
+TRIMESH_KEY_MAP g_display_lists;
+
+TRIMESH_KEY * OGL_get_displaylist_for_shape(btCollisionShape * shape)
 {
-	TRIMESH_KEY_MAP::iterator map_iter;
+	if(g_display_lists.size()==0) return  0;
-	
+
-	unsigned long key = (unsigned long)shape;
+	TRIMESH_KEY searchkey;
-	map_iter = g_display_lists.find(key);
+	searchkey.m_shape = shape;
-	if(map_iter!=g_display_lists.end())
+
+	int map_iter = g_display_lists.findBinarySearch(searchkey);
+	if(map_iter < g_display_lists.size())
 	{
-		return map_iter->second.m_dlist;
+		return &g_display_lists[map_iter];
 	}
 
 	return 0;
@@ -132,51 +192,119 @@ GLuint  OGL_get_displaylist_for_shape(btCollisionShape * shape)
 
 void OGL_displaylist_clean()
 {
-	TRIMESH_KEY_MAP::iterator map_iter,map_itend;
+	int map_iter = g_display_lists.size();
 
-	map_iter = g_display_lists.begin();
+	while(map_iter--)
-
-	while(map_iter!=map_itend)
 	{
-		glDeleteLists(map_iter->second.m_dlist,1);		
+		glDeleteLists(g_display_lists[map_iter].m_dlist,1);
-		map_iter++;
+		glDeleteLists(g_display_lists[map_iter].m_dlist_wireframe,1);
 	}
 
 	g_display_lists.clear();
 }
 
-
+TRIMESH_KEY * OGL_displaylist_register_shape(btCollisionShape * shape)
-void OGL_displaylist_register_shape(btCollisionShape * shape)
 {
-	btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+	btVector3 aabbMax(1e30f,1e30f,1e30f);
-	btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
+	btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
-	GlDisplaylistDrawcallback drawCallback;
+	GlDrawcallback drawCallback;
+
 	TRIMESH_KEY dlist;
 
 	dlist.m_dlist = glGenLists(1);
+	dlist.m_dlist_wireframe = glGenLists(1);
 	dlist.m_shape = shape;
 
-	unsigned long key = (unsigned long)shape;
+    if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-
-	g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
-	
-	glNewList(dlist.m_dlist,GL_COMPILE);
-
-	glEnable(GL_CULL_FACE);
-
-	glCullFace(GL_BACK);
-
-	if (shape->isConcave())
 	{
-		btConcaveShape* concaveMesh = (btConcaveShape*) shape;			
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-		//todo pass camera, for some culling		
+		//Draw
+		glNewList(dlist.m_dlist,GL_COMPILE);
+		glDisable(GL_CULL_FACE);
+		drawCallback.m_wireframe = false;
 		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+		glEndList();
+
+		//Draw wireframe
+		glNewList(dlist.m_dlist_wireframe,GL_COMPILE);
+		glDisable(GL_CULL_FACE);
+		drawCallback.m_wireframe = true;
+		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+		glEndList();
+	}
+	else if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+	{
+		btConcaveShape* gimpactMesh = (btConcaveShape*) shape;
+
+		//Draw
+		glNewList(dlist.m_dlist,GL_COMPILE);
+		//glEnable(GL_CULL_FACE);
+		//glCullFace(GL_BACK);
+		glDisable(GL_CULL_FACE);
+		drawCallback.m_wireframe = false;
+		gimpactMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+		//glDisable(GL_CULL_FACE);
+		glEndList();
+
+		//Draw wireframe
+		glNewList(dlist.m_dlist_wireframe,GL_COMPILE);
+		glDisable(GL_CULL_FACE);
+		drawCallback.m_wireframe = true;
+		gimpactMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+		glEndList();
+	}
+	else if (shape->getShapeType() == STATIC_PLANE_PROXYTYPE)
+	{
+		GlDrawcallback_plane drawPlaneCallback;
+		btVector3 paabbMax(100.f,100.f,100.f);
+		btVector3 paabbMin(-100.f,-100.f,-100.f);
+
+		btConcaveShape* planeshape = (btConcaveShape*) shape;
+
+		//Draw
+		glNewList(dlist.m_dlist,GL_COMPILE);
+		glDisable(GL_CULL_FACE);
+		drawPlaneCallback.m_wireframe = false;
+		planeshape->processAllTriangles(&drawPlaneCallback,paabbMin,paabbMax);
+		glEndList();
+
+		//Draw wireframe
+		glNewList(dlist.m_dlist_wireframe,GL_COMPILE);
+		glDisable(GL_CULL_FACE);
+		drawPlaneCallback.m_wireframe = true;
+		planeshape->processAllTriangles(&drawPlaneCallback,paabbMin,paabbMax);
+		glEndList();
 	}
 
