2a856f8c32
in addition to the existing clipHullAgainstHull Fix for debug drawing of contact points comment-out some debug drawing code for triangle meshes
140 lines
3.6 KiB
C++
140 lines
3.6 KiB
C++
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#include "GLDebugDrawer.h"
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#include "GLDebugFont.h"
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#include "GlutStuff.h"
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#include <stdio.h> //printf debugging
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GLDebugDrawer::GLDebugDrawer()
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:m_debugMode(0)
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{
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}
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void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
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{
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glBegin(GL_LINES);
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glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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}
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void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
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{
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drawLine(from,to,color,color);
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}
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void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
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{
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glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
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glPushMatrix ();
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glTranslatef (p.getX(), p.getY(), p.getZ());
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int lats = 5;
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int longs = 5;
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int i, j;
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for(i = 0; i <= lats; i++) {
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btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
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btScalar z0 = radius*sin(lat0);
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btScalar zr0 = radius*cos(lat0);
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btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
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btScalar z1 = radius*sin(lat1);
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btScalar zr1 = radius*cos(lat1);
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glBegin(GL_QUAD_STRIP);
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for(j = 0; j <= longs; j++) {
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btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
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btScalar x = cos(lng);
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btScalar y = sin(lng);
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glNormal3f(x * zr0, y * zr0, z0);
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glVertex3f(x * zr0, y * zr0, z0);
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glNormal3f(x * zr1, y * zr1, z1);
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glVertex3f(x * zr1, y * zr1, z1);
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}
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glEnd();
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}
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glPopMatrix();
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}
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void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
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{
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btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
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btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
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//glEnable(GL_BLEND); // Turn blending On
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//glBlendFunc(GL_SRC_ALPHA, GL_ONE);
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glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
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glPushMatrix ();
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glTranslatef (center.getX(), center.getY(), center.getZ());
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glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
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// glutSolidCube(1.0);
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glPopMatrix ();
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//glDisable(GL_BLEND);
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}
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void GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
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{
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// if (m_debugMode > 0)
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{
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const btVector3 n=btCross(b-a,c-a).normalized();
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glBegin(GL_TRIANGLES);
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glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
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glNormal3d(n.getX(),n.getY(),n.getZ());
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glVertex3d(a.getX(),a.getY(),a.getZ());
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glVertex3d(b.getX(),b.getY(),b.getZ());
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glVertex3d(c.getX(),c.getY(),c.getZ());
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glEnd();
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}
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}
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void GLDebugDrawer::setDebugMode(int debugMode)
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{
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m_debugMode = debugMode;
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}
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void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
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{
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glRasterPos3f(location.x(), location.y(), location.z());
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//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
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}
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void GLDebugDrawer::reportErrorWarning(const char* warningString)
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{
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printf("%s\n",warningString);
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}
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void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
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{
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{
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btVector3 to=pointOnB+normalOnB*1;//distance;
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const btVector3&from = pointOnB;
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glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
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//glColor4f(0,0,0,1.f);
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glBegin(GL_LINES);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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// glRasterPos3f(from.x(), from.y(), from.z());
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// char buf[12];
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// sprintf(buf," %d",lifeTime);
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//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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}
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}
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