diff options
Diffstat (limited to 'extern/bullet2/LinearMath/btIDebugDraw.h')
| -rw-r--r-- | extern/bullet2/LinearMath/btIDebugDraw.h | 316 |
1 files changed, 0 insertions, 316 deletions
diff --git a/extern/bullet2/LinearMath/btIDebugDraw.h b/extern/bullet2/LinearMath/btIDebugDraw.h deleted file mode 100644 index 1ca303182c1..00000000000 --- a/extern/bullet2/LinearMath/btIDebugDraw.h +++ /dev/null @@ -1,316 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. 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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - - -#ifndef IDEBUG_DRAW__H -#define IDEBUG_DRAW__H - -#include "btVector3.h" -#include "btTransform.h" - - -///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. -///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld. -///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum. -///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1] -class btIDebugDraw -{ - public: - - enum DebugDrawModes - { - DBG_NoDebug=0, - DBG_DrawWireframe = 1, - DBG_DrawAabb=2, - DBG_DrawFeaturesText=4, - DBG_DrawContactPoints=8, - DBG_NoDeactivation=16, - DBG_NoHelpText = 32, - DBG_DrawText=64, - DBG_ProfileTimings = 128, - DBG_EnableSatComparison = 256, - DBG_DisableBulletLCP = 512, - DBG_EnableCCD = 1024, - DBG_DrawConstraints = (1 << 11), - DBG_DrawConstraintLimits = (1 << 12), - DBG_FastWireframe = (1<<13), - DBG_MAX_DEBUG_DRAW_MODE - }; - - virtual ~btIDebugDraw() {}; - - virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0; - - virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor) - { - (void) toColor; - drawLine (from, to, fromColor); - } - - void 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); - } - - virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color) - { - btTransform tr; - tr.setIdentity(); - tr.setOrigin(p); - drawSphere(radius,tr,color); - } - - 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) - { - drawTriangle(v0,v1,v2,color,alpha); - } - virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/) - { - drawLine(v0,v1,color); - drawLine(v1,v2,color); - drawLine(v2,v0,color); - } - - virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0; - - virtual void reportErrorWarning(const char* warningString) = 0; - - virtual void draw3dText(const btVector3& location,const char* textString) = 0; - - virtual void setDebugMode(int debugMode) =0; - - virtual int getDebugMode() const = 0; - - virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color) - { - - btVector3 halfExtents = (to-from)* 0.5f; - btVector3 center = (to+from) *0.5f; - int i,j; - - btVector3 edgecoord(1.f,1.f,1.f),pa,pb; - for (i=0;i<4;i++) - { - for (j=0;j<3;j++) - { - pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], - edgecoord[2]*halfExtents[2]); - pa+=center; - - int othercoord = j%3; - edgecoord[othercoord]*=-1.f; - pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], - edgecoord[2]*halfExtents[2]); - pb+=center; - - drawLine(pa,pb,color); - } - edgecoord = btVector3(-1.f,-1.f,-1.f); - if (i<3) - edgecoord[i]*=-1.f; - } - } - virtual 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)); - } - - virtual 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); - } - } - virtual 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; - } - } - - virtual 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); - } - virtual 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); - } -}; - - -#endif //IDEBUG_DRAW__H - |