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Bullet debug draw added

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It is off by default, see attributes of dSolverNode to turn it on
This commit is contained in:
rponom
2010-01-30 04:21:12 +00:00
parent 08f597454a
commit d5f5ddf2f1
15 changed files with 302 additions and 28 deletions
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43
Extras/MayaPlugin/bt_solver.cpp
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@@ -36,6 +36,8 @@ btVector3 maxWorld(10000,10000,10000);
int maxNumObj=32768;
void bt_solver_t::export_bullet_file(const char* fileName)
{
// ColladaConverter tmpConverter(m_dynamicsWorld.get());
@@ -62,6 +64,36 @@ void bt_solver_t::import_bullet_file(const char* filename)
}
class bt_debug_draw : public btIDebugDraw
{
int m_debugMode;
public:
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
}
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
return;
}
virtual void reportErrorWarning(const char* warningString)
{
return;
}
virtual void draw3dText(const btVector3& location,const char* textString)
{
return;
}
virtual void setDebugMode(int debugMode) { m_debugMode = debugMode; }
virtual int getDebugMode() const { return m_debugMode; }
};
bt_solver_t::bt_solver_t():
// m_broadphase(new btAxisSweep3(minWorld,maxWorld,maxNumObj)),
m_broadphase(new btDbvtBroadphase()),
@@ -80,4 +112,15 @@ bt_solver_t::bt_solver_t():
m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0));
// m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
bt_debug_draw* dbgDraw = new bt_debug_draw();
m_dynamicsWorld->setDebugDrawer(dbgDraw);
}
void bt_solver_t::debug_draw(int dbgMode)
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(dbgMode);
m_dynamicsWorld->debugDrawWorld();
}