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source: code/branches/physics/src/ogreode/OgreOdeDebugObject.cpp @ 2036

Last change on this file since 2036 was 1923, checked in by rgrieder, 16 years ago
Cleaned up the heavy mess with header file includes in OgreOde. It should now compile a lot faster.
Property svn:eol-style set to `native`
File size: 22.0 KB

Rev	Line
[1919]	1	#include "OgreOdePrecompiledHeaders.h"
	2	#include "OgreOdeDebugObject.h"
	3
[1923]	4	#include <OgreMaterialManager.h>
	5	#include <OgreTechnique.h>
	6	#include <OgreCamera.h>
	7	#include <OgreHardwareBufferManager.h>
	8
[1919]	9	using namespace OgreOde;
	10	using namespace Ogre;
	11
	12	//------------------------------------------------------------------------------------------------
	13	bool DebugLines::_materials_created = false;
	14	//------------------------------------------------------------------------------------------------
	15	DebugLines::DebugLines() : SimpleRenderable()
	16	{
	17	mRenderOp.vertexData = new Ogre::VertexData();
	18	_drawn = false;
	19
	20	if (!_materials_created)
	21	{
	22	MaterialPtr red = MaterialManager::getSingleton().create("OgreOdeDebugLines/Disabled","OgreOde");
	23	MaterialPtr green = MaterialManager::getSingleton().create("OgreOdeDebugLines/Enabled","OgreOde");
	24	MaterialPtr blue = MaterialManager::getSingleton().create("OgreOdeDebugLines/Static","OgreOde");
	25
	26	red->setReceiveShadows(false);
	27	red->getTechnique(0)->setLightingEnabled(true);
	28	red->getTechnique(0)->getPass(0)->setSelfIllumination(1,0,0);
	29
	30	green->setReceiveShadows(false);
	31	green->getTechnique(0)->setLightingEnabled(true);
	32	green->getTechnique(0)->getPass(0)->setSelfIllumination(0,1,0);
	33
	34	blue->setReceiveShadows(false);
	35	blue->getTechnique(0)->setLightingEnabled(true);
	36	blue->getTechnique(0)->getPass(0)->setSelfIllumination(0,0,1);
	37
	38	_materials_created = true;
	39	}
	40	setCastShadows (false);
	41	this->setMaterial("OgreOdeDebugLines/Enabled");
	42	}
	43
	44
	45	//------------------------------------------------------------------------------------------------
	46	void DebugLines::clear()
	47	{
	48	if (_drawn)
	49	{
	50	_drawn = false;
	51	_points.clear();
	52	delete mRenderOp.vertexData;
	53
	54	mRenderOp.vertexData = new Ogre::VertexData();
	55	}
	56	}
	57	//------------------------------------------------------------------------------------------------
	58	DebugLines::~DebugLines(void)
	59	{
	60	clear();
	61
	62	delete mRenderOp.vertexData;
	63	}
	64	//------------------------------------------------------------------------------------------------
	65	void DebugLines::draw()
	66	{
	67	if (_drawn)
	68	return;
	69	else
	70	_drawn = true;
	71
	72	// Initialization stuff
	73	mRenderOp.indexData = 0;
	74	mRenderOp.vertexData->vertexCount = _points.size();
	75	mRenderOp.vertexData->vertexStart = 0;
	76	mRenderOp.operationType = RenderOperation::OT_LINE_LIST;
