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fix in box-box contact generation: choose better contact point location (along contact normal) when objects are swapped.

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move debugDrawWorld to btCollisionWorld.
improved CollisionInterfaceDemo, show how to perform a closest point query for objects that are not in the collision world.
removed a bit of garbage from the debug drawer
This commit is contained in:
erwin.coumans
2009-12-18 00:54:52 +00:00
parent 6425af9a6c
commit fcd2b93a22
7 changed files with 619 additions and 501 deletions
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38
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -601,17 +601,25 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
7,2,3,
7,6,2};
static btVector3 vertices[8]={ btVector3(1,1,1),btVector3(-1,1,1), btVector3(1,-1,1), btVector3(-1,-1,1), btVector3(1,1,-1), btVector3(-1,1,-1), btVector3(1,-1,-1), btVector3(-1,-1,-1)};
btVector3 vertices[8]={
btVector3(halfExtent[0],halfExtent[1],halfExtent[2]),
btVector3(-halfExtent[0],halfExtent[1],halfExtent[2]),
btVector3(halfExtent[0],-halfExtent[1],halfExtent[2]),
btVector3(-halfExtent[0],-halfExtent[1],halfExtent[2]),
btVector3(halfExtent[0],halfExtent[1],-halfExtent[2]),
btVector3(-halfExtent[0],halfExtent[1],-halfExtent[2]),
btVector3(halfExtent[0],-halfExtent[1],-halfExtent[2]),
btVector3(-halfExtent[0],-halfExtent[1],-halfExtent[2])};
#if 1
glBegin (GL_TRIANGLES);
int si=36;
for (int i=0;i<si;i+=3)
{
btVector3 v1 = vertices[indices[i]]*halfExtent;
btVector3 v2 = vertices[indices[i+1]]*halfExtent;
btVector3 v3 = vertices[indices[i+2]]*halfExtent;
const btVector3& v1 = vertices[indices[i]];;
const btVector3& v2 = vertices[indices[i+1]];
const btVector3& v3 = vertices[indices[i+2]];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
@@ -619,6 +627,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
}
glEnd();
#endif
useWireframeFallback = false;
break;
@@ -812,8 +821,6 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
{
glRasterPos3f(0.0, 0.0, 0.0);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
int i;
@@ -821,7 +828,6 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
{
btVector3 vtx;
polyshape->getVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
@@ -834,7 +840,6 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
polyshape->getPlane(normal,vtx,i);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
@@ -878,21 +883,6 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
glDisable(GL_DEPTH_TEST);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&btIDebugDraw::DBG_DrawText)
{
GLDebugDrawString(0,0,shape->getName());
}
if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
{
//btDrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
}
glEnable(GL_DEPTH_TEST);
// glPopMatrix();
if(m_textureenabled) glDisable(GL_TEXTURE_2D);
}
glPopMatrix();