diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btIDebugDraw.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btIDebugDraw.h | 344 |
1 files changed, 169 insertions, 175 deletions
diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h index 58c9838c490..82ec19a69b2 100644 --- a/extern/bullet2/src/LinearMath/btIDebugDraw.h +++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h @@ -13,86 +13,84 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - #ifndef BT_IDEBUG_DRAW__H #define BT_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 +class btIDebugDraw { - public: - - ATTRIBUTE_ALIGNED16(struct) DefaultColors +public: + ATTRIBUTE_ALIGNED16(struct) + DefaultColors { - btVector3 m_activeObject; - btVector3 m_deactivatedObject; - btVector3 m_wantsDeactivationObject; - btVector3 m_disabledDeactivationObject; - btVector3 m_disabledSimulationObject; - btVector3 m_aabb; + btVector3 m_activeObject; + btVector3 m_deactivatedObject; + btVector3 m_wantsDeactivationObject; + btVector3 m_disabledDeactivationObject; + btVector3 m_disabledSimulationObject; + btVector3 m_aabb; btVector3 m_contactPoint; - + DefaultColors() - : m_activeObject(1,1,1), - m_deactivatedObject(0,1,0), - m_wantsDeactivationObject(0,1,1), - m_disabledDeactivationObject(1,0,0), - m_disabledSimulationObject(1,1,0), - m_aabb(1,0,0), - m_contactPoint(1,1,0) + : m_activeObject(1, 1, 1), + m_deactivatedObject(0, 1, 0), + m_wantsDeactivationObject(0, 1, 1), + m_disabledDeactivationObject(1, 0, 0), + m_disabledSimulationObject(1, 1, 0), + m_aabb(1, 0, 0), + m_contactPoint(1, 1, 0) { } }; - - enum DebugDrawModes + enum DebugDrawModes { - DBG_NoDebug=0, + DBG_NoDebug = 0, DBG_DrawWireframe = 1, - DBG_DrawAabb=2, - DBG_DrawFeaturesText=4, - DBG_DrawContactPoints=8, - DBG_NoDeactivation=16, + DBG_DrawAabb = 2, + DBG_DrawFeaturesText = 4, + DBG_DrawContactPoints = 8, + DBG_NoDeactivation = 16, DBG_NoHelpText = 32, - DBG_DrawText=64, + 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_DrawNormals = (1<<14), - DBG_DrawFrames = (1<<15), + DBG_FastWireframe = (1 << 13), + DBG_DrawNormals = (1 << 14), + DBG_DrawFrames = (1 << 15), DBG_MAX_DEBUG_DRAW_MODE }; - virtual ~btIDebugDraw() {}; + virtual ~btIDebugDraw(){}; - - virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; } + virtual DefaultColors getDefaultColors() const + { + DefaultColors colors; + return colors; + } ///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors. virtual void setDefaultColors(const DefaultColors& /*colors*/) {} - - 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) + + 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)toColor; + drawLine(from, to, fromColor); } - virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color) + virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color) { - btVector3 center = transform.getOrigin(); btVector3 up = transform.getBasis().getColumn(1); btVector3 axis = transform.getBasis().getColumn(0); @@ -101,103 +99,102 @@ class btIDebugDraw btScalar minPs = -SIMD_HALF_PI; btScalar maxPs = SIMD_HALF_PI; btScalar stepDegrees = 30.f; - drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false); - drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false ); + drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false); + drawSpherePatch(center, up, -axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false); } - - virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color) + + virtual void drawSphere(const btVector3& p, btScalar radius, const btVector3& color) { btTransform tr; tr.setIdentity(); tr.setOrigin(p); - drawSphere(radius,tr,color); + 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) + + 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); + drawTriangle(v0, v1, v2, color, alpha); } - virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*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); + 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 drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color) = 0; - virtual void reportErrorWarning(const char* warningString) = 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 draw3dText(const btVector3& location, const char* textString) = 0; - virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color) - { + virtual void setDebugMode(int debugMode) = 0; - btVector3 halfExtents = (to-from)* 0.5f; - btVector3 center = (to+from) *0.5f; - int i,j; + virtual int getDebugMode() const = 0; - btVector3 edgecoord(1.f,1.f,1.f),pa,pb; - for (i=0;i<4;i++) + 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++) + for (j = 0; j < 3; j++) { - pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], - edgecoord[2]*halfExtents[2]); - pa+=center; + 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; + 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); + drawLine(pa, pb, color); } - edgecoord = btVector3(-1.f,-1.f,-1.f); - if (i<3) - edgecoord[i]*=-1.f; + 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)); + drawLine(start, start + transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3))); + drawLine(start, start + transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3))); + drawLine(start, start + transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.))); } - 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)) + 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)btFabs((maxAngle - minAngle) / step); - if(!nSteps) nSteps = 1; + if (!nSteps) nSteps = 1; btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle); - if(drawSect) + if (drawSect) { drawLine(center, prev, color); } - for(int i = 1; i <= nSteps; i++) + 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) + 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),bool drawCenter = true) + 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), bool drawCenter = true) { btVector3 vA[74]; btVector3 vB[74]; @@ -211,33 +208,33 @@ class btIDebugDraw btVector3 jv = kv.cross(iv); bool drawN = false; bool drawS = false; - if(minTh <= -SIMD_HALF_PI) + if (minTh <= -SIMD_HALF_PI) { minTh = -SIMD_HALF_PI + step; drawN = true; } - if(maxTh >= SIMD_HALF_PI) + if (maxTh >= SIMD_HALF_PI) { maxTh = SIMD_HALF_PI - step; drawS = true; } - if(minTh > maxTh) + if (minTh > maxTh) { minTh = -SIMD_HALF_PI + step; - maxTh = 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; + if (n_hor < 2) n_hor = 2; btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1); bool isClosed = false; - if(minPs > maxPs) + if (minPs > maxPs) { minPs = -SIMD_PI + step; - maxPs = SIMD_PI; + maxPs = SIMD_PI; isClosed = true; } - else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f)) + else if ((maxPs - minPs) >= SIMD_PI * btScalar(2.f)) { isClosed = true; } @@ -246,63 +243,64 @@ class btIDebugDraw isClosed = false; } int n_vert = (int)((maxPs - minPs) / step) + 1; - if(n_vert < 2) n_vert = 2; + if (n_vert < 2) n_vert = 2; btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1); - for(int i = 0; i < n_hor; i++) + 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++) + 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) + if (i) { drawLine(pvA[j], pvB[j], color); } - else if(drawS) + else if (drawS) { drawLine(spole, pvB[j], color); } - if(j) + if (j) { - drawLine(pvB[j-1], pvB[j], color); + drawLine(pvB[j - 1], pvB[j], color); } else { arcStart = pvB[j]; } - if((i == (n_hor - 1)) && drawN) + if ((i == (n_hor - 1)) && drawN) { drawLine(npole, pvB[j], color); } - + if (drawCenter) { - if(isClosed) + if (isClosed) { - if(j == (n_vert-1)) + if (j == (n_vert - 1)) { drawLine(arcStart, pvB[j], color); } } else { - if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) + if (((!i) || (i == (n_hor - 1))) && ((!j) || (j == (n_vert - 1)))) { drawLine(center, pvB[j], color); } } } } - pT = pvA; pvA = pvB; pvB = pT; + 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); @@ -338,31 +336,27 @@ class btIDebugDraw { int stepDegrees = 30; - btVector3 capStart(0.f,0.f,0.f); + btVector3 capStart(0.f, 0.f, 0.f); capStart[upAxis] = -halfHeight; - btVector3 capEnd(0.f,0.f,0.f); + btVector3 capEnd(0.f, 0.f, 0.f); capEnd[upAxis] = halfHeight; // Draw the ends { - btTransform childTransform = transform; childTransform.getOrigin() = transform * capStart; { btVector3 center = childTransform.getOrigin(); - btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3); btVector3 axis = -childTransform.getBasis().getColumn(upAxis); btScalar minTh = -SIMD_HALF_PI; btScalar maxTh = SIMD_HALF_PI; btScalar minPs = -SIMD_HALF_PI; btScalar maxPs = SIMD_HALF_PI; - - drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); - } - - + drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false); + } } { @@ -370,52 +364,51 @@ class btIDebugDraw childTransform.getOrigin() = transform * capEnd; { btVector3 center = childTransform.getOrigin(); - btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3); btVector3 axis = childTransform.getBasis().getColumn(upAxis); btScalar minTh = -SIMD_HALF_PI; btScalar maxTh = SIMD_HALF_PI; btScalar minPs = -SIMD_HALF_PI; btScalar maxPs = SIMD_HALF_PI; - drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false); } } // Draw some additional lines btVector3 start = transform.getOrigin(); - for (int i=0;i<360;i+=stepDegrees) + for (int i = 0; i < 360; i += stepDegrees) { - capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; - capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; - drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius; + capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * 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); + btVector3 offsetHeight(0, 0, 0); offsetHeight[upAxis] = halfHeight; - int stepDegrees=30; - btVector3 capStart(0.f,0.f,0.f); + int stepDegrees = 30; + btVector3 capStart(0.f, 0.f, 0.f); capStart[upAxis] = -halfHeight; - btVector3 capEnd(0.f,0.f,0.f); + btVector3 capEnd(0.f, 0.f, 0.f); capEnd[upAxis] = halfHeight; - for (int i=0;i<360;i+=stepDegrees) + for (int i = 0; i < 360; i += stepDegrees) { - capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; - capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; - drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius; + capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius; + drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color); } // Drawing top and bottom caps of the cylinder - btVector3 yaxis(0,0,0); + 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)); + 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) @@ -423,50 +416,53 @@ class btIDebugDraw int stepDegrees = 30; btVector3 start = transform.getOrigin(); - btVector3 offsetHeight(0,0,0); + btVector3 offsetHeight(0, 0, 0); btScalar halfHeight = height * btScalar(0.5); offsetHeight[upAxis] = halfHeight; - btVector3 offsetRadius(0,0,0); - offsetRadius[(upAxis+1)%3] = radius; - btVector3 offset2Radius(0,0,0); - offset2Radius[(upAxis+2)%3] = radius; - + btVector3 offsetRadius(0, 0, 0); + offsetRadius[(upAxis + 1) % 3] = radius; + btVector3 offset2Radius(0, 0, 0); + offset2Radius[(upAxis + 2) % 3] = radius; - btVector3 capEnd(0.f,0.f,0.f); + btVector3 capEnd(0.f, 0.f, 0.f); capEnd[upAxis] = -halfHeight; - for (int i=0;i<360;i+=stepDegrees) + for (int i = 0; i < 360; i += stepDegrees) { - capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; - capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; - drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color); + capEnd[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius; + capEnd[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius; + drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * capEnd, color); } - 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); + 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); + 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); + 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); + 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); + 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); + } + + virtual void clearLines() + { } virtual void flushLines() @@ -474,6 +470,4 @@ class btIDebugDraw } }; - -#endif //BT_IDEBUG_DRAW__H - +#endif //BT_IDEBUG_DRAW__H |