	77	mRenderOp.useIndexes = false;
	78
	79	Ogre::VertexDeclaration *decl = mRenderOp.vertexData->vertexDeclaration;
	80	Ogre::VertexBufferBinding *bind = mRenderOp.vertexData->vertexBufferBinding;
	81
	82	decl->addElement(0, 0, VET_FLOAT3, VES_POSITION);
	83
	84	HardwareVertexBufferSharedPtr vbuf =
	85	HardwareBufferManager::getSingleton().createVertexBuffer(
	86	decl->getVertexSize(0),
	87	mRenderOp.vertexData->vertexCount,
	88	HardwareBuffer::HBU_STATIC_WRITE_ONLY);
	89
	90	bind->setBinding(0, vbuf);
	91
	92	// Drawing stuff
	93	unsigned int size = (unsigned int)_points.size();
	94	Ogre::Vector3 vaabMin = _points[0];
	95	Ogre::Vector3 vaabMax = _points[0];
	96
	97	float prPos = static_cast<float>(vbuf->lock(HardwareBuffer::HBL_DISCARD));
	98
	99	for(unsigned int i = 0; i < size; i++)
	100	{
	101	*prPos++ = _points[i].x;
	102	*prPos++ = _points[i].y;
	103	*prPos++ = _points[i].z;
	104
	105	if (_points[i].x < vaabMin.x)
	106	vaabMin.x = _points[i].x;
	107	if (_points[i].y < vaabMin.y)
	108	vaabMin.y = _points[i].y;
	109	if (_points[i].z < vaabMin.z)
	110	vaabMin.z = _points[i].z;
	111
	112	if (_points[i].x > vaabMax.x)
	113	vaabMax.x = _points[i].x;
	114	if (_points[i].y > vaabMax.y)
	115	vaabMax.y = _points[i].y;
	116	if (_points[i].z > vaabMax.z)
	117	vaabMax.z = _points[i].z;
	118	}
	119
	120	vbuf->unlock();
	121
	122	mBox.setExtents(vaabMin, vaabMax);
	123	}
	124	//------------------------------------------------------------------------------------------------
	125	Real DebugLines::getSquaredViewDepth(const Camera *cam) const
	126	{
	127	Vector3 vMin, vMax, vMid, vDist;
	128	vMin = mBox.getMinimum();
	129	vMax = mBox.getMaximum();
	130	vMid = ((vMin - vMax) * 0.5) + vMin;
	131	vDist = cam->getDerivedPosition() - vMid;
	132
	133	return vDist.squaredLength();
	134	}
	135	//------------------------------------------------------------------------------------------------
	136	Real DebugLines::getBoundingRadius() const
	137	{
	138	return Math::Sqrt(std::max(mBox.getMaximum().squaredLength(), mBox.getMinimum().squaredLength()));
	139	}
	140	//------------------------------------------------------------------------------------------------
	141	DebugObject::DebugObject(DebugObject::Mode mode)
	142	{
	143	_mode = DebugObject::Mode_Unknown;
	144	setMode(mode);
	145	}
	146	//------------------------------------------------------------------------------------------------
	147	void DebugObject::setMode(DebugObject::Mode mode)
	148	{
	149	if (mode != _mode)
	150	{
	151	_mode = mode;
	152	switch(_mode)
	153	{
	154	case DebugObject::Mode_Enabled:
	155	setMaterial("OgreOdeDebugLines/Enabled");
	156	break;
	157
	158	case DebugObject::Mode_Disabled:
	159	setMaterial("OgreOdeDebugLines/Disabled");
	160
	161	break;
	162
	163	case DebugObject::Mode_Static:
	164	setMaterial("OgreOdeDebugLines/Static");
	165	break;
[1922]	166
	167	case DebugObject::Mode_Unknown:
	168	// don't do anything. Not handled.
