f8e5481612
virtual void getAllContactManifolds(btManifoldArray& manifoldArray) See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile Enable soft body vs concave (albeit slow) Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
95 lines
2.1 KiB
C++
95 lines
2.1 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::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=cross(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(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*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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