121 lines
3.2 KiB
C++
121 lines
3.2 KiB
C++
|
|
#include "GLDebugDrawer.h"
|
|
#include "GLDebugFont.h"
|
|
#include "GlutStuff.h"
|
|
|
|
|
|
|
|
#include <stdio.h> //printf debugging
|
|
GLDebugDrawer::GLDebugDrawer()
|
|
:m_debugMode(0)
|
|
{
|
|
|
|
}
|
|
|
|
void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
|
|
{
|
|
glBegin(GL_LINES);
|
|
glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
|
|
glVertex3d(from.getX(), from.getY(), from.getZ());
|
|
glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
|
|
glVertex3d(to.getX(), to.getY(), to.getZ());
|
|
glEnd();
|
|
}
|
|
|
|
void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
|
|
{
|
|
// if (m_debugMode > 0)
|
|
{
|
|
glBegin(GL_LINES);
|
|
glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
|
|
glVertex3d(from.getX(), from.getY(), from.getZ());
|
|
glVertex3d(to.getX(), to.getY(), to.getZ());
|
|
glEnd();
|
|
}
|
|
}
|
|
|
|
void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
|
|
{
|
|
glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
|
|
glPushMatrix ();
|
|
glTranslatef (p.getX(), p.getY(), p.getZ());
|
|
// glutSolidSphere (radius, 10, 10);
|
|
glPopMatrix();
|
|
}
|
|
|
|
void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
|
|
{
|
|
btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
|
|
btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
|
|
//glEnable(GL_BLEND); // Turn blending On
|
|
//glBlendFunc(GL_SRC_ALPHA, GL_ONE);
|
|
glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
|
|
glPushMatrix ();
|
|
glTranslatef (center.getX(), center.getY(), center.getZ());
|
|
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
|
|
// glutSolidCube(1.0);
|
|
glPopMatrix ();
|
|
//glDisable(GL_BLEND);
|
|
}
|
|
|
|
void GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
|
|
{
|
|
// if (m_debugMode > 0)
|
|
{
|
|
const btVector3 n=cross(b-a,c-a).normalized();
|
|
glBegin(GL_TRIANGLES);
|
|
glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
|
|
glNormal3d(n.getX(),n.getY(),n.getZ());
|
|
glVertex3d(a.getX(),a.getY(),a.getZ());
|
|
glVertex3d(b.getX(),b.getY(),b.getZ());
|
|
glVertex3d(c.getX(),c.getY(),c.getZ());
|
|
glEnd();
|
|
}
|
|
}
|
|
|
|
void GLDebugDrawer::setDebugMode(int debugMode)
|
|
{
|
|
m_debugMode = debugMode;
|
|
|
|
}
|
|
|
|
void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
|
|
{
|
|
glRasterPos3f(location.x(), location.y(), location.z());
|
|
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
|
|
}
|
|
|
|
void GLDebugDrawer::reportErrorWarning(const char* warningString)
|
|
{
|
|
printf(warningString);
|
|
}
|
|
|
|
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
|
|
{
|
|
|
|
{
|
|
btVector3 to=pointOnB+normalOnB*distance;
|
|
const btVector3&from = pointOnB;
|
|
glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
|
|
//glColor4f(0,0,0,1.f);
|
|
|
|
glBegin(GL_LINES);
|
|
glVertex3d(from.getX(), from.getY(), from.getZ());
|
|
glVertex3d(to.getX(), to.getY(), to.getZ());
|
|
glEnd();
|
|
|
|
|
|
glRasterPos3f(from.x(), from.y(), from.z());
|
|
char buf[12];
|
|
sprintf(buf," %d",lifeTime);
|
|
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
|
|
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|