expose debugDraw in gl3

Demos/CommonPhysicsSetup.h

@@ -21,6 +21,9 @@ struct GraphicsPhysicsBridge
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
 	{
 	}
+	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
+	{
+	}
 };
 
 struct CommonPhysicsSetup
@@ -28,13 +31,15 @@ struct CommonPhysicsSetup
 public:
 
 	virtual ~CommonPhysicsSetup() {}
-	
+
 	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge) = 0;
-	
+
 	virtual void exitPhysics()=0;
-	
+
 	virtual void stepSimulation(float deltaTime)=0;
-	
+
+    virtual void    debugDraw()=0;
+
 	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) = 0;
 	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
 	virtual void removePickingConstraint() = 0;
@@ -42,7 +47,7 @@ public:
 	virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge) = 0;
 
 	virtual btRigidBody*	createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color=btVector4(1,0,0,1))=0;
-	
+
 	virtual btBoxShape* createBoxShape(const btVector3& halfExtents)=0;
 };
 

Demos/CommonRigidBodySetup.h

@@ -15,14 +15,14 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 	btConstraintSolver*	m_solver;
 	btDefaultCollisionConfiguration* m_collisionConfiguration;
 	btDiscreteDynamicsWorld* m_dynamicsWorld;
-	
+
 	//data for picking objects
 	class btRigidBody*	m_pickedBody;
 	class btTypedConstraint* m_pickedConstraint;
 	btVector3 m_oldPickingPos;
 	btVector3 m_hitPos;
 	btScalar m_oldPickingDist;
-	
+
 	CommonRigidBodySetup()
 	:m_broadphase(0),
 		m_dispatcher(0),
@@ -33,35 +33,35 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 		m_pickedConstraint(0)
 	{
 	}
-	
+
 	virtual void createEmptyDynamicsWorld()
 	{
 		///collision configuration contains default setup for memory, collision setup
 		m_collisionConfiguration = new btDefaultCollisionConfiguration();
 		//m_collisionConfiguration->setConvexConvexMultipointIterations();
-	
+
 		///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 		m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
-	
+
 		m_broadphase = new btDbvtBroadphase();
-	
+
 		///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 		btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
 		m_solver = sol;
-	
+
 		m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
-	
+
 		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
 	}
-	
+
-	
+
 	virtual void stepSimulation(float deltaTime)
 	{
 		if (m_dynamicsWorld)
 		{
 			m_dynamicsWorld->stepSimulation(deltaTime);
 		}
-	}	
+	}
 
 
 	virtual void exitPhysics()
@@ -97,18 +97,18 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 			delete shape;
 		}
 		m_collisionShapes.clear();
-	
+
 		delete m_dynamicsWorld;
-	
+
 		delete m_solver;
-	
+
 		delete m_broadphase;
-	
+
 		delete m_dispatcher;
-	
+
 		delete m_collisionConfiguration;
 	}
-		
+
 	virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
 	{
 		if (m_dynamicsWorld)
@@ -117,6 +117,15 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 		}
 	}
 
+    virtual void    debugDraw()
+    {
+     	if (m_dynamicsWorld)
+        {
+            m_dynamicsWorld->debugDrawWorld();
+        }
+
+    }
+
 	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
 	{
 		if (m_dynamicsWorld==0)
@@ -127,7 +136,7 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 		m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
 		if (rayCallback.hasHit())
 		{
-	
+
 			btVector3 pickPos = rayCallback.m_hitPointWorld;
 			btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
 			if (body)
@@ -148,8 +157,8 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 					p2p->m_setting.m_tau = 0.001f;
 				}
 			}
-	
+
-	
+
 			//					pickObject(pickPos, rayCallback.m_collisionObject);
 			m_oldPickingPos = rayToWorld;
 			m_hitPos = pickPos;
@@ -167,13 +176,13 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 			if (pickCon)
 			{
 				//keep it at the same picking distance
-	
+
 				btVector3 newPivotB;
-	
+
 				btVector3 dir = rayToWorld - rayFromWorld;
 				dir.normalize();
 				dir *= m_oldPickingDist;
-	
+
 				newPivotB = rayFromWorld + dir;
 				pickCon->setPivotB(newPivotB);
 				return true;
@@ -191,12 +200,13 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
 			m_pickedBody = 0;
 		}
 	}
-	
+
 