	169	break;
[1919]	170	}
	171	}
	172	}
	173	//------------------------------------------------------------------------------------------------
	174	DebugObject::~DebugObject()
	175	{
	176	}
	177	//------------------------------------------------------------------------------------------------
	178	BoxDebugObject::BoxDebugObject(const Ogre::Vector3& size):DebugObject()
	179	{
	180	AxisAlignedBox aabb(-size.x * 0.5,-size.y * 0.5,-size.z * 0.5,
	181	size.x * 0.5,size.y * 0.5,size.z * 0.5);
	182
	183	Vector3 vmax = aabb.getMaximum();
	184	Vector3 vmin = aabb.getMinimum();
	185
	186	addLine(vmin.x,vmin.y,vmin.z,vmax.x,vmin.y,vmin.z);
	187	addLine(vmin.x,vmin.y,vmin.z,vmin.x,vmin.y,vmax.z);
	188	addLine(vmin.x,vmin.y,vmin.z,vmin.x,vmax.y,vmin.z);
	189	addLine(vmin.x,vmax.y,vmin.z,vmin.x,vmax.y,vmax.z);
	190	addLine(vmin.x,vmax.y,vmin.z,vmax.x,vmax.y,vmin.z);
	191	addLine(vmax.x,vmin.y,vmin.z,vmax.x,vmin.y,vmax.z);
	192	addLine(vmax.x,vmin.y,vmin.z,vmax.x,vmax.y,vmin.z);
	193	addLine(vmin.x,vmax.y,vmax.z,vmax.x,vmax.y,vmax.z);
	194	addLine(vmin.x,vmax.y,vmax.z,vmin.x,vmin.y,vmax.z);
	195	addLine(vmax.x,vmax.y,vmin.z,vmax.x,vmax.y,vmax.z);
	196	addLine(vmax.x,vmin.y,vmax.z,vmax.x,vmax.y,vmax.z);
	197	addLine(vmin.x,vmin.y,vmax.z,vmax.x,vmin.y,vmax.z);
	198
	199	draw();
	200	}
	201	//------------------------------------------------------------------------------------------------
	202	BoxDebugObject::~BoxDebugObject()
	203	{
	204	}
	205	//------------------------------------------------------------------------------------------------
	206	SphereDebugObject::SphereDebugObject(Real radius):DebugObject()
	207	{
	208	// X/Y axis
	209
	210	// NW quadrant
	211	addLine(-radius, 0.0, 0.0,
	212	-0.866 * radius, 0.5 * radius, 0.0);
	213
	214	addLine(-0.866 * radius, 0.5 * radius, 0.0,
	215	-0.5 * radius, 0.866 * radius, 0.0);
	216
	217	addLine(-0.5 * radius, 0.866 * radius, 0.0,
	218	0.0, radius, 0.0);
	219
	220	// NE quadrant
	221	addLine(0.0, radius, 0.0,
	222	0.5 * radius, 0.866 * radius, 0.0);
	223
	224	addLine(0.5 * radius, 0.866 * radius, 0.0,
	225	0.866 * radius, 0.5 * radius, 0.0);
	226
	227	addLine(0.866 * radius, 0.5 * radius, 0.0,
	228	radius, 0.0, 0.0);
	229
	230	// SW quadrant
	231	addLine(-radius, 0.0, 0.0,
	232	-0.866 * radius, -0.5 * radius, 0.0);
	233
	234	addLine(-0.866 * radius, -0.5 * radius, 0.0,
	235	-0.5 * radius, -0.866 * radius, 0.0);
	236
	237	addLine(-0.5 * radius, -0.866 * radius, 0.0,
	238	0.0, -radius, 0.0);
	239
	240	// SE quadrant
	241	addLine(0.0, -radius, 0.0,
	242	0.5 * radius, -0.866 * radius, 0.0);
	243
	244	addLine(0.5 * radius, -0.866 * radius, 0.0,
	245	0.866 * radius, -0.5 * radius, 0.0);
	246
	247	addLine(0.866 * radius, -0.5 * radius, 0.0,
	248	radius, 0.0, 0.0);
	249
	250	// X/Z axis
	251
	252	// NW quadrant
	253	addLine(-radius, 0.0, 0.0,
	254	-0.866 * radius, 0.0, 0.5 * radius);
	255
