added debug drawing for concave objects (draws overlapping triangles)

Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp

@@ -23,6 +23,7 @@ subject to the following restrictions:
 #include "CollisionDispatch/ManifoldResult.h"
 #include "NarrowPhaseCollision/RaycastCallback.h"
 #include "CollisionShapes/TriangleShape.h"
+#include "IDebugDraw.h"
 
 ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 : CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
@@ -77,7 +78,27 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, i
 	CollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher = m_dispatcher;
 
+	CollisionObject* ob = static_cast<CollisionObject*>(m_triangleProxy.m_clientObject);
+
+
 	
+	///debug drawing of the overlapping triangles
+	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->GetDebugMode() > 0)
+	{
+		SimdVector3 color(255,255,0);
+		SimdTransform& tr = ob->m_worldTransform;
+		m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(triangle[1]),color);
+		m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(triangle[2]),color);
+		m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(triangle[0]),color);
+
+		//SimdVector3 center = triangle[0] + triangle[1]+triangle[2];
+		//center *= 0.333333f;
+		//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(center),color);
+		//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(center),color);
+		//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(center),color);
+
+	}
+
 
 	CollisionObject* colObj = static_cast<CollisionObject*>(m_convexProxy->m_clientObject);
 	
@@ -86,8 +107,7 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, i
 		TriangleShape tm(triangle[0],triangle[1],triangle[2]);	
 		tm.SetMargin(m_collisionMarginTriangle);
 	
-		CollisionObject* ob = static_cast<CollisionObject*>(m_triangleProxy.m_clientObject);
+		
-
 		CollisionShape* tmpShape = ob->m_collisionShape;
 		ob->m_collisionShape = &tm;
 		
@@ -137,7 +157,7 @@ void ConvexConcaveCollisionAlgorithm::ClearCache()
 
 void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
 {
-
+	
 	CollisionObject* convexBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
 	CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
 

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -32,7 +32,7 @@ subject to the following restrictions:
 #include "CollisionShapes/TriangleMesh.h"
 
 #include "IDebugDraw.h"
-//#include "GLDebugDrawer.h"
+#include "GLDebugDrawer.h"
 
 #include "PHY_Pro.h"
 
@@ -57,6 +57,7 @@ CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
 TriangleMesh meshData; 
 StridingMeshInterface* ptr;
 
+GLDebugDrawer	debugDrawer;
 
 //GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
 //						   SimdPoint3(50,0,0));
@@ -214,7 +215,7 @@ int main(int argc,char** argv)
 #endif//DEBUG_MESH
 
 
-//	GLDebugDrawer	debugDrawer;
+	
 
 	ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
 	//ConstraintSolver* solver = new OdeConstraintSolver;
@@ -322,7 +323,7 @@ int main(int argc,char** argv)
 		}
 */
 		//for the line that represents the AABB extents
-//	physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
+	physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
 
 		
 	}
@@ -336,6 +337,8 @@ void renderme()
 	float m[16];
 	int i;
 
+	debugDrawer.SetDebugMode(getDebugMode());
+
 	for (i=0;i<numObjects;i++)
 	{
 		SimdTransform transA;

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -675,6 +675,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
+	dispatchInfo.m_debugDraw = this->m_debugDrawer;
 
 	scene->RefreshOverlappingPairs();
 	GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo);