484 lines
17 KiB
C
484 lines
17 KiB
C
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef BT_IDEBUG_DRAW__H
|
||
|
|
#define BT_IDEBUG_DRAW__H
|
||
|
|
|
||
|
|
#include "btVector3.h"
|
||
|
|
#include "btTransform.h"
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
|
||
|
|
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
|
||
|
|
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
|
||
|
|
///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
|
||
|
|
class btIDebugDraw
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
ATTRIBUTE_ALIGNED16(struct) DefaultColors
|
||
|
|
{
|
||
|
|
btVector3 m_activeObject;
|
||
|
|
btVector3 m_deactivatedObject;
|
||
|
|
btVector3 m_wantsDeactivationObject;
|
||
|
|
btVector3 m_disabledDeactivationObject;
|
||
|
|
btVector3 m_disabledSimulationObject;
|
||
|
|
btVector3 m_aabb;
|
||
|
|
btVector3 m_contactPoint;
|
||
|
|
|
||
|
|
DefaultColors()
|
||
|
|
: m_activeObject(1,1,1),
|
||
|
|
m_deactivatedObject(0,1,0),
|
||
|
|
m_wantsDeactivationObject(0,1,1),
|
||
|
|
m_disabledDeactivationObject(1,0,0),
|
||
|
|
m_disabledSimulationObject(1,1,0),
|
||
|
|
m_aabb(1,0,0),
|
||
|
|
m_contactPoint(1,1,0)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
enum DebugDrawModes
|
||
|
|
{
|
||
|
|
DBG_NoDebug=0,
|
||
|
|
DBG_DrawWireframe = 1,
|
||
|
|
DBG_DrawAabb=2,
|
||
|
|
DBG_DrawFeaturesText=4,
|
||
|
|
DBG_DrawContactPoints=8,
|
||
|
|
DBG_NoDeactivation=16,
|
||
|
|
DBG_NoHelpText = 32,
|
||
|
|
DBG_DrawText=64,
|
||
|
|
DBG_ProfileTimings = 128,
|
||
|
|
DBG_EnableSatComparison = 256,
|
||
|
|
DBG_DisableBulletLCP = 512,
|
||
|
|
DBG_EnableCCD = 1024,
|
||
|
|
DBG_DrawConstraints = (1 << 11),
|
||
|
|
DBG_DrawConstraintLimits = (1 << 12),
|
||
|
|
DBG_FastWireframe = (1<<13),
|
||
|
|
DBG_DrawNormals = (1<<14),
|
||
|
|
DBG_DrawFrames = (1<<15),
|
||
|
|
DBG_MAX_DEBUG_DRAW_MODE
|
||
|
|
};
|
||
|
|
|
||
|
|
virtual ~btIDebugDraw() {};
|
||
|
|
|
||
|
|
|
||
|
|
virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; }
|
||
|
|
///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
|
||
|
|
virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
|
||
|
|
|
||
|
|
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
|
||
|
|
|
||
|
|
virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
|
||
|
|
{
|
||
|
|
(void) toColor;
|
||
|
|
drawLine (from, to, fromColor);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
|
||
|
|
{
|
||
|
|
|
||
|
|
btVector3 center = transform.getOrigin();
|
||
|
|
btVector3 up = transform.getBasis().getColumn(1);
|
||
|
|
btVector3 axis = transform.getBasis().getColumn(0);
|
||
|
|
btScalar minTh = -SIMD_HALF_PI;
|
||
|
|
btScalar maxTh = SIMD_HALF_PI;
|
||
|
|
btScalar minPs = -SIMD_HALF_PI;
|
||
|
|
btScalar maxPs = SIMD_HALF_PI;
|
||
|
|
btScalar stepDegrees = 30.f;
|
||
|
|
drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false);
|
||
|
|
drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false );
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
|
||
|
|
{
|
||
|
|
btTransform tr;
|
||
|
|
tr.setIdentity();
|
||
|
|
tr.setOrigin(p);
|
||
|
|
drawSphere(radius,tr,color);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
|
||
|
|
{
|
||
|
|
drawTriangle(v0,v1,v2,color,alpha);
|
||
|
|
}
|
||
|
|
virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/)
|
||
|
|
{
|
||
|
|
drawLine(v0,v1,color);
|
||
|
|
drawLine(v1,v2,color);
|
||
|
|
drawLine(v2,v0,color);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;