	256	addLine(-0.866 * radius, 0.0, 0.5 * radius,
	257	-0.5 * radius, 0.0, 0.866 * radius);
	258
	259	addLine(-0.5 * radius, 0.0, 0.866 * radius,
	260	0.0, 0.0, radius);
	261
	262	// NE quadrant
	263	addLine(0.0, 0.0, radius,
	264	0.5 * radius, 0.0, 0.866 * radius);
	265
	266	addLine(0.5 * radius, 0.0, 0.866 * radius,
	267	0.866 * radius, 0.0, 0.5 * radius);
	268
	269	addLine(0.866 * radius, 0.0, 0.5 * radius,
	270	radius, 0.0, 0.0);
	271
	272	// SW quadrant
	273	addLine(-radius, 0.0, 0.0,
	274	-0.866 * radius, 0.0, -0.5 * radius);
	275
	276	addLine(-0.866 * radius, 0.0, -0.5 * radius,
	277	-0.5 * radius, 0.0, -0.866 * radius);
	278
	279	addLine(-0.5 * radius, 0.0, -0.866 * radius,
	280	0.0, 0.0, -radius);
	281
	282	// SE quadrant
	283	addLine(0.0, 0.0, -radius,
	284	0.5 * radius, 0.0, -0.866 * radius);
	285
	286	addLine(0.5 * radius, 0.0, -0.866 * radius,
	287	0.866 * radius, 0.0, -0.5 * radius);
	288
	289	addLine(0.866 * radius, 0.0, -0.5 * radius,
	290	radius, 0.0, 0.0);
	291
	292	// Y/Z axis
	293
	294	// NW quadrant
	295	addLine(0.0, -radius, 0.0,
	296	0.0, -0.866 * radius, 0.5 * radius);
	297
	298	addLine(0.0, -0.866 * radius, 0.5 * radius,
	299	0.0, -0.5 * radius, 0.866 * radius);
	300
	301	addLine(0.0, -0.5 * radius, 0.866 * radius,
	302	0.0, 0.0, radius);
	303
	304	// NE quadrant
	305	addLine(0.0, 0.0, radius,
	306	0.0, 0.5 * radius, 0.866 * radius);
	307
	308	addLine(0.0, 0.5 * radius, 0.866 * radius,
	309	0.0, 0.866 * radius, 0.5 * radius);
	310
	311	addLine(0.0, 0.866 * radius, 0.5 * radius,
	312	0.0, radius, 0.0);
	313
	314	// SW quadrant
	315	addLine(0.0, -radius, 0.0,
	316	0.0, -0.866 * radius, -0.5 * radius);
	317
	318	addLine(0.0, -0.866 * radius, -0.5 * radius,
	319	0.0, -0.5 * radius, -0.866 * radius);
	320
	321	addLine(0.0, -0.5 * radius, -0.866 * radius,
	322	0.0, 0.0, -radius);
	323
	324	// SE quadrant
	325	addLine(0.0, 0.0, -radius,
	326	0.0, 0.5 * radius, -0.866 * radius);
	327
	328	addLine(0.0, 0.5 * radius, -0.866 * radius,
	329	0.0, 0.866 * radius, -0.5 * radius);
	330
	331	addLine(0.0, 0.866 * radius, -0.5 * radius,
	332	0.0, radius, 0.0);
	333
	334	draw();
	335	}
	336	//------------------------------------------------------------------------------------------------
	337	SphereDebugObject::~SphereDebugObject()
	338	{
	339	}
	340	//------------------------------------------------------------------------------------------------
	341	CapsuleDebugObject::CapsuleDebugObject(Real radius,Real length):DebugObject()
	342	{
	343	Real halflen = length * 0.5;
	344	AxisAlignedBox aabb(-radius,-radius,-(halflen + radius),radius,radius,halflen + radius);
	345
	346	// X/Y axis - Near
	347
	348	// NW quadrant
	349	addLine(-radius, 0.0, halflen,
	350	-0.866 * radius, 0.5 * radius, halflen);
	351
	352	addLine(-0.866 * radius, 0.5 * radius, halflen,
	353	-0.5 * radius, 0.866 * radius, halflen);
	354
	355	addLine(-0.5 * radius, 0.866 * radius, halflen,
