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prettify debug drawing of cone and cylinder,

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thanks to francois.sugny
see also http://code.google.com/p/bullet/issues/detail?id=369
This commit is contained in:
erwin.coumans
2010-03-31 21:12:59 +00:00
parent c0a694c571
commit f0ba00c010
1 changed files with 16 additions and 9 deletions
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25
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1086,12 +1086,7 @@ public:
void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
// Draw a small simplex at the center of the object
{
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(1,0,0), btVector3(1,0,0));
getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,1,0), btVector3(0,1,0));
getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,0,1), btVector3(0,0,1));
}
getDebugDrawer()->drawTransform(worldTransform,1);
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
@@ -1215,9 +1210,13 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color);
break;
// 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:
@@ -1233,6 +1232,14 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
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;
}