 
 	btBoxShape* createBoxShape(const btVector3& halfExtents)
 	{
 		btBoxShape* box = new btBoxShape(halfExtents);
+    m_collisionShapes.push_back(box);
 		return box;
 	}
 

Demos3/AllBullet2Demos/BulletDemoInterface.h

@@ -12,11 +12,12 @@ public:
 	virtual ~BulletDemoInterface()
 	{
 	}
-	
+
 	virtual void    initPhysics()=0;
 	virtual void    exitPhysics()=0;
 	virtual void	stepSimulation(float deltaTime)=0;
 	virtual void	renderScene()=0;
+	virtual void	physicsDebugDraw()=0;
 	virtual bool	mouseMoveCallback(float x,float y)=0;
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y)=0;
 	virtual bool	keyboardCallback(int key, int state)=0;
@@ -43,6 +44,9 @@ public:
 	virtual void	renderScene()
 	{
 	}
+	virtual void	physicsDebugDraw()
+	{
+	}
 	virtual bool	mouseMoveCallback(float x,float y)
 	{
 		return false;

Demos3/AllBullet2Demos/main.cpp

@@ -429,6 +429,7 @@ int main(int argc, char* argv[])
 				prevTimeInMicroseconds = curTimeInMicroseconds;
 			}
 			sCurrentDemo->renderScene();
+			sCurrentDemo->physicsDebugDraw();
 		}
 
 		static int toggle = 1;

Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp

@@ -2,6 +2,7 @@
 #include "btBulletDynamicsCommon.h"
 #include "OpenGLWindow/SimpleOpenGL3App.h"
 #include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
+#include "MyDebugDrawer.h"
 struct GraphicsVertex
 {
 	float pos[4];
@@ -13,9 +14,10 @@ struct GraphicsVertex
 struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 {
 	SimpleOpenGL3App* m_glApp;
+	MyDebugDrawer* m_debugDraw;
 
 	MyGraphicsPhysicsBridge(SimpleOpenGL3App* glApp)
-		:m_glApp(glApp)
+		:m_glApp(glApp), m_debugDraw(0)
 	{
 	}
 	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
@@ -41,7 +43,7 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 			box->setUserIndex(cubeShapeId);
 			break;
 		}
-		
+
 		default:
 		{
 			if (collisionShape->isConvex())
@@ -50,18 +52,18 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 				{
 					btShapeHull* hull = new btShapeHull(convex);
 					hull->buildHull(0.0);
-		
+
 					{
-						int strideInBytes = 9*sizeof(float);
+						//int strideInBytes = 9*sizeof(float);
-						int numVertices = hull->numVertices();
+						//int numVertices = hull->numVertices();
-						int numIndices =hull->numIndices();
+						//int numIndices =hull->numIndices();
-			
+
 						btAlignedObjectArray<GraphicsVertex> gvertices;
 						btAlignedObjectArray<int> indices;
 
 						for (int t=0;t<hull->numTriangles();t++)
 						{
-							
+
 							btVector3 triNormal;
 