	356	0.0, radius, halflen);
	357
	358	// NE quadrant
	359	addLine(0.0, radius, halflen,
	360	0.5 * radius, 0.866 * radius, halflen);
	361
	362	addLine(0.5 * radius, 0.866 * radius, halflen,
	363	0.866 * radius, 0.5 * radius, halflen);
	364
	365	addLine(0.866 * radius, 0.5 * radius, halflen,
	366	radius, 0.0, halflen);
	367
	368	// SW quadrant
	369	addLine(-radius, 0.0, halflen,
	370	-0.866 * radius, -0.5 * radius, halflen);
	371
	372	addLine(-0.866 * radius, -0.5 * radius, halflen,
	373	-0.5 * radius, -0.866 * radius, halflen);
	374
	375	addLine(-0.5 * radius, -0.866 * radius, halflen,
	376	0.0, -radius, halflen);
	377
	378	// SE quadrant
	379	addLine(0.0, -radius, halflen,
	380	0.5 * radius, -0.866 * radius, halflen);
	381
	382	addLine(0.5 * radius, -0.866 * radius, halflen,
	383	0.866 * radius, -0.5 * radius, halflen);
	384
	385	addLine(0.866 * radius, -0.5 * radius, halflen,
	386	radius, 0.0, halflen);
	387
	388	// X/Y axis - Far
	389
	390	// NW quadrant
	391	addLine(-radius, 0.0, -halflen,
	392	-0.866 * radius, 0.5 * radius, -halflen);
	393
	394	addLine(-0.866 * radius, 0.5 * radius, -halflen,
	395	-0.5 * radius, 0.866 * radius, -halflen);
	396
	397	addLine(-0.5 * radius, 0.866 * radius, -halflen,
	398	0.0, radius, -halflen);
	399
	400	// NE quadrant
	401	addLine(0.0, radius, -halflen,
	402	0.5 * radius, 0.866 * radius, -halflen);
	403
	404	addLine(0.5 * radius, 0.866 * radius, -halflen,
	405	0.866 * radius, 0.5 * radius, -halflen);
	406
	407	addLine(0.866 * radius, 0.5 * radius, -halflen,
	408	radius, 0.0, -halflen);
	409
	410	// SW quadrant
	411	addLine(-radius, 0.0, -halflen,
	412	-0.866 * radius, -0.5 * radius, -halflen);
	413
	414	addLine(-0.866 * radius, -0.5 * radius, -halflen,
	415	-0.5 * radius, -0.866 * radius, -halflen);
	416
	417	addLine(-0.5 * radius, -0.866 * radius, -halflen,
	418	0.0, -radius, -halflen);
	419
	420	// SE quadrant
	421	addLine(0.0, -radius, -halflen,
	422	0.5 * radius, -0.866 * radius, -halflen);
	423
	424	addLine(0.5 * radius, -0.866 * radius, -halflen,
	425	0.866 * radius, -0.5 * radius, -halflen);
	426
	427	addLine(0.866 * radius, -0.5 * radius, -halflen,
	428	radius, 0.0, -halflen);
	429
	430	// X/Z axis
	431
	432	// NW quadrant
	433	addLine(-radius, 0.0, halflen,
	434	-0.866 * radius, 0.0, (0.5 * radius) + halflen);
	435
	436	addLine(-0.866 * radius, 0.0, (0.5 * radius) + halflen,
	437	-0.5 * radius, 0.0, (0.866 * radius) + halflen);
	438
	439	addLine(-0.5 * radius, 0.0, (0.866 * radius) + halflen,
	440	0.0, 0.0, radius + halflen);
	441
	442	// NE quadrant
	443	addLine(0.0, 0.0, radius + halflen,
	444	0.5 * radius, 0.0, (0.866 * radius) + halflen);
	445
	446	addLine(0.5 * radius, 0.0, (0.866 * radius) + halflen,
	447	0.866 * radius, 0.0, (0.5 * radius) + halflen);
	448
	449	addLine(0.866 * radius, 0.0, (0.5 * radius) + halflen,
	450	radius, 0.0, halflen);
	451
