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fixes in debug drawer: always use rgba color with each component in range [0..1]

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use sphere/box rendering of debug drawer
Thanks accodejockey for the report: See http://code.google.com/p/bullet/issues/detail?id=280
Also see http://code.google.com/p/bullet/issues/detail?id=279
This commit is contained in:
erwin.coumans
2010-01-19 19:38:18 +00:00
parent c6df06c6a1
commit 96d73d642d
8 changed files with 68 additions and 61 deletions
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1
Demos/OpenGL/RenderTexture.h
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@@ -33,6 +33,7 @@ public:
renderTexture(int width,int height);
~renderTexture();
///rgba input is in range [0..1] for each component
inline void setPixel(int x,int y,const btVector4& rgba)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];

8
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
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@@ -78,10 +78,10 @@ void btQuantizedBvh::buildInternal()
#ifdef DEBUG_PATCH_COLORS
btVector3 color[4]=
{
btVector3(255,0,0),
btVector3(0,255,0),
btVector3(0,0,255),
btVector3(0,255,255)
btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1),
btVector3(0,1,1)
};
#endif //DEBUG_PATCH_COLORS

56
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -943,32 +943,6 @@ public:
}
};
void btCollisionWorld::debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
{
btVector3 start = transform.getOrigin();
const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
// XY
getDebugDrawer()->drawLine(start-xoffs, start+yoffs, color);
getDebugDrawer()->drawLine(start+yoffs, start+xoffs, color);
getDebugDrawer()->drawLine(start+xoffs, start-yoffs, color);
getDebugDrawer()->drawLine(start-yoffs, start-xoffs, color);
// XZ
getDebugDrawer()->drawLine(start-xoffs, start+zoffs, color);
getDebugDrawer()->drawLine(start+zoffs, start+xoffs, color);
getDebugDrawer()->drawLine(start+xoffs, start-zoffs, color);
getDebugDrawer()->drawLine(start-zoffs, start-xoffs, color);
// YZ
getDebugDrawer()->drawLine(start-yoffs, start+zoffs, color);
getDebugDrawer()->drawLine(start+zoffs, start+yoffs, color);
getDebugDrawer()->drawLine(start+yoffs, start-zoffs, color);
getDebugDrawer()->drawLine(start-zoffs, start-yoffs, color);
}
void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
@@ -995,12 +969,20 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
switch (shape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
debugDrawSphere(radius, worldTransform, color);
getDebugDrawer()->drawSphere(radius, worldTransform, color);
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -1013,7 +995,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
debugDrawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
}
break;
@@ -1039,13 +1021,13 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * capStart;
debugDrawSphere(radius, childTransform, color);
getDebugDrawer()->drawSphere(radius, childTransform, color);
}
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * capEnd;
debugDrawSphere(radius, childTransform, color);
getDebugDrawer()->drawSphere(radius, childTransform, color);
}
// Draw some additional lines
@@ -1215,22 +1197,22 @@ void btCollisionWorld::debugDrawWorld()
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
color = btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));
}
};

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -154,8 +154,6 @@ public:
virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
///LocalShapeInfo gives extra information for complex shapes
///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart

2
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@@ -95,7 +95,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
btVector3 color(255,255,0);
btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);

6
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -708,13 +708,13 @@ void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
for (int v=0;v<this->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
btVector3 wheelColor(0,1,1);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
wheelColor.setValue(0,0,1);
} else
{
wheelColor.setValue(255,0,255);
wheelColor.setValue(1,0,1);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();

2
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
View File

@@ -97,7 +97,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(255,255,0);
btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);

52
src/LinearMath/btIDebugDraw.h
View File

@@ -24,6 +24,7 @@ subject to the following restrictions:
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
class btIDebugDraw
{
public:
@@ -50,23 +51,48 @@ class btIDebugDraw
virtual ~btIDebugDraw() {};
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
{
(void) fromColor; (void) toColor;
(void) toColor;
drawLine (from, to, fromColor);
}
virtual void drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
{
(void) boxMin; (void) boxMax; (void) color; (void) alpha;
}
btVector3 start = transform.getOrigin();
const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
// XY
drawLine(start-xoffs, start+yoffs, color);
drawLine(start+yoffs, start+xoffs, color);
drawLine(start+xoffs, start-yoffs, color);
drawLine(start-yoffs, start-xoffs, color);
// XZ
drawLine(start-xoffs, start+zoffs, color);
drawLine(start+zoffs, start+xoffs, color);
drawLine(start+xoffs, start-zoffs, color);
drawLine(start-zoffs, start-xoffs, color);
// YZ
drawLine(start-yoffs, start+zoffs, color);
drawLine(start+zoffs, start+yoffs, color);
drawLine(start+yoffs, start-zoffs, color);
drawLine(start-zoffs, start-yoffs, color);
}
virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
{
(void) p; (void) radius; (void) color; (void) color;
btTransform tr;
tr.setIdentity();
tr.setOrigin(p);
drawSphere(radius,tr,color);
}
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
{
@@ -89,7 +115,7 @@ class btIDebugDraw
virtual int getDebugMode() const = 0;
inline void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
@@ -118,7 +144,7 @@ class btIDebugDraw
edgecoord[i]*=-1.f;
}
}
void drawTransform(const btTransform& transform, btScalar orthoLen)
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));
@@ -126,7 +152,7 @@ class btIDebugDraw
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,
virtual 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;
@@ -151,7 +177,7 @@ class btIDebugDraw
drawLine(center, prev, color);
}
}
void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
virtual 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];
@@ -253,7 +279,7 @@ class btIDebugDraw
}
}
void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
virtual 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);
@@ -268,7 +294,7 @@ class btIDebugDraw
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);
}
void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
{
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);