|
||
|
|
|
||
|
|
virtual void reportErrorWarning(const char* warningString) = 0;
|
||
|
|
|
||
|
|
virtual void draw3dText(const btVector3& location,const char* textString) = 0;
|
||
|
|
|
||
|
|
virtual void setDebugMode(int debugMode) =0;
|
||
|
|
|
||
|
|
virtual int getDebugMode() const = 0;
|
||
|
|
|
||
|
|
virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
|
||
|
|
{
|
||
|
|
|
||
|
|
btVector3 halfExtents = (to-from)* 0.5f;
|
||
|
|
btVector3 center = (to+from) *0.5f;
|
||
|
|
int i,j;
|
||
|
|
|
||
|
|
btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
|
||
|
|
for (i=0;i<4;i++)
|
||
|
|
{
|
||
|
|
for (j=0;j<3;j++)
|
||
|
|
{
|
||
|
|
pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
|
||
|
|
edgecoord[2]*halfExtents[2]);
|
||
|
|
pa+=center;
|
||
|
|
|
||
|
|
int othercoord = j%3;
|
||
|
|
edgecoord[othercoord]*=-1.f;
|
||
|
|
pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
|
||
|
|
edgecoord[2]*halfExtents[2]);
|
||
|
|
pb+=center;
|
||
|
|
|
||
|
|
drawLine(pa,pb,color);
|
||
|
|
}
|
||
|
|
edgecoord = btVector3(-1.f,-1.f,-1.f);
|
||
|
|
if (i<3)
|
||
|
|
edgecoord[i]*=-1.f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
|
||
|
|
{
|
||
|
|
btVector3 start = transform.getOrigin();
|
||
|
|
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
|
||
|
|
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
|
||
|
|
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
|
||
|
|
const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
|
||
|
|
{
|
||
|
|
const btVector3& vx = axis;
|
||
|
|
btVector3 vy = normal.cross(axis);
|
||
|
|
btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
|
||
|
|
int nSteps = (int)btFabs((maxAngle - minAngle) / step);
|
||
|
|
if(!nSteps) nSteps = 1;
|
||
|
|
btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
|
||
|
|
if(drawSect)
|
||
|
|
{
|
||
|
|
drawLine(center, prev, color);
|
||
|
|
}
|
||
|
|
for(int i = 1; i <= nSteps; i++)
|
||
|
|
{
|
||
|
|
btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
|
||
|
|
btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
|
||
|
|
drawLine(prev, next, color);
|
||
|
|
prev = next;
|
||
|
|
}
|
||
|
|
if(drawSect)
|
||
|
|
{
|
||
|
|
drawLine(center, prev, color);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
|
||
|
|
btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true)
|
||
|
|
{
|
||
|
|
btVector3 vA[74];
|
||
|
|
btVector3 vB[74];
|
||
|
|
btVector3 *pvA = vA, *pvB = vB, *pT;
|
||
|
|
btVector3 npole = center + up * radius;
|
||
|
|
btVector3 spole = center - up * radius;
|
||
|
|
btVector3 arcStart;
|
||
|
|
btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
|
||
|
|
const btVector3& kv = up;
|
||
|
|
const btVector3& iv = axis;
|
||
|
|
btVector3 jv = kv.cross(iv);
|
||
|
|
bool drawN = false;
|
||
|
|
bool drawS = false;
|
||
|
|
if(minTh <= -SIMD_HALF_PI)
|
||
|
|
{
|
||
|
|
minTh = -SIMD_HALF_PI + step;
|
||
|
|
drawN = true;
|
||
|
|
}
|
||
|
|
if(maxTh >= SIMD_HALF_PI)
|
||
|
|
{
|
||
|
|
maxTh = SIMD_HALF_PI - step;
|
||
|
|
drawS = true;
|
||
|
|
}
|
||
|
|
if(minTh > maxTh)
|
||
|
|
{
|
||
|
|
minTh = -SIMD_HALF_PI + step;
|
||
|
|
maxTh = SIMD_HALF_PI - step;
|
||
|
|
drawN = drawS = true;
|
||
|
|
}
|
||
|
|
int n_hor = (int)((maxTh - minTh) / step) + 1;
|
||
|
|
if(n_hor < 2) n_hor = 2;
|
||
|
|
btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
|
||
|
|
bool isClosed = false;
|
||
|
|
if(minPs > maxPs)
|
||
|
|
{
|
||
|
|
