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re-enable debug drawing of box, instead of using the generic convex path.

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Fixes Issue 622. Thanks for the report!
This commit is contained in:
erwin.coumans
2012-09-09 22:08:23 +00:00
parent 2fb970ce33
commit e2522c6f9b
1 changed files with 150 additions and 151 deletions
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103
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1251,57 +1251,6 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
} else } else
{ {
/// for polyhedral shapes
if (shape->isPolyhedral())
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
int i;
if (polyshape->getConvexPolyhedron())
{
const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
for (i=0;i<poly->m_faces.size();i++)
{
btVector3 centroid(0,0,0);
int numVerts = poly->m_faces[i].m_indices.size();
if (numVerts)
{
int lastV = poly->m_faces[i].m_indices[numVerts-1];
for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
{
int curVert = poly->m_faces[i].m_indices[v];
centroid+=poly->m_vertices[curVert];
getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
lastV = curVert;
}
}
centroid*= btScalar(1.f)/btScalar(numVerts);
if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
{
btVector3 normalColor(1,1,0);
btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
}
}
} else
{
for (i=0;i<polyshape->getNumEdges();i++)
{
btVector3 a,b;
polyshape->getEdge(i,a,b);
btVector3 wa = worldTransform * a;
btVector3 wb = worldTransform * b;
getDebugDrawer()->drawLine(wa,wb,color);
}
}
}
else
{
switch (shape->getShapeType()) switch (shape->getShapeType())
{ {
@@ -1380,6 +1329,56 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
default: default:
{ {
/// for polyhedral shapes
if (shape->isPolyhedral())
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
int i;
if (polyshape->getConvexPolyhedron())
{
const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
for (i=0;i<poly->m_faces.size();i++)
{
btVector3 centroid(0,0,0);
int numVerts = poly->m_faces[i].m_indices.size();
if (numVerts)
{
int lastV = poly->m_faces[i].m_indices[numVerts-1];
for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
{
int curVert = poly->m_faces[i].m_indices[v];
centroid+=poly->m_vertices[curVert];
getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
lastV = curVert;
}
}
centroid*= btScalar(1.f)/btScalar(numVerts);
if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
{
btVector3 normalColor(1,1,0);
btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
}
}
} else
{
for (i=0;i<polyshape->getNumEdges();i++)
{
btVector3 a,b;
polyshape->getEdge(i,a,b);
btVector3 wa = worldTransform * a;
btVector3 wb = worldTransform * b;
getDebugDrawer()->drawLine(wa,wb,color);
}
}
}
if (shape->isConcave()) if (shape->isConcave())
{ {
btConcaveShape* concaveMesh = (btConcaveShape*) shape; btConcaveShape* concaveMesh = (btConcaveShape*) shape;
@@ -1407,7 +1406,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
} }
}
} }
} }
} }