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Fixed debug drawing for btCapsuleShapeX and btCapsuleShapeZ

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This commit is contained in:
erwin.coumans
2008-07-02 23:07:27 +00:00
parent dbc464f831
commit db146019f1
1 changed files with 31 additions and 6 deletions
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37
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -879,25 +879,50 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
btScalar radius = capsuleShape->getRadius();
btScalar halfHeight = capsuleShape->getHalfHeight();
int upAxis = capsuleShape->getUpAxis();
btVector3 capStart(0.f,0.f,0.f);
capStart[upAxis] = -halfHeight;
btVector3 capEnd(0.f,0.f,0.f);
capEnd[upAxis] = halfHeight;
// Draw the ends
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * btVector3(0,halfHeight,0);
childTransform.getOrigin() = worldTransform * capStart;
debugDrawSphere(radius, childTransform, color);
}
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * btVector3(0,-halfHeight,0);
childTransform.getOrigin() = worldTransform * capEnd;
debugDrawSphere(radius, childTransform, color);
}
// Draw some additional lines
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(-radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(-radius,-halfHeight,0), color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(radius,-halfHeight,0), color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,-radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,-radius), color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,radius), color);
capStart[(upAxis+1)%3] = radius;
capEnd[(upAxis+1)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
capStart[(upAxis+1)%3] = -radius;
capEnd[(upAxis+1)%3] = -radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
capStart[(upAxis+1)%3] = 0.f;
capEnd[(upAxis+1)%3] = 0.f;
capStart[(upAxis+2)%3] = radius;
capEnd[(upAxis+2)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
capStart[(upAxis+2)%3] = -radius;
capEnd[(upAxis+2)%3] = -radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
break;
}