484 lines
17 KiB
C++
484 lines
17 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_IDEBUG_DRAW__H
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#define BT_IDEBUG_DRAW__H
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#include "btVector3.h"
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#include "btTransform.h"
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///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
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///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
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///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
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///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
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class btIDebugDraw
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{
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public:
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ATTRIBUTE_ALIGNED16(struct) DefaultColors
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{
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btVector3 m_activeObject;
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btVector3 m_deactivatedObject;
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btVector3 m_wantsDeactivationObject;
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btVector3 m_disabledDeactivationObject;
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btVector3 m_disabledSimulationObject;
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btVector3 m_aabb;
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btVector3 m_contactPoint;
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DefaultColors()
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: m_activeObject(1,1,1),
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m_deactivatedObject(0,1,0),
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m_wantsDeactivationObject(0,1,1),
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m_disabledDeactivationObject(1,0,0),
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m_disabledSimulationObject(1,1,0),
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m_aabb(1,0,0),
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m_contactPoint(1,1,0)
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{
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}
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};
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enum DebugDrawModes
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{
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DBG_NoDebug=0,
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DBG_DrawWireframe = 1,
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DBG_DrawAabb=2,
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DBG_DrawFeaturesText=4,
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DBG_DrawContactPoints=8,
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DBG_NoDeactivation=16,
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DBG_NoHelpText = 32,
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DBG_DrawText=64,
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DBG_ProfileTimings = 128,
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DBG_EnableSatComparison = 256,
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DBG_DisableBulletLCP = 512,
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DBG_EnableCCD = 1024,
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DBG_DrawConstraints = (1 << 11),
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DBG_DrawConstraintLimits = (1 << 12),
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DBG_FastWireframe = (1<<13),
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DBG_DrawNormals = (1<<14),
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DBG_DrawFrames = (1<<15),
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DBG_MAX_DEBUG_DRAW_MODE
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};
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virtual ~btIDebugDraw() {};
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virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; }
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///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
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virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
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virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
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virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
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{
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(void) toColor;
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drawLine (from, to, fromColor);
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}
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virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
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{
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btVector3 center = transform.getOrigin();
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btVector3 up = transform.getBasis().getColumn(1);
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btVector3 axis = transform.getBasis().getColumn(0);
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btScalar minTh = -SIMD_HALF_PI;
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btScalar maxTh = SIMD_HALF_PI;
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btScalar minPs = -SIMD_HALF_PI;
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btScalar maxPs = SIMD_HALF_PI;
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btScalar stepDegrees = 30.f;
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drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false);
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drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false );
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}
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virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
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{
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(p);
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drawSphere(radius,tr,color);
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}
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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)
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{
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drawTriangle(v0,v1,v2,color,alpha);
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}
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virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/)
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{
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drawLine(v0,v1,color);
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drawLine(v1,v2,color);
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drawLine(v2,v0,color);
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}
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virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;
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virtual void reportErrorWarning(const char* warningString) = 0;
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virtual void draw3dText(const btVector3& location,const char* textString) = 0;
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virtual void setDebugMode(int debugMode) =0;
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virtual int getDebugMode() const = 0;
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virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
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{
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btVector3 halfExtents = (to-from)* 0.5f;
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btVector3 center = (to+from) *0.5f;
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int i,j;
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btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
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for (i=0;i<4;i++)
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{
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for (j=0;j<3;j++)
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{
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pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
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edgecoord[2]*halfExtents[2]);
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pa+=center;
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int othercoord = j%3;
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edgecoord[othercoord]*=-1.f;
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pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
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edgecoord[2]*halfExtents[2]);
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pb+=center;
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drawLine(pa,pb,color);
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}
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edgecoord = btVector3(-1.f,-1.f,-1.f);
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if (i<3)
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edgecoord[i]*=-1.f;
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}
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}
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virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
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{
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btVector3 start = transform.getOrigin();
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drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
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drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
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drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
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}
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virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
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const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
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{
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const btVector3& vx = axis;
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btVector3 vy = normal.cross(axis);
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btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
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int nSteps = (int)btFabs((maxAngle - minAngle) / step);
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if(!nSteps) nSteps = 1;
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btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
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if(drawSect)
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{
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drawLine(center, prev, color);
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}
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for(int i = 1; i <= nSteps; i++)
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{
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btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