-	glDisable(GL_CULL_FACE);	
+	g_display_lists.push_back(dlist);
+	g_display_lists.heapSort(TRIMESH_KEY_MAP::less());
 
-	glEndList();
+	int inserted = g_display_lists.findBinarySearch(dlist);
+
+	return &g_display_lists[inserted];
 }
+
+void OGL_draw_shape(btCollisionShape* shape, bool wireframe)
+{
+	TRIMESH_KEY * dlist = OGL_get_displaylist_for_shape(shape);
+
+	if(dlist == 0)
+	{
+		dlist = OGL_displaylist_register_shape(shape);
+	}
+	if(wireframe)
+	{
+		glCallList(dlist->m_dlist_wireframe);
+	}
+	else
+	{
+		glCallList(dlist->m_dlist);
+	}
+
+}
+
+
+
 #endif //USE_DISPLAY_LISTS
 
 void GL_ShapeDrawer::drawCoordSystem()  {
@@ -191,13 +319,13 @@ void GL_ShapeDrawer::drawCoordSystem()  {
     glVertex3d(0, 0, 0);
     glVertex3d(0, 0, 1);
     glEnd();
-	
+
 }
 
 
 
 
-
+/*
 class GlDrawcallback : public btTriangleCallback
 {
 
@@ -243,8 +371,9 @@ public:
 		}
 	}
 };
+*/
 
-class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
+/*class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
 {
 public:
 	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
@@ -265,11 +394,11 @@ public:
 		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
 		glEnd();
 	}
-};
+};*/
 
 void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
 {
-	
+
 
 	glPushMatrix();
 	switch (upAxis)
@@ -283,7 +412,7 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
 		glTranslatef(0.0, 0.0, -halfHeight);
 		break;
 	case 2:
-		
+
 		glTranslatef(0.0, 0.0, -halfHeight);
 		break;
 	default:
@@ -292,17 +421,17 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
 		}
 
 	}
-	
+
 	GLUquadricObj *quadObj = gluNewQuadric();
 
-	//The gluCylinder subroutine draws a cylinder that is oriented along the z axis. 
+	//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. 
+	//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);
@@ -311,9 +440,9 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
 void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode)
 {
 
-	
+
-	glPushMatrix(); 
+	glPushMatrix();
-  btglMultMatrix(m);
+	btglMultMatrix(m);
 
 	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
 	{
@@ -325,7 +454,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 				0,scalingFactor,0,0,
 				0,0,scalingFactor,0,
 				0,0,0,1};
-			
+
 			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
 		}
 		glPopMatrix();
@@ -347,12 +476,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 	} else
 	{
 		//drawCoordSystem();
-	    
+
 		//glPushMatrix();
 		glEnable(GL_COLOR_MATERIAL);
 		glColor3f(color.x(),color.y(), color.z());
 
-		
+
 
 		bool useWireframeFallback = true;
 
@@ -372,7 +501,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			case TRIANGLE_SHAPE_PROXYTYPE:
 			case TETRAHEDRAL_SHAPE_PROXYTYPE:
 				{
-					//todo:	
+					//todo:
 //					useWireframeFallback = false;
 					break;
 				}
@@ -395,7 +524,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 
 				drawCylinder(radius,halfHeight,upAxis);
 