	452	// SW quadrant
	453	addLine(-radius, 0.0, -halflen,
	454	-0.866 * radius, 0.0, (-0.5 * radius) - halflen);
	455
	456	addLine(-0.866 * radius, 0.0, (-0.5 * radius) - halflen,
	457	-0.5 * radius, 0.0, (-0.866 * radius) - halflen);
	458
	459	addLine(-0.5 * radius, 0.0, (-0.866 * radius) - halflen,
	460	0.0, 0.0, -radius - halflen);
	461
	462	// SE quadrant
	463	addLine(0.0, 0.0, -radius - halflen,
	464	0.5 * radius, 0.0, (-0.866 * radius) - halflen);
	465
	466	addLine(0.5 * radius, 0.0, (-0.866 * radius) - halflen,
	467	0.866 * radius, 0.0, (-0.5 * radius) - halflen);
	468
	469	addLine(0.866 * radius, 0.0, (-0.5 * radius) - halflen,
	470	radius, 0.0, - halflen);
	471
	472	// Y/Z axis
	473
	474	// NW quadrant
	475	addLine(0.0, -radius, halflen,
	476	0.0, -0.866 * radius, (0.5 * radius) + halflen);
	477
	478	addLine(0.0, -0.866 * radius, (0.5 * radius) + halflen,
	479	0.0, -0.5 * radius, (0.866 * radius) + halflen);
	480
	481	addLine(0.0, -0.5 * radius, (0.866 * radius) + halflen,
	482	0.0, 0.0, radius + halflen);
	483
	484	// NE quadrant
	485	addLine(0.0, 0.0, radius + halflen,
	486	0.0, 0.5 * radius, (0.866 * radius) + halflen);
	487
	488	addLine(0.0, 0.5 * radius, (0.866 * radius) + halflen,
	489	0.0, 0.866 * radius, (0.5 * radius) + halflen);
	490
	491	addLine(0.0, 0.866 * radius, (0.5 * radius) + halflen,
	492	0.0, radius, halflen);
	493
	494	// SW quadrant
	495	addLine(0.0, -radius, -halflen,
	496	0.0, -0.866 * radius, (-0.5 * radius) - halflen);
	497
	498	addLine(0.0, -0.866 * radius, (-0.5 * radius) - halflen,
	499	0.0, -0.5 * radius, (-0.866 * radius) - halflen);
	500
	501	addLine(0.0, -0.5 * radius, (-0.866 * radius) - halflen,
	502	0.0, 0.0, -radius - halflen);
	503
	504	// SE quadrant
	505	addLine(0.0, 0.0, -radius - halflen,
	506	0.0, 0.5 * radius, (-0.866 * radius) - halflen);
	507
	508	addLine(0.0, 0.5 * radius, (-0.866 * radius) - halflen,
	509	0.0, 0.866 * radius, (-0.5 * radius) - halflen);
	510
	511	addLine(0.0, 0.866 * radius, (-0.5 * radius) - halflen,
	512	0.0, radius, -halflen);
	513
	514	// Side lines
	515	addLine(-radius, 0.0, -halflen,
	516	-radius, 0.0, halflen);
	517
	518	addLine(radius, 0.0, -halflen,
	519	radius, 0.0, halflen);
	520
	521	addLine(0.0, radius, -halflen,
	522	0.0, radius, halflen);
	523
	524	addLine(0.0, -radius, -halflen,
	525	0.0, -radius, halflen);
	526
	527	draw();
	528	}
	529	//------------------------------------------------------------------------------------------------
	530	CapsuleDebugObject::~CapsuleDebugObject()
	531	{
	532	}
	533	//------------------------------------------------------------------------------------------------
	534	CylinderDebugObject::CylinderDebugObject(Real radius,Real length):DebugObject()
	535	{
	536	Real halflen = length * 0.5;
	537	AxisAlignedBox aabb(-radius,-radius,-(halflen + radius),radius,radius,halflen + radius);
	538
	539	// X/Y axis - Near
	540
