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Several improvements in constraint debug drawing

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This commit is contained in:
rponom
2009-02-06 00:04:52 +00:00
parent 2766d19d65
commit d1b9dd4c83
1 changed files with 42 additions and 2 deletions
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42
src/LinearMath/btIDebugDraw.h
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@@ -166,6 +166,7 @@ class btIDebugDraw
btVector3 *pvA = vA, *pvB = vB, *pT; btVector3 *pvA = vA, *pvB = vB, *pT;
btVector3 npole = center + up * radius; btVector3 npole = center + up * radius;
btVector3 spole = center - up * radius; btVector3 spole = center - up * radius;
btVector3 arcStart;
btScalar step = stepDegrees * SIMD_RADS_PER_DEG; btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
const btVector3& kv = up; const btVector3& kv = up;
const btVector3& iv = axis; const btVector3& iv = axis;
@@ -191,10 +192,20 @@ class btIDebugDraw
int n_hor = (int)((maxTh - minTh) / step) + 1; int n_hor = (int)((maxTh - minTh) / step) + 1;
if(n_hor < 2) n_hor = 2; if(n_hor < 2) n_hor = 2;
btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1); btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
bool isClosed = false;
if(minPs > maxPs) if(minPs > maxPs)
{ {
minPs = -SIMD_PI + step; minPs = -SIMD_PI + step;
maxPs = SIMD_PI; maxPs = SIMD_PI;
isClosed = true;
}
else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
{
isClosed = true;
}
else
{
isClosed = false;
} }
int n_vert = (int)((maxPs - minPs) / step) + 1; int n_vert = (int)((maxPs - minPs) / step) + 1;
if(n_vert < 2) n_vert = 2; if(n_vert < 2) n_vert = 2;
@@ -222,15 +233,29 @@ class btIDebugDraw
{ {
drawLine(pvB[j-1], pvB[j], color); drawLine(pvB[j-1], pvB[j], color);
} }
else
{
arcStart = pvB[j];
}
if((i == (n_hor - 1)) && drawN) if((i == (n_hor - 1)) && drawN)
{ {
drawLine(npole, pvB[j], color); drawLine(npole, pvB[j], color);
} }
if( ((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) if(isClosed)
{
if(j == (n_vert-1))
{
drawLine(arcStart, pvB[j], color);
}
}
else
{
if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
{ {
drawLine(center, pvB[j], color); drawLine(center, pvB[j], color);
} }
} }
}
pT = pvA; pvA = pvB; pvB = pT; pT = pvA; pvA = pvB; pvB = pT;
} }
} }
@@ -250,6 +275,21 @@ class btIDebugDraw
drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); 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); 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)
{
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);
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
}
}; };