re-enable debug drawing of box, instead of using the generic convex path.
Fixes Issue 622. Thanks for the report!
This commit is contained in:
erwin.coumans
@@ -1251,163 +1251,162 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
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} else
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{
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/// for polyhedral shapes
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if (shape->isPolyhedral())
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{
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btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
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switch (shape->getShapeType())
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{
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int i;
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if (polyshape->getConvexPolyhedron())
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{
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const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
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for (i=0;i<poly->m_faces.size();i++)
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{
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btVector3 centroid(0,0,0);
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int numVerts = poly->m_faces[i].m_indices.size();
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if (numVerts)
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{
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int lastV = poly->m_faces[i].m_indices[numVerts-1];
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for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
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{
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int curVert = poly->m_faces[i].m_indices[v];
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centroid+=poly->m_vertices[curVert];
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getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
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lastV = curVert;
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}
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}
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centroid*= btScalar(1.f)/btScalar(numVerts);
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if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
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case BOX_SHAPE_PROXYTYPE:
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{
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const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
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btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
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getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
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break;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
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btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
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getDebugDrawer()->drawSphere(radius, worldTransform, color);
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break;
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}
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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{
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const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
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btTransform childTransform;
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childTransform.setIdentity();
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for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
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{
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childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
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getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
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}
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break;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
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btScalar radius = capsuleShape->getRadius();
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btScalar halfHeight = capsuleShape->getHalfHeight();
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int upAxis = capsuleShape->getUpAxis();
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getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
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break;
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}
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case CONE_SHAPE_PROXYTYPE:
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{
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const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
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btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
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btScalar height = coneShape->getHeight();//+coneShape->getMargin();
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int upAxis= coneShape->getConeUpIndex();
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getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
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int upAxis = cylinder->getUpAxis();
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btScalar radius = cylinder->getRadius();
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btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
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getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
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break;
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}
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case STATIC_PLANE_PROXYTYPE:
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{
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const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
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btScalar planeConst = staticPlaneShape->getPlaneConstant();
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const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
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getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
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break;
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}
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default:
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{
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/// for polyhedral shapes
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if (shape->isPolyhedral())
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{
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btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
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int i;
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if (polyshape->getConvexPolyhedron())
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{
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btVector3 normalColor(1,1,0);
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btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
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getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
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const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
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for (i=0;i<poly->m_faces.size();i++)
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{
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btVector3 centroid(0,0,0);
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int numVerts = poly->m_faces[i].m_indices.size();
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if (numVerts)
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{
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int lastV = poly->m_faces[i].m_indices[numVerts-1];
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for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
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{
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int curVert = poly->m_faces[i].m_indices[v];
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centroid+=poly->m_vertices[curVert];
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getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
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lastV = curVert;
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}
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}
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centroid*= btScalar(1.f)/btScalar(numVerts);
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if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
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{
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btVector3 normalColor(1,1,0);
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btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
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getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
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}
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}
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} else
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{
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for (i=0;i<polyshape->getNumEdges();i++)
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{
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btVector3 a,b;
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polyshape->getEdge(i,a,b);
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btVector3 wa = worldTransform * a;
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btVector3 wb = worldTransform * b;
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getDebugDrawer()->drawLine(wa,wb,color);
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}
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}
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}
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}
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if (shape->isConcave())
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{
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btConcaveShape* concaveMesh = (btConcaveShape*) shape;
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} else
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{
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for (i=0;i<polyshape->getNumEdges();i++)
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{
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btVector3 a,b;
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polyshape->getEdge(i,a,b);
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btVector3 wa = worldTransform * a;
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btVector3 wb = worldTransform * b;
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getDebugDrawer()->drawLine(wa,wb,color);
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}
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}
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///@todo pass camera, for some culling? no -> we are not a graphics lib
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btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
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concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
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{
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btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
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//todo: pass camera for some culling
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btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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//DebugDrawcallback drawCallback;
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DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
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convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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}
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else
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{
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switch (shape->getShapeType())
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{
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case BOX_SHAPE_PROXYTYPE:
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{
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const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
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btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
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getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
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break;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
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btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
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getDebugDrawer()->drawSphere(radius, worldTransform, color);
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break;
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}
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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{
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const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
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btTransform childTransform;
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childTransform.setIdentity();
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for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
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{
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childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
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getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
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}
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break;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
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btScalar radius = capsuleShape->getRadius();
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btScalar halfHeight = capsuleShape->getHalfHeight();
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int upAxis = capsuleShape->getUpAxis();
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getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
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break;
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}
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case CONE_SHAPE_PROXYTYPE:
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{
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const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
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btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
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btScalar height = coneShape->getHeight();//+coneShape->getMargin();
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int upAxis= coneShape->getConeUpIndex();
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getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
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int upAxis = cylinder->getUpAxis();
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btScalar radius = cylinder->getRadius();
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btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
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getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
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break;
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}
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case STATIC_PLANE_PROXYTYPE:
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{
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const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
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btScalar planeConst = staticPlaneShape->getPlaneConstant();
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const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
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getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
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break;
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}
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default:
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{
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if (shape->isConcave())
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{
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btConcaveShape* concaveMesh = (btConcaveShape*) shape;
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///@todo pass camera, for some culling? no -> we are not a graphics lib
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btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
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concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
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{
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btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
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//todo: pass camera for some culling
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btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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//DebugDrawcallback drawCallback;
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DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
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convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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}
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}
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}
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}
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}
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}
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