Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -39,7 +39,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
//for debugmodes
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
@@ -63,11 +63,11 @@ void GL_ShapeDrawer::DrawCoordSystem() {
class GlDrawcallback : public TriangleCallback
class GlDrawcallback : public btTriangleCallback
{
public:
virtual void ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
virtual void ProcessTriangle(btVector3* triangle,int partId, int triangleIndex)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
@@ -84,10 +84,10 @@ public:
}
};
class TriangleGlDrawcallback : public InternalTriangleIndexCallback
class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
{
public:
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
virtual void InternalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
glBegin(GL_TRIANGLES);//LINES);
glColor3f(1, 0, 0);
@@ -104,7 +104,7 @@ public:
};
void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode)
void GL_ShapeDrawer::DrawOpenGL(float* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
{
@@ -113,11 +113,11 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(shape);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->GetNumChildShapes()-1;i>=0;i--)
{
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* colShape = compoundShape->GetChildShape(i);
btTransform childTrans = compoundShape->GetChildTransform(i);
const btCollisionShape* colShape = compoundShape->GetChildShape(i);
float childMat[16];
childTrans.getOpenGLMatrix(childMat);
DrawOpenGL(childMat,colShape,color,debugMode);
@@ -135,14 +135,14 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
bool useWireframeFallback = true;
if (!(debugMode & IDebugDraw::DBG_DrawWireframe))
if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
{
switch (shape->GetShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
const BoxShape* boxShape = static_cast<const BoxShape*>(shape);
SimdVector3 halfExtent = boxShape->GetHalfExtents();
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->GetHalfExtents();
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
glutSolidCube(1.0);
useWireframeFallback = false;
@@ -159,7 +159,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const SphereShape* sphereShape = static_cast<const SphereShape*>(shape);
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->GetMargin();//radius doesn't include the margin, so draw with margin
glutSolidSphere(radius,10,10);
useWireframeFallback = false;
@@ -168,7 +168,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONE_SHAPE_PROXYTYPE:
{
const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
float radius = coneShape->GetRadius();//+coneShape->GetMargin();
float height = coneShape->GetHeight();//+coneShape->GetMargin();
//glRotatef(-90.0, 1.0, 0.0, 0.0);
@@ -187,7 +187,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
case CONVEX_SHAPE_PROXYTYPE:
case CYLINDER_SHAPE_PROXYTYPE:
{
const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->GetUpAxis();
GLUquadricObj *quadObj = gluNewQuadric();
@@ -246,7 +246,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
/// for polyhedral shapes
if (shape->IsPolyhedral())
{
PolyhedralConvexShape* polyshape = (PolyhedralConvexShape*) shape;
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
glBegin(GL_LINES);
@@ -255,7 +255,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
int i;
for (i=0;i<polyshape->GetNumEdges();i++)
{
SimdPoint3 a,b;
btPoint3 a,b;
polyshape->GetEdge(i,a,b);
glVertex3f(a.getX(),a.getY(),a.getZ());
@@ -266,7 +266,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
glEnd();
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText)
{
glRasterPos3f(0.0, 0.0, 0.0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
@@ -274,7 +274,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
glColor3f(1.f, 1.f, 1.f);
for (i=0;i<polyshape->GetNumVertices();i++)
{
SimdPoint3 vtx;
btPoint3 vtx;
polyshape->GetVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
@@ -284,10 +284,10 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
for (i=0;i<polyshape->GetNumPlanes();i++)
{
SimdVector3 normal;
SimdPoint3 vtx;
btVector3 normal;
btPoint3 vtx;
polyshape->GetPlane(normal,vtx,i);
SimdScalar d = vtx.dot(normal);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
@@ -303,13 +303,13 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
TriangleMeshShape* concaveMesh = (TriangleMeshShape*) shape;
//SimdVector3 aabbMax(1e30f,1e30f,1e30f);
//SimdVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//todo pass camera, for some culling
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
GlDrawcallback drawCallback;
@@ -320,16 +320,17 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
TriangleGlDrawcallback drawCallback;
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
glDisable(GL_DEPTH_BUFFER_BIT);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&IDebugDraw::DBG_DrawText)
@@ -342,7 +343,6 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
}
glEnable(GL_DEPTH_BUFFER_BIT);
// glPopMatrix();
}