Changeset 8393 for code/trunk/src/external/bullet/LinearMath/btIDebugDraw.h

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/LinearMath/btIDebugDraw.h (modified) (2 diffs)

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

@@ -15 +15 @@
 
 
-#ifndef IDEBUG_DRAW__H
-#define IDEBUG_DRAW__H
+#ifndef BT_IDEBUG_DRAW__H
+#define BT_IDEBUG_DRAW__H
 
 #include "btVector3.h"
@@ -310 +310 @@
                 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)
+        {
+                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;
+                        drawSphere(radius, childTransform, color);
+                }
+
+                {
+                        btTransform childTransform = transform;
+                        childTransform.getOrigin() = transform * capEnd;
+                        drawSphere(radius, childTransform, color);
+                }
+
+                // Draw some additional lines
+                btVector3 start = transform.getOrigin();
+
+                capStart[(upAxis+1)%3] = radius;
+                capEnd[(upAxis+1)%3] = radius;
+                drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+                capStart[(upAxis+1)%3] = -radius;
+                capEnd[(upAxis+1)%3] = -radius;
+                drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+
+                capStart[(upAxis+1)%3] = 0.f;
+                capEnd[(upAxis+1)%3] = 0.f;
+
+                capStart[(upAxis+2)%3] = radius;
+                capEnd[(upAxis+2)%3] = radius;
+                drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+                capStart[(upAxis+2)%3] = -radius;
+                capEnd[(upAxis+2)%3] = -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;
+                btVector3       offsetRadius(0,0,0);
+                offsetRadius[(upAxis+1)%3] = radius;
+                drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
+                drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),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)
+        {
+
+                btVector3 start = transform.getOrigin();
+
+                btVector3       offsetHeight(0,0,0);
+                offsetHeight[upAxis] = height * btScalar(0.5);
+                btVector3       offsetRadius(0,0,0);
+                offsetRadius[(upAxis+1)%3] = radius;
+                btVector3       offset2Radius(0,0,0);
+                offset2Radius[(upAxis+2)%3] = radius;
+
+                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);
+        }
 };
 
 
-#endif //IDEBUG_DRAW__H
-
+#endif //BT_IDEBUG_DRAW__H
+