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path: root/extern/bullet2/src/LinearMath/btIDebugDraw.h
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-rw-r--r--extern/bullet2/src/LinearMath/btIDebugDraw.h181
1 files changed, 181 insertions, 0 deletions
diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h
index 563615a9a32..e5a0061b779 100644
--- a/extern/bullet2/src/LinearMath/btIDebugDraw.h
+++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h
@@ -29,6 +29,7 @@ DEALINGS IN THE SOFTWARE.
#define IDEBUG_DRAW__H
#include "btVector3.h"
+#include "btTransform.h"
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
@@ -52,11 +53,26 @@ class btIDebugDraw
DBG_EnableSatComparison = 256,
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;
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)
@@ -109,6 +125,171 @@ class btIDebugDraw
edgecoord[i]*=-1.f;
}
}
+ 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);
+ }
};
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