	541	// NW quadrant
	542	addLine(-radius, 0.0, halflen,
	543	-0.866 * radius, 0.5 * radius, halflen);
	544
	545	addLine(-0.866 * radius, 0.5 * radius, halflen,
	546	-0.5 * radius, 0.866 * radius, halflen);
	547
	548	addLine(-0.5 * radius, 0.866 * radius, halflen,
	549	0.0, radius, halflen);
	550
	551	// NE quadrant
	552	addLine(0.0, radius, halflen,
	553	0.5 * radius, 0.866 * radius, halflen);
	554
	555	addLine(0.5 * radius, 0.866 * radius, halflen,
	556	0.866 * radius, 0.5 * radius, halflen);
	557
	558	addLine(0.866 * radius, 0.5 * radius, halflen,
	559	radius, 0.0, halflen);
	560
	561	// SW quadrant
	562	addLine(-radius, 0.0, halflen,
	563	-0.866 * radius, -0.5 * radius, halflen);
	564
	565	addLine(-0.866 * radius, -0.5 * radius, halflen,
	566	-0.5 * radius, -0.866 * radius, halflen);
	567
	568	addLine(-0.5 * radius, -0.866 * radius, halflen,
	569	0.0, -radius, halflen);
	570
	571	// SE quadrant
	572	addLine(0.0, -radius, halflen,
	573	0.5 * radius, -0.866 * radius, halflen);
	574
	575	addLine(0.5 * radius, -0.866 * radius, halflen,
	576	0.866 * radius, -0.5 * radius, halflen);
	577
	578	addLine(0.866 * radius, -0.5 * radius, halflen,
	579	radius, 0.0, halflen);
	580
	581	// X/Y axis - Far
	582
	583	// NW quadrant
	584	addLine(-radius, 0.0, -halflen,
	585	-0.866 * radius, 0.5 * radius, -halflen);
	586
	587	addLine(-0.866 * radius, 0.5 * radius, -halflen,
	588	-0.5 * radius, 0.866 * radius, -halflen);
	589
	590	addLine(-0.5 * radius, 0.866 * radius, -halflen,
	591	0.0, radius, -halflen);
	592
	593	// NE quadrant
	594	addLine(0.0, radius, -halflen,
	595	0.5 * radius, 0.866 * radius, -halflen);
	596
	597	addLine(0.5 * radius, 0.866 * radius, -halflen,
	598	0.866 * radius, 0.5 * radius, -halflen);
	599
	600	addLine(0.866 * radius, 0.5 * radius, -halflen,
	601	radius, 0.0, -halflen);
	602
	603	// SW quadrant
	604	addLine(-radius, 0.0, -halflen,
	605	-0.866 * radius, -0.5 * radius, -halflen);
	606
	607	addLine(-0.866 * radius, -0.5 * radius, -halflen,
	608	-0.5 * radius, -0.866 * radius, -halflen);
	609
	610	addLine(-0.5 * radius, -0.866 * radius, -halflen,
	611	0.0, -radius, -halflen);
	612
	613	// SE quadrant
	614	addLine(0.0, -radius, -halflen,
	615	0.5 * radius, -0.866 * radius, -halflen);
	616
	617	addLine(0.5 * radius, -0.866 * radius, -halflen,
	618	0.866 * radius, -0.5 * radius, -halflen);
	619
	620	addLine(0.866 * radius, -0.5 * radius, -halflen,
	621	radius, 0.0, -halflen);
	622
	623	// X/Z axis
	624
	625	// NW quadrant
	626	addLine(-radius, 0.0, halflen,
	627	-0.866 * radius, 0.0, (0.5 * radius) + halflen);
	628
	629	addLine(-0.866 * radius, 0.0, (0.5 * radius) + halflen,
	630	-0.5 * radius, 0.0, (0.866 * radius) + halflen);
	631
	632	addLine(-0.5 * radius, 0.0, (0.866 * radius) + halflen,
	633	0.0, 0.0, radius + halflen);
	634
	635	// NE quadrant
	636	addLine(0.0, 0.0, radius + halflen,
	637	0.5 * radius, 0.0, (0.866 * radius) + halflen);
