d4698cb3d5
Added very basic drawTriangle for btIDebugDraw, useful for basic softbody visualization. Added btGjkEpa2, contribution by Nathanael Presson. Improved version of EPA penetration depth computation, more suitable for multi-core/SPU (less memory usage). Note: btGjkEpa2 is not enabled by default currently.
79 lines
1.7 KiB
C++
79 lines
1.7 KiB
C++
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#include "GLDebugDrawer.h"
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#include "LinearMath/btPoint3.h"
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include "BMF_Api.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& color)
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{
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// if (m_debugMode > 0)
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{
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glBegin(GL_LINES);
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glColor3f(color.getX(), color.getY(), color.getZ());
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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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}
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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(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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if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
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{
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btVector3 to=pointOnB+normalOnB*distance;
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const btVector3&from = pointOnB;
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glBegin(GL_LINES);
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glColor3f(color.getX(), color.getY(), color.getZ());
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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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