minPs = -SIMD_PI + step;
|
||
|
|
maxPs = SIMD_PI;
|
||
|
|
isClosed = true;
|
||
|
|
}
|
||
|
|
else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
|
||
|
|
{
|
||
|
|
isClosed = true;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
isClosed = false;
|
||
|
|
}
|
||
|
|
int n_vert = (int)((maxPs - minPs) / step) + 1;
|
||
|
|
if(n_vert < 2) n_vert = 2;
|
||
|
|
btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
|
||
|
|
for(int i = 0; i < n_hor; i++)
|
||
|
|
{
|
||
|
|
btScalar th = minTh + btScalar(i) * step_h;
|
||
|
|
btScalar sth = radius * btSin(th);
|
||
|
|
btScalar cth = radius * btCos(th);
|
||
|
|
for(int j = 0; j < n_vert; j++)
|
||
|
|
{
|
||
|
|
btScalar psi = minPs + btScalar(j) * step_v;
|
||
|
|
btScalar sps = btSin(psi);
|
||
|
|
btScalar cps = btCos(psi);
|
||
|
|
pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
|
||
|
|
if(i)
|
||
|
|
{
|
||
|
|
drawLine(pvA[j], pvB[j], color);
|
||
|
|
}
|
||
|
|
else if(drawS)
|
||
|
|
{
|
||
|
|
drawLine(spole, pvB[j], color);
|
||
|
|
}
|
||
|
|
if(j)
|
||
|
|
{
|
||
|
|
drawLine(pvB[j-1], pvB[j], color);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
arcStart = pvB[j];
|
||
|
|
}
|
||
|
|
if((i == (n_hor - 1)) && drawN)
|
||
|
|
{
|
||
|
|
drawLine(npole, pvB[j], color);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (drawCenter)
|
||
|
|
{
|
||
|
|
if(isClosed)
|
||
|
|
{
|
||
|
|
if(j == (n_vert-1))
|
||
|
|
{
|
||
|
|
drawLine(arcStart, pvB[j], color);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
|
||
|
|
{
|
||
|
|
drawLine(center, pvB[j], color);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
pT = pvA; pvA = pvB; pvB = pT;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
|
||
|
|
{
|
||
|
|
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
|
||
|
|
drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
|
||
|
|
drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
|
||
|
|
drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
|
||
|
|
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
|
||
|
|
}
|
||
|
|
virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
|
||
|
|
{
|
||
|
|
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
|
||
|
|
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
|
||
|
|
{
|
||
|
|
int stepDegrees = 30;
|
||
|
|
|
||
|
|
btVector3 capStart(0.f,0.f,0.f);
|
||
|
|
capStart[upAxis] = -halfHeight;
|
||
|
|
|
||
|
|
btVector3 capEnd(0.f,0.f,0.f);
|
||
|
|
capEnd[upAxis] = halfHeight;
|
||
|
|
|
||
|
|
// Draw the ends
|
||
|
|
{
|
||
|
|
|
||
|
|
btTransform childTransform = transform;
|
||
|
|
childTransform.getOrigin() = transform * capStart;
|
||
|
|
{
|
||
|
|
btVector3 center = childTransform.getOrigin();
|
||
|
|
btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3);
|
||
|
|
btVector3 axis = -childTransform.getBasis().getColumn(upAxis);
|
||
|
|
btScalar minTh = -SIMD_HALF_PI;
|
||
|
|
btScalar maxTh = SIMD_HALF_PI;
|
||
|
|
btScalar minPs = -SIMD_HALF_PI;
|
||
|
|
btScalar maxPs = SIMD_HALF_PI;
|
||
|
|
|
||
|
|
drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
btTransform childTransform = transform;
|
||
|
|
childTransform.getOrigin() = transform * capEnd;
|
||
|
|
{
|
||
|
|
btVector3 center = childTransform.getOrigin();
|
||
|
|
btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3);
|
||
|
|
btVector3 axis = childTransform.getBasis().getColumn(upAxis);
|
||
|
|
btScalar minTh = -SIMD_HALF_PI;
|
||
|
|
btScalar maxTh = SIMD_HALF_PI;
