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Ignore:
Timestamp:
Feb 27, 2011, 7:43:24 AM (14 years ago)
Author:
rgrieder
Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:
1 edited

Legend:

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  • code/branches/kicklib/src/external/bullet/LinearMath/btIDebugDraw.h

    r5781 r7983  
    11/*
    2 Copyright (c) 2005 Gino van den Bergen / Erwin Coumans http://continuousphysics.com
    3 
    4 Permission is hereby granted, free of charge, to any person or organization
    5 obtaining a copy of the software and accompanying documentation covered by
    6 this license (the "Software") to use, reproduce, display, distribute,
    7 execute, and transmit the Software, and to prepare derivative works of the
    8 Software, and to permit third-parties to whom the Software is furnished to
    9 do so, all subject to the following:
    10 
    11 The copyright notices in the Software and this entire statement, including
    12 the above license grant, this restriction and the following disclaimer,
    13 must be included in all copies of the Software, in whole or in part, and
    14 all derivative works of the Software, unless such copies or derivative
    15 works are solely in the form of machine-executable object code generated by
    16 a source language processor.
    17 
    18 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    19 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    20 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
    21 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
    22 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
    23 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
    24 DEALINGS IN THE SOFTWARE.
     2Bullet Continuous Collision Detection and Physics Library
     3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
     4
     5This software is provided 'as-is', without any express or implied warranty.
     6In no event will the authors be held liable for any damages arising from the use of this software.
     7Permission is granted to anyone to use this software for any purpose,
     8including commercial applications, and to alter it and redistribute it freely,
     9subject to the following restrictions:
     10
     111. 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.
     122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
     133. This notice may not be removed or altered from any source distribution.
    2514*/
    2615
    … …  
    3625///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
    3726///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
     27///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
    3828class   btIDebugDraw
    3929{
    … …  
    5646                DBG_DrawConstraints = (1 << 11),
    5747                DBG_DrawConstraintLimits = (1 << 12),
     48                DBG_FastWireframe = (1<<13),
    5849                DBG_MAX_DEBUG_DRAW_MODE
    5950        };
    … …  
    6152        virtual ~btIDebugDraw() {};
    6253
     54        virtual void    drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
     55               
    6356        virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
    6457        {
     58        (void) toColor;
    6559                drawLine (from, to, fromColor);
    6660        }
    6761
    68         virtual void    drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
    69         {
    70         }
    71 
     62        virtual void    drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
     63        {
     64                btVector3 start = transform.getOrigin();
     65
     66                const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
     67                const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
     68                const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
     69
     70                // XY
     71                drawLine(start-xoffs, start+yoffs, color);
     72                drawLine(start+yoffs, start+xoffs, color);
     73                drawLine(start+xoffs, start-yoffs, color);
     74                drawLine(start-yoffs, start-xoffs, color);
     75
     76                // XZ
     77                drawLine(start-xoffs, start+zoffs, color);
     78                drawLine(start+zoffs, start+xoffs, color);
     79                drawLine(start+xoffs, start-zoffs, color);
     80                drawLine(start-zoffs, start-xoffs, color);
     81
     82                // YZ
     83                drawLine(start-yoffs, start+zoffs, color);
     84                drawLine(start+zoffs, start+yoffs, color);
     85                drawLine(start+yoffs, start-zoffs, color);
     86                drawLine(start-zoffs, start-yoffs, color);
     87        }
     88       
    7289        virtual void    drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
    7390        {
    74         }
    75 
    76         virtual void    drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
     91                btTransform tr;
     92                tr.setIdentity();
     93                tr.setOrigin(p);
     94                drawSphere(radius,tr,color);
     95        }
    7796       
    7897        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)
    … …  
    97116        virtual int             getDebugMode() const = 0;
    98117
    99         inline void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
     118        virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
    100119        {
    101120
    … …  
    126145                }
    127146        }
    128         void drawTransform(const btTransform& transform, btScalar orthoLen)
     147        virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
    129148        {
    130149                btVector3 start = transform.getOrigin();
    … …  
    134153        }
    135154
    136         void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
     155        virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
    137156                                const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
    138157        {
    … …  
    159178                }
    160179        }
    161         void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
     180        virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
    162181                btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
    163182        {
    … …  
    261280        }
    262281       
    263         void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
     282        virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
    264283        {
    265284                drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
    … …  
    276295                drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
    277296        }
    278         void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
     297        virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
    279298        {
    280299                drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
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