 							int index0 = hull->getIndexPointer()[t*3+0];
@@ -82,20 +84,20 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 								vtx.pos[1] = pos.y();
 								vtx.pos[2] = pos.z();
 								vtx.pos[3] = 0.f;
-								
+
 								vtx.normal[0] =triNormal.x();
 								vtx.normal[1] =triNormal.y();
 								vtx.normal[2] =triNormal.z();
-								vtx.normal[3] =0;
+
 								vtx.texcoord[0] = 0.5f;
 								vtx.texcoord[1] = 0.5f;
-								
+
 								indices.push_back(gvertices.size());
 								gvertices.push_back(vtx);
 							}
 						}
-			
+
-			
+
 						int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
 						convex->setUserIndex(shapeId);
 					}
@@ -123,15 +125,30 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 		}
 		m_glApp->m_instancingRenderer->writeTransforms();
 	}
+
+	virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
+	{
+	    btAssert(rbWorld);
+        m_debugDraw = new MyDebugDrawer(m_glApp);
+        rbWorld->setDebugDrawer(m_debugDraw );
+
+
+        m_debugDraw->setDebugMode(
+            btIDebugDraw::DBG_DrawWireframe
+            +btIDebugDraw::DBG_DrawAabb
+            //btIDebugDraw::DBG_DrawContactPoints
+            );
+
+	}
 };
 
 Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
-	:m_glApp(app),
+	:	m_physicsSetup(physicsSetup),
-	m_physicsSetup(physicsSetup),
 	m_controlPressed(false),
-	m_altPressed(false)
+	m_altPressed(false),
+	m_glApp(app)
 {
-	
+
 }
 void Bullet2RigidBodyDemo::initPhysics()
 {
@@ -143,7 +160,7 @@ void Bullet2RigidBodyDemo::initPhysics()
 
 void Bullet2RigidBodyDemo::exitPhysics()
 {
-	
+
 	m_physicsSetup->exitPhysics();
 
 }
@@ -164,6 +181,12 @@ void Bullet2RigidBodyDemo::renderScene()
 	m_glApp->m_instancingRenderer->renderScene();
 
 }
+
+void	Bullet2RigidBodyDemo::physicsDebugDraw()
+{
+    m_physicsSetup->debugDraw();
+}
+
 Bullet2RigidBodyDemo::~Bullet2RigidBodyDemo()
 {
 }
@@ -213,7 +236,7 @@ btVector3	Bullet2RigidBodyDemo::getRayTo(int x,int y)
 	float height = m_glApp->m_instancingRenderer->getScreenHeight();
 
 	aspect =  width / height;
-	
+
 	hor*=aspect;
 
 
@@ -228,14 +251,14 @@ btVector3	Bullet2RigidBodyDemo::getRayTo(int x,int y)
 	return rayTo;
 }
 
-	
+
 bool	Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
 {
 	btVector3 rayTo = getRayTo(x, y);
 	btVector3 rayFrom;
 	m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
 	m_physicsSetup->movePickedBody(rayFrom,rayTo);
-		
+
 	return false;
 }
 bool	Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, float y)
@@ -251,9 +274,10 @@ bool	Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, f
 			btVector3 rayFrom = camPos;
 			btVector3 rayTo = getRayTo(x,y);
 
-			bool hasPicked = m_physicsSetup->pickBody(rayFrom, rayTo);
 
-				
+			m_physicsSetup->pickBody(rayFrom, rayTo);
+
+
 		}
 	} else
 	{

Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.h

@@ -3,10 +3,10 @@
 
 #include "LinearMath/btVector3.h"
 
-#include "../../AllBullet2Demos/BulletDemoInterface.h"
+#include "BulletDemoInterface.h"
 
 #include "OpenGLWindow/b3gWindowInterface.h"
-#include "../../../Demos/CommonPhysicsSetup.h"
+#include "../../Demos/CommonPhysicsSetup.h"
 
 
 class Bullet2RigidBodyDemo : public BulletDemoInterface
@@ -26,6 +26,7 @@ public:
 	virtual void initPhysics();
 	virtual void exitPhysics();
 	virtual void	renderScene();
+    virtual void	physicsDebugDraw();
 	virtual void	stepSimulation(float dt);
 
 

Demos3/bullet2/BasicDemo/MyDebugDrawer.h

@@ -2,25 +2,60 @@
 #define MY_DEBUG_DRAWER_H
 
 #include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#define BT_LINE_BATCH_SIZE 512
 