|
||
|
|
btScalar minPs = -SIMD_HALF_PI;
|
||
|
|
btScalar maxPs = SIMD_HALF_PI;
|
||
|
|
drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Draw some additional lines
|
||
|
|
btVector3 start = transform.getOrigin();
|
||
|
|
|
||
|
|
for (int i=0;i<360;i+=stepDegrees)
|
||
|
|
{
|
||
|
|
capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
|
||
|
|
capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
|
||
|
|
drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
|
||
|
|
{
|
||
|
|
btVector3 start = transform.getOrigin();
|
||
|
|
btVector3 offsetHeight(0,0,0);
|
||
|
|
offsetHeight[upAxis] = halfHeight;
|
||
|
|
int stepDegrees=30;
|
||
|
|
btVector3 capStart(0.f,0.f,0.f);
|
||
|
|
capStart[upAxis] = -halfHeight;
|
||
|
|
btVector3 capEnd(0.f,0.f,0.f);
|
||
|
|
capEnd[upAxis] = halfHeight;
|
||
|
|
|
||
|
|
for (int i=0;i<360;i+=stepDegrees)
|
||
|
|
{
|
||
|
|
capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
|
||
|
|
capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
|
||
|
|
drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
|
||
|
|
}
|
||
|
|
// Drawing top and bottom caps of the cylinder
|
||
|
|
btVector3 yaxis(0,0,0);
|
||
|
|
yaxis[upAxis] = btScalar(1.0);
|
||
|
|
btVector3 xaxis(0,0,0);
|
||
|
|
xaxis[(upAxis+1)%3] = btScalar(1.0);
|
||
|
|
drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
|
||
|
|
drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
|
||
|
|
{
|
||
|
|
int stepDegrees = 30;
|
||
|
|
btVector3 start = transform.getOrigin();
|
||
|
|
|
||
|
|
btVector3 offsetHeight(0,0,0);
|
||
|
|
btScalar halfHeight = height * btScalar(0.5);
|
||
|
|
offsetHeight[upAxis] = halfHeight;
|
||
|
|
btVector3 offsetRadius(0,0,0);
|
||
|
|
offsetRadius[(upAxis+1)%3] = radius;
|
||
|
|
btVector3 offset2Radius(0,0,0);
|
||
|
|
offset2Radius[(upAxis+2)%3] = radius;
|
||
|
|
|
||
|
|
|
||
|
|
btVector3 capEnd(0.f,0.f,0.f);
|
||
|
|
capEnd[upAxis] = -halfHeight;
|
||
|
|
|
||
|
|
for (int i=0;i<360;i+=stepDegrees)
|
||
|
|
{
|
||
|
|
capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
|
||
|
|
capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
|
||
|
|
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color);
|
||
|
|
}
|
||
|
|
|
||
|
|
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
|
||
|
|
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
|
||
|
|
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
|
||
|
|
drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
|
||
|
|
|
||
|
|
// Drawing the base of the cone
|
||
|
|
btVector3 yaxis(0,0,0);
|
||
|
|
yaxis[upAxis] = btScalar(1.0);
|
||
|
|
btVector3 xaxis(0,0,0);
|
||
|
|
xaxis[(upAxis+1)%3] = btScalar(1.0);
|
||
|
|
drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
|
||
|
|
{
|
||
|
|
btVector3 planeOrigin = planeNormal * planeConst;
|
||
|
|
btVector3 vec0,vec1;
|
||
|
|
btPlaneSpace1(planeNormal,vec0,vec1);
|
||
|
|
btScalar vecLen = 100.f;
|
||
|
|
btVector3 pt0 = planeOrigin + vec0*vecLen;
|
||
|
|
btVector3 pt1 = planeOrigin - vec0*vecLen;
|
||
|
|
btVector3 pt2 = planeOrigin + vec1*vecLen;
|
||
|
|
btVector3 pt3 = planeOrigin - vec1*vecLen;
|
||
|
|
drawLine(transform*pt0,transform*pt1,color);
|
||
|
|
drawLine(transform*pt2,transform*pt3,color);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void clearLines()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void flushLines()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#endif //BT_IDEBUG_DRAW__H
|
||
|
|
|