Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

56
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -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.));
}
};