69e5454d18
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
131 lines
3.1 KiB
C++
131 lines
3.1 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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GLDebugDrawer::~GLDebugDrawer()
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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::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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