Changeset 10191 for code/trunk/src/libraries/tools/BulletDebugDrawer.cc

Timestamp:

Jan 11, 2015, 9:28:39 PM (10 years ago)

Author:

landauf

Message:

added customized visualization for cylinders and cones to BulletDebugDrawer.
improved DebugDrawer by making circle, cylinder, and sphere rotatable. added rendering function for cones.

File:

• code/trunk/src/libraries/tools/BulletDebugDrawer.cc (modified) (2 diffs)

code/trunk/src/libraries/tools/BulletDebugDrawer.cc

@@ -59 +59 @@
     void BulletDebugDrawer::drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
     {
-        this->drawer->drawSphere(vector3(p), radius, colour(color, 1.0f), true);
+        this->drawer->drawSphere(vector3(p), Ogre::Quaternion::IDENTITY, radius, colour(color, 1.0f), true);
     }
 
     void BulletDebugDrawer::drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
     {
-        this->drawSphere(transform.getOrigin(), radius, color);
+        Ogre::Matrix4 matrix = matrix4(transform);
+        this->drawer->drawSphere(matrix.getTrans(), matrix.extractQuaternion(), radius, colour(color, 1.0f), true);
     }
 
@@ -93 +94 @@
         corners[7]  = Ogre::Vector3(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]));
         this->drawer->drawCuboid(corners, colour(color, 1.0f), true);
+    }
+
+    void BulletDebugDrawer::drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
+    {
+        Ogre::Matrix4 matrix = matrix4(transform);
+        this->drawer->drawCylinder(matrix.getTrans(), matrix.extractQuaternion(), radius, halfHeight * 2, colour(color, 1.0f), true);
+    }
+
+    void BulletDebugDrawer::drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
+    {
+        Ogre::Matrix4 matrix = matrix4(transform);
+        this->drawer->drawCone(matrix.getTrans(), matrix.extractQuaternion(), radius, height, colour(color, 1.0f), true);
     }