Changeset 2882 for code/trunk/src/bullet/LinearMath/btIDebugDraw.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/LinearMath/btIDebugDraw.h (modified) (3 diffs)

code/trunk/src/bullet/LinearMath/btIDebugDraw.h

@@ -30 +30 @@
 
 #include "btVector3.h"
+#include "btTransform.h"
 
 
@@ -53 +54 @@
                 DBG_DisableBulletLCP = 512,
                 DBG_EnableCCD = 1024,
+                DBG_DrawConstraints = (1 << 11),
+                DBG_DrawConstraintLimits = (1 << 12),
                 DBG_MAX_DEBUG_DRAW_MODE
         };
 
         virtual ~btIDebugDraw() {};
+
+        virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
+        {
+                drawLine (from, to, fromColor);
+        }
+
+        virtual void    drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+        {
+        }
+
+        virtual void    drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+        {
+        }
 
         virtual void    drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
@@ -110 +126 @@
                 }
         }
+        void drawTransform(const btTransform& transform, btScalar orthoLen)
+        {
+                btVector3 start = transform.getOrigin();
+                drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
+                drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
+                drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
+        }
+
+        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)((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);
+                }
+        }
+        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))
+        {
+                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(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;
+                }
+        }
+        
+        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);
+        }
+        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);
+        }
 };