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

move some of the debug drawing from btCollisionWorld into btIDebugDraw.h,

Browse Source 
this allows the developer to create better looking debug primitives (sphere, capsule, cylinder, cone and plane)
This commit is contained in:
erwin.coumans
2011-02-27 06:33:30 +00:00
parent d2502f80e3
commit ec1bd45f4f
2 changed files with 106 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files

101
src/LinearMath/btIDebugDraw.h
View File

@@ -309,6 +309,107 @@ class btIDebugDraw
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
}
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
{
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 = transform;
childTransform.getOrigin() = transform * capStart;
drawSphere(radius, childTransform, color);
}
{
btTransform childTransform = transform;
childTransform.getOrigin() = transform * capEnd;
drawSphere(radius, childTransform, color);
}
// Draw some additional lines
btVector3 start = transform.getOrigin();
capStart[(upAxis+1)%3] = radius;
capEnd[(upAxis+1)%3] = radius;
drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
capStart[(upAxis+1)%3] = -radius;
capEnd[(upAxis+1)%3] = -radius;
drawLine(start+transform.getBasis() * capStart,start+transform.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;
drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
capStart[(upAxis+2)%3] = -radius;
capEnd[(upAxis+2)%3] = -radius;
drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
}
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
{
btVector3 start = transform.getOrigin();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = halfHeight;
btVector3 offsetRadius(0,0,0);
offsetRadius[(upAxis+1)%3] = radius;
drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
// Drawing top and bottom caps of the cylinder
btVector3 yaxis(0,0,0);
yaxis[upAxis] = btScalar(1.0);
btVector3 xaxis(0,0,0);
xaxis[(upAxis+1)%3] = btScalar(1.0);
drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
}
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
{
btVector3 start = transform.getOrigin();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = height * btScalar(0.5);
btVector3 offsetRadius(0,0,0);
offsetRadius[(upAxis+1)%3] = radius;
btVector3 offset2Radius(0,0,0);
offset2Radius[(upAxis+2)%3] = radius;
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
// Drawing the base of the cone
btVector3 yaxis(0,0,0);
yaxis[upAxis] = btScalar(1.0);
btVector3 xaxis(0,0,0);
xaxis[(upAxis+1)%3] = btScalar(1.0);
drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
}
virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
{
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 pt0 = planeOrigin + vec0*vecLen;
btVector3 pt1 = planeOrigin - vec0*vecLen;
btVector3 pt2 = planeOrigin + vec1*vecLen;
btVector3 pt3 = planeOrigin - vec1*vecLen;
drawLine(transform*pt0,transform*pt1,color);
drawLine(transform*pt2,transform*pt3,color);
}
};