1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
|
/*
render/debugdrawer.h
This file is part of the Osirion project and is distributed under
the terms of the GNU General Public License version 2
*/
#include "render/debugdrawer.h"
#include "render/gl.h"
#include "sys/sys.h"
namespace render {
DebugDrawer bullet_debugdrawer;
DebugDrawer::DebugDrawer()
{
debugdrawer_debugmode = btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawConstraints;
}
DebugDrawer::~DebugDrawer()
{
}
void DebugDrawer::drawLine(const btVector3& from, const btVector3& to,const btVector3& color)
{
gl::vertex(from[0], from[1], from[2]);
gl::vertex(to[0], to[1], to[2]);
}
void DebugDrawer::drawLine(const btVector3& from, const btVector3 & to, const btVector3 & fromColor, const btVector3 & toColor)
{
gl::vertex(from[0], from[1], from[2]);
gl::vertex(to[0], to[1], to[2]);
}
void DebugDrawer::drawContactPoint(const btVector3 & point, const btVector3 & normal, btScalar distance , int lifetime, const btVector3 & color)
{
}
void DebugDrawer::drawSphere(btScalar radius, const btTransform & transform, const btVector3 & color)
{
btVector3 start = transform.getOrigin();
const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
// XY
drawLine(start-xoffs, start+yoffs, color);
drawLine(start+yoffs, start+xoffs, color);
drawLine(start+xoffs, start-yoffs, color);
drawLine(start-yoffs, start-xoffs, color);
// XZ
drawLine(start-xoffs, start+zoffs, color);
drawLine(start+zoffs, start+xoffs, color);
drawLine(start+xoffs, start-zoffs, color);
drawLine(start-zoffs, start-xoffs, color);
// YZ
drawLine(start-yoffs, start+zoffs, color);
drawLine(start+zoffs, start+yoffs, color);
drawLine(start+yoffs, start-zoffs, color);
drawLine(start-zoffs, start-yoffs, color);
}
void DebugDrawer::drawSphere(const btVector3 & p, btScalar radius, const btVector3 & color)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(p);
drawSphere(radius,tr,color);
}
void DebugDrawer::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);
}
void DebugDrawer::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);
}
void DebugDrawer::reportErrorWarning(const char *warningString)
{
con_warn << warningString << std::endl;
}
void DebugDrawer::draw3dText(const btVector3 &location, const char *textString)
{
}
void DebugDrawer::setDebugMode(int debugMode)
{
debugdrawer_debugmode = debugMode;
}
int DebugDrawer::getDebugMode() const
{
return debugdrawer_debugmode;
}
} // namespace render
|
