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changes in debug drawing, thanks to Dennis Cappendijk

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See Issue 559
This commit is contained in:
erwin.coumans
2012-02-29 04:15:09 +00:00
parent 1bcfd824f2
commit b90352d62b
6 changed files with 36 additions and 20 deletions
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32
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1198,15 +1198,14 @@ public:
wv1 = m_worldTrans*triangle[1];
wv2 = m_worldTrans*triangle[2];
btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
btVector3 normal = (wv1-wv0).cross(wv2-wv0);
normal.normalize();
btVector3 normalColor(1,1,0);
m_debugDrawer->drawLine(center,center+normal,normalColor);
if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )
{
btVector3 normal = (wv1-wv0).cross(wv2-wv0);
normal.normalize();
btVector3 normalColor(1,1,0);
m_debugDrawer->drawLine(center,center+normal,normalColor);
}
m_debugDrawer->drawLine(wv0,wv1,m_color);
m_debugDrawer->drawLine(wv1,wv2,m_color);
m_debugDrawer->drawLine(wv2,wv0,m_color);
@@ -1257,11 +1256,12 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
}
}
centroid*= btScalar(1.f)/btScalar(numVerts);
btVector3 normalColor(1,1,0);
btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
//getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
{
btVector3 normalColor(1,1,0);
btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
}
}
@@ -1388,7 +1388,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
}
}
}
}
}
}
@@ -1398,7 +1398,7 @@ void btCollisionWorld::debugDrawWorld()
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
int numManifolds = getDispatcher()->getNumManifolds();
btVector3 color(0,0,0);
btVector3 color(1,0.65,0);
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);