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

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

Demos/OpenGL/RenderTexture.h

@@ -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];

src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp

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

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -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.));
 					}
 				};
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -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

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -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);

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -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();

src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

@@ -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);

src/LinearMath/btIDebugDraw.h

@@ -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:
@@ -50,24 +51,49 @@ 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)
 	{
 		drawTriangle(v0,v1,v2,color,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);