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btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
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drawLine(prev, next, color);
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prev = next;
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}
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if(drawSect)
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{
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drawLine(center, prev, color);
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}
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}
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virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
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btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true)
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{
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btVector3 vA[74];
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btVector3 vB[74];
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btVector3 *pvA = vA, *pvB = vB, *pT;
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btVector3 npole = center + up * radius;
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btVector3 spole = center - up * radius;
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btVector3 arcStart;
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btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
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const btVector3& kv = up;
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const btVector3& iv = axis;
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btVector3 jv = kv.cross(iv);
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bool drawN = false;
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bool drawS = false;
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if(minTh <= -SIMD_HALF_PI)
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{
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minTh = -SIMD_HALF_PI + step;
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drawN = true;
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}
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if(maxTh >= SIMD_HALF_PI)
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{
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maxTh = SIMD_HALF_PI - step;
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drawS = true;
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}
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if(minTh > maxTh)
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{
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minTh = -SIMD_HALF_PI + step;
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maxTh = SIMD_HALF_PI - step;
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drawN = drawS = true;
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}
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int n_hor = (int)((maxTh - minTh) / step) + 1;
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if(n_hor < 2) n_hor = 2;
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btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
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bool isClosed = false;
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if(minPs > maxPs)
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{
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minPs = -SIMD_PI + step;
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maxPs = SIMD_PI;
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isClosed = true;
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}
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else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
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{
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isClosed = true;
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}
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else
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{
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isClosed = false;
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}
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int n_vert = (int)((maxPs - minPs) / step) + 1;
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if(n_vert < 2) n_vert = 2;
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btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
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for(int i = 0; i < n_hor; i++)
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{
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btScalar th = minTh + btScalar(i) * step_h;
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btScalar sth = radius * btSin(th);
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btScalar cth = radius * btCos(th);
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for(int j = 0; j < n_vert; j++)
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{
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btScalar psi = minPs + btScalar(j) * step_v;
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btScalar sps = btSin(psi);
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btScalar cps = btCos(psi);
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pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
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if(i)
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{
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drawLine(pvA[j], pvB[j], color);
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}
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else if(drawS)
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{
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drawLine(spole, pvB[j], color);
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}
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if(j)
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{
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drawLine(pvB[j-1], pvB[j], color);
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}
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else
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{
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arcStart = pvB[j];
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}
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if((i == (n_hor - 1)) && drawN)
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{
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drawLine(npole, pvB[j], color);
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}
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if (drawCenter)
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{
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if(isClosed)
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{
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if(j == (n_vert-1))
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{
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drawLine(arcStart, pvB[j], color);
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}
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}
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else
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{
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if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
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{
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drawLine(center, pvB[j], color);
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}
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}
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}
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}
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pT = pvA; pvA = pvB; pvB = pT;
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}
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}
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virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
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{
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drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
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drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
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drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
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drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
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drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
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drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
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drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
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drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
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drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
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drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
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drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
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drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
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}
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virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
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{
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drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
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drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
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drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
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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);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
|
||
|
|
{
|
||
|
|
int stepDegrees = 30;
|
||
|
|
|
||
|
|
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;
|
||
|
|
{
|
||
|
|
btVector3 center = childTransform.getOrigin();
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
btTransform childTransform = transform;
|
||
|
|
childTransform.getOrigin() = transform * capEnd;
|
||
|
|
{
|
||
|
|
btVector3 center = childTransform.getOrigin();
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Draw some additional lines
|
||
|
|
btVector3 start = transform.getOrigin();
|
||
|
|
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
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;
|
||
|
|
int stepDegrees=30;
|
||
|
|
btVector3 capStart(0.f,0.f,0.f);
|
||
|
|
capStart[upAxis] = -halfHeight;
|
||
|
|
btVector3 capEnd(0.f,0.f,0.f);
|
||
|
|
capEnd[upAxis] = halfHeight;
|
||
|
|
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
// 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)
|
||
|
|
{
|
||
|
|
int stepDegrees = 30;
|
||
|
|
btVector3 start = transform.getOrigin();
|
||
|
|
|
||
|
|
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 capEnd(0.f,0.f,0.f);
|
||
|
|
capEnd[upAxis] = -halfHeight;
|
||
|
|
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void clearLines()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void flushLines()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#endif //BT_IDEBUG_DRAW__H
|
||
|
|
|