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

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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
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96
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -1227,50 +1227,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
btScalar halfHeight = capsuleShape->getHalfHeight(); btScalar halfHeight = capsuleShape->getHalfHeight();
int upAxis = capsuleShape->getUpAxis(); int upAxis = capsuleShape->getUpAxis();
getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, 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 = worldTransform;
childTransform.getOrigin() = worldTransform * capStart;
getDebugDrawer()->drawSphere(radius, childTransform, color);
}
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * capEnd;
getDebugDrawer()->drawSphere(radius, childTransform, color);
}
// Draw some additional lines
btVector3 start = worldTransform.getOrigin();
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; break;
} }
case CONE_SHAPE_PROXYTYPE: case CONE_SHAPE_PROXYTYPE:
@@ -1278,30 +1235,10 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
const btConeShape* coneShape = static_cast<const btConeShape*>(shape); const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
btScalar height = coneShape->getHeight();//+coneShape->getMargin(); btScalar height = coneShape->getHeight();//+coneShape->getMargin();
btVector3 start = worldTransform.getOrigin();
int upAxis= coneShape->getConeUpIndex(); int upAxis= coneShape->getConeUpIndex();
getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
break;
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;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.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);
getDebugDrawer()->drawArc(start-worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
break;
} }
case CYLINDER_SHAPE_PROXYTYPE: case CYLINDER_SHAPE_PROXYTYPE:
@@ -1310,21 +1247,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
int upAxis = cylinder->getUpAxis(); int upAxis = cylinder->getUpAxis();
btScalar radius = cylinder->getRadius(); btScalar radius = cylinder->getRadius();
btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
btVector3 start = worldTransform.getOrigin(); getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = halfHeight;
btVector3 offsetRadius(0,0,0);
offsetRadius[(upAxis+1)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.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);
getDebugDrawer()->drawArc(start-worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
getDebugDrawer()->drawArc(start+worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
break; break;
} }
@@ -1333,16 +1256,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape); const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant(); btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst; getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
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;
getDebugDrawer()->drawLine(worldTransform*pt0,worldTransform*pt1,color);
getDebugDrawer()->drawLine(worldTransform*pt2,worldTransform*pt3,color);
break; break;
} }

101
src/LinearMath/btIDebugDraw.h
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@@ -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(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); 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);
}
}; };