changes in debug drawing, thanks to Dennis Cappendijk

See Issue 559

Demos/AllBulletDemos/Main.cpp

@@ -53,6 +53,7 @@ namespace
 	int tx, ty, tw, th;
 	int	gDrawAabb;
 	int	gWireFrame;
+    int gDrawNormals;
 	int gHelpText;
 	int gDebugConstraints;
 	int	gDebugContacts;
@@ -81,6 +82,7 @@ void	setDefaultSettings()
 	height = 768;//480;
 	iterationCount = 10;
 	gDrawAabb=0;
+    gDrawNormals=0;
 	gWireFrame=0;
 	gDebugContacts=0;
 	//enable constraint debug visualization for first demo, only if user hasn't overridden the setting
@@ -226,7 +228,13 @@ void SimulationLoop()
 	} else
 	{
 		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawWireframe));
-
+	}
+    if (gDrawNormals)
+	{
+		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawNormals);
+	} else
+	{
+		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawNormals));
 	}
 	if (gHelpText)
 	{
@@ -327,7 +335,7 @@ void SimulationLoop()
                 gDebugConstraints=0;
         	} else
         	{
-               	  gDebugConstraints=1;
+                gDebugConstraints=1;
         	}
 
 		testIndex = testSelection;
@@ -531,6 +539,7 @@ int main(int argc, char** argv)
 	glui->add_checkbox_to_panel(drawPanel, "Help", &gHelpText);
 	glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
 	glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
+    glui->add_checkbox_to_panel(drawPanel, "Normals", &gDrawNormals);
 	glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
 	glui->add_checkbox_to_panel(drawPanel, "Constraints", &gDebugConstraints);
 

Demos/CharacterDemo/CharacterDemo.cpp

@@ -101,7 +101,7 @@ void CharacterDemo::initPhysics()
 	btTransform tr;
 	tr.setIdentity();
 
-	char* bspfilename = "BspDemo.bsp";
+	const char* bspfilename = "BspDemo.bsp";
 	void* memoryBuffer = 0;
 
 	FILE* file = fopen(bspfilename,"r");

Demos/OpenGL/DemoApplication.cpp

@@ -391,6 +391,12 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 		else
 			m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
 		break;
+    case 'N':
+		if (m_debugMode & btIDebugDraw::DBG_DrawNormals)
+			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawNormals);
+		else
+			m_debugMode |= btIDebugDraw::DBG_DrawNormals;
+		break;
 
 	case 't' : 
 		if (m_debugMode & btIDebugDraw::DBG_DrawText)

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1199,14 +1199,13 @@ public:
 		  wv2 = m_worldTrans*triangle[2];
 		  btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
           
-		  btVector3 normal = (wv1-wv0).cross(wv2-wv0);
+          if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )
-		  normal.normalize();
+          {
-		  btVector3 normalColor(1,1,0);
+		    btVector3 normal = (wv1-wv0).cross(wv2-wv0);
-		  m_debugDrawer->drawLine(center,center+normal,normalColor);
+		    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);
-
+                    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]);
+					  btVector3 normalColor(1,1,0);
-					//getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+					  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);

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -313,7 +313,7 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 
 
-	if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
+    if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
 	{
 		int i;
 

src/LinearMath/btIDebugDraw.h

@@ -46,6 +46,7 @@ class	btIDebugDraw
 		DBG_DrawConstraints = (1 << 11),
 		DBG_DrawConstraintLimits = (1 << 12),
 		DBG_FastWireframe = (1<<13),
+        DBG_DrawNormals = (1<<14),
 		DBG_MAX_DEBUG_DRAW_MODE
 	};