+struct MyDebugVec3
+{
+	MyDebugVec3(const btVector3 org)
+	:x(org.x()),
+	y(org.y()),
+	z(org.z())
+	{
+	}
+
+	float x;
+	float y;
+	float z;
+};
 class MyDebugDrawer : public btIDebugDraw
 {
 	SimpleOpenGL3App* m_glApp;
 	int m_debugMode;
+
+    btAlignedObjectArray<MyDebugVec3> m_linePoints;
+    btAlignedObjectArray<unsigned int> m_lineIndices;
+    btVector3 m_currentLineColor;
+
 public:
 
 	MyDebugDrawer(SimpleOpenGL3App* app)
 		: m_glApp(app)
-		,m_debugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb)
+		,m_debugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb),
+		m_currentLineColor(-1,-1,-1)
 	{
 
 	}
 	virtual void	drawLine(const btVector3& from1,const btVector3& to1,const btVector3& color1)
 	{
-        float from[4] = {from1[0],from1[1],from1[2],from1[3]};
+        //float from[4] = {from1[0],from1[1],from1[2],from1[3]};
-        float to[4] = {to1[0],to1[1],to1[2],to1[3]};
+        //float to[4] = {to1[0],to1[1],to1[2],to1[3]};
-        float color[4] = {color1[0],color1[1],color1[2],color1[3]};
+        //float color[4] = {color1[0],color1[1],color1[2],color1[3]};
-		m_glApp->m_instancingRenderer->drawLine(from,to,color);
+		//m_glApp->m_instancingRenderer->drawLine(from,to,color);
+		if (m_currentLineColor!=color1 || m_linePoints.size() >= BT_LINE_BATCH_SIZE)
+        {
+            flushLines();
+            m_currentLineColor = color1;
+        }
+		MyDebugVec3 from(from1);
+		MyDebugVec3 to(to1);
+			
+		m_linePoints.push_back(from);
+		m_linePoints.push_back(to);
+
+		m_lineIndices.push_back(m_lineIndices.size());
+		m_lineIndices.push_back(m_lineIndices.size());
+
 	}
 
 	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
@@ -34,17 +69,36 @@ public:
 	virtual void	draw3dText(const btVector3& location,const char* textString)
 	{
 	}
-	
+
 	virtual void	setDebugMode(int debugMode)
 	{
 		m_debugMode = debugMode;
 	}
-	
+
 	virtual int		getDebugMode() const
 	{
 		return m_debugMode;
 	}
 
+    virtual void flushLines()
+	{
+	    int sz = m_linePoints.size();
+	    if (sz)
+        {
+	    float debugColor[4];
+	debugColor[0] = m_currentLineColor.x();
+	debugColor[1] = m_currentLineColor.y();
+	debugColor[2] = m_currentLineColor.z();
+	debugColor[3] = 1.f;
+            m_glApp->m_instancingRenderer->drawLines(&m_linePoints[0].x,debugColor,
+                                                     m_linePoints.size(),sizeof(MyDebugVec3),
+                                                     &m_lineIndices[0],
+                                                     m_lineIndices.size(),
+                                                     1);
+            m_linePoints.clear();
+            m_lineIndices.clear();
+        }
+	}
 
 };
 

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp

@@ -607,6 +607,13 @@ void	FeatherstoneDemo1::renderScene()
 	m_glApp->m_instancingRenderer->renderScene();
 }
 
+void	FeatherstoneDemo1::physicsDebugDraw()
+{
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->debugDrawWorld();	
+	}
+}
 
 void	FeatherstoneDemo1::stepSimulation(float deltaTime)
 {

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h

@@ -89,6 +89,8 @@ public:
 	virtual void	initPhysics();
 	virtual void	exitPhysics();
 	virtual void	renderScene();
+        virtual void    physicsDebugDraw();
+
 	virtual void	stepSimulation(float deltaTime);
 };