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

changes in debug drawing, thanks to Dennis Cappendijk

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

13
Demos/AllBulletDemos/Main.cpp
View File

@@ -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);

2
Demos/CharacterDemo/CharacterDemo.cpp
View File

@@ -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");

6
Demos/OpenGL/DemoApplication.cpp
View File

@@ -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)

32
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -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);

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -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;

1
src/LinearMath/btIDebugDraw.h
View File

@@ -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
};