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add basic debug drawing interface for btMultiBodyPoint2Point constraint

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add basic debug drawing drawText3D in SimpleOpenGL3App
remove a few warnings
add drawTexturedRect3D to GLPrimitiveRenderer to support debug drawing
This commit is contained in:
erwincoumans
2015-01-27 10:45:56 -08:00
parent 51f41d0cfc
commit bd16df8dd6
20 changed files with 611 additions and 191 deletions
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15
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -756,6 +756,11 @@ void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint*
m_multiBodyConstraints.remove(constraint);
}
void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint)
{
constraint->debugDraw(getDebugDrawer());
}
void btMultiBodyDynamicsWorld::debugDrawWorld()
{
@@ -772,11 +777,17 @@ void btMultiBodyDynamicsWorld::debugDrawWorld()
if (drawConstraints)
{
BT_PROFILE("btMultiBody stepPositions");
//integrate and update the Featherstone hierarchies
BT_PROFILE("btMultiBody debugDrawWorld");
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
for (int c=0;c<m_multiBodyConstraints.size();c++)
{
btMultiBodyConstraint* constraint = m_multiBodyConstraints[c];
debugDrawMultiBodyConstraint(constraint);
}
for (int b = 0; b<m_multiBodies.size(); b++)
{
btMultiBody* bod = m_multiBodies[b];