-				
+
 				glPushMatrix();
 				glTranslatef(0.0, -halfHeight,0.0);
 				glutSolidSphere(radius,10,10);
@@ -432,8 +561,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 				{
 					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
 					int upAxis = cylinder->getUpAxis();
-					
+
-					
+
 					float radius = cylinder->getRadius();
 					float halfHeight = cylinder->getHalfExtents()[upAxis];
 
@@ -448,9 +577,9 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			};
 
 		}
-		
 
-		
+
+
 
 		if (useWireframeFallback)
 		{
@@ -458,8 +587,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			if (shape->isPolyhedral())
 			{
 				btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
-				
+
-				
+
 				glBegin(GL_LINES);
 
 
@@ -476,7 +605,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 				}
 				glEnd();
 
-				
+
 				if (debugMode==btIDebugDraw::DBG_DrawFeaturesText)
 				{
 					glRasterPos3f(0.0,  0.0,  0.0);
@@ -504,37 +633,41 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 						char buf[12];
 						sprintf(buf," plane %d",i);
 						BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-						
+
 					}
 				}
 
-				
+
 			}
 		}
 
 
 #ifdef USE_DISPLAY_LISTS
-
+		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||
-	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+			shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE||
+			shape->getShapeType() == STATIC_PLANE_PROXYTYPE)
 		{
-			GLuint dlist =   OGL_get_displaylist_for_shape((btCollisionShape * )shape);
+			if((debugMode & btIDebugDraw::DBG_DrawWireframe)!=0)
-			if (dlist)
 			{
-				glCallList(dlist);
+				OGL_draw_shape((btCollisionShape *)shape,true);
 			}
 			else
 			{
-#else		
+				OGL_draw_shape((btCollisionShape *)shape,false);
-	if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+			}
-//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+
+
+		}
+#else
+		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
 		{
-			btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+			btConcaveShape* concaveMesh = (btTriangleMeshShape*) shape;
-			//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+			//btVector3 aabbMax(1e30f,1e30f,1e30f);
-			//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
+			//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
 
 			//todo pass camera, for some culling
-			btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+			btVector3 aabbMax(1e30f,1e30f,1e30f);
-			btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
+			btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
 
 			GlDrawcallback drawCallback;
 			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
@@ -542,25 +675,37 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
 
 		}
+		else if (shape->getShapeType() == STATIC_PLANE_PROXYTYPE)
+		{
+
+			GlDrawcallback_plane drawPlaneCallback;
+			btVector3 paabbMax(100.f,100.f,100.f);
+			btVector3 paabbMin(-100.f,-100.f,-100.f);
+
+			btConcaveShape* planeshape = (btConcaveShape*) shape;
+
+			drawPlaneCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
+			//Draw
+			glDisable(GL_CULL_FACE);
+			planeshape->processAllTriangles(&drawPlaneCallback,paabbMin,paabbMax);
+		}
+
+
 #endif
 
-#ifdef USE_DISPLAY_LISTS
-		}
-	}
-#endif
 
 		if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
 		{
 			btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
-			
+
-			//todo: pass camera for some culling			
+			//todo: pass camera for some culling
 			btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
 			btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
 			TriangleGlDrawcallback drawCallback;
 			convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
 
 		}
-		
+
 
 		glDisable(GL_DEPTH_BUFFER_BIT);
 		glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
@@ -578,5 +723,5 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 	//	glPopMatrix();
 	}
     glPopMatrix();
-	
+
 }

Demos/OpenGL/GL_ShapeDrawer.h

@@ -28,7 +28,7 @@ class GL_ShapeDrawer
 		static void		drawCylinder(float radius,float halfHeight, int upAxis);
 };
 
-void OGL_displaylist_register_shape(btCollisionShape * shape);
+//void OGL_displaylist_register_shape(btCollisionShape * shape);
 void OGL_displaylist_clean();
 
 #endif //GL_SHAPE_DRAWER_H