	638
	639	addLine(0.5 * radius, 0.0, (0.866 * radius) + halflen,
	640	0.866 * radius, 0.0, (0.5 * radius) + halflen);
	641
	642	addLine(0.866 * radius, 0.0, (0.5 * radius) + halflen,
	643	radius, 0.0, halflen);
	644
	645	// SW quadrant
	646	addLine(-radius, 0.0, -halflen,
	647	-0.866 * radius, 0.0, (-0.5 * radius) - halflen);
	648
	649	addLine(-0.866 * radius, 0.0, (-0.5 * radius) - halflen,
	650	-0.5 * radius, 0.0, (-0.866 * radius) - halflen);
	651
	652	addLine(-0.5 * radius, 0.0, (-0.866 * radius) - halflen,
	653	0.0, 0.0, -radius - halflen);
	654
	655	// SE quadrant
	656	addLine(0.0, 0.0, -radius - halflen,
	657	0.5 * radius, 0.0, (-0.866 * radius) - halflen);
	658
	659	addLine(0.5 * radius, 0.0, (-0.866 * radius) - halflen,
	660	0.866 * radius, 0.0, (-0.5 * radius) - halflen);
	661
	662	addLine(0.866 * radius, 0.0, (-0.5 * radius) - halflen,
	663	radius, 0.0, - halflen);
	664
	665	// Y/Z axis
	666
	667	// NW quadrant
	668	addLine(0.0, -radius, halflen,
	669	0.0, -0.866 * radius, (0.5 * radius) + halflen);
	670
	671	addLine(0.0, -0.866 * radius, (0.5 * radius) + halflen,
	672	0.0, -0.5 * radius, (0.866 * radius) + halflen);
	673
	674	addLine(0.0, -0.5 * radius, (0.866 * radius) + halflen,
	675	0.0, 0.0, radius + halflen);
	676
	677	// NE quadrant
	678	addLine(0.0, 0.0, radius + halflen,
	679	0.0, 0.5 * radius, (0.866 * radius) + halflen);
	680
	681	addLine(0.0, 0.5 * radius, (0.866 * radius) + halflen,
	682	0.0, 0.866 * radius, (0.5 * radius) + halflen);
	683
	684	addLine(0.0, 0.866 * radius, (0.5 * radius) + halflen,
	685	0.0, radius, halflen);
	686
	687	// SW quadrant
	688	addLine(0.0, -radius, -halflen,
	689	0.0, -0.866 * radius, (-0.5 * radius) - halflen);
	690
	691	addLine(0.0, -0.866 * radius, (-0.5 * radius) - halflen,
	692	0.0, -0.5 * radius, (-0.866 * radius) - halflen);
	693
	694	addLine(0.0, -0.5 * radius, (-0.866 * radius) - halflen,
	695	0.0, 0.0, -radius - halflen);
	696
	697	// SE quadrant
	698	addLine(0.0, 0.0, -radius - halflen,
	699	0.0, 0.5 * radius, (-0.866 * radius) - halflen);
	700
	701	addLine(0.0, 0.5 * radius, (-0.866 * radius) - halflen,
	702	0.0, 0.866 * radius, (-0.5 * radius) - halflen);
	703
	704	addLine(0.0, 0.866 * radius, (-0.5 * radius) - halflen,
	705	0.0, radius, -halflen);
	706
	707	// Side lines
	708	addLine(-radius, 0.0, -halflen,
	709	-radius, 0.0, halflen);
	710
	711	addLine(radius, 0.0, -halflen,
	712	radius, 0.0, halflen);
	713
	714	addLine(0.0, radius, -halflen,
	715	0.0, radius, halflen);
	716
	717	addLine(0.0, -radius, -halflen,
	718	0.0, -radius, halflen);
	719
	720	draw();
	721	}
	722	//------------------------------------------------------------------------------------------------
	723	CylinderDebugObject::~CylinderDebugObject()
	724	{
	725	}
	726	//------------------------------------------------------------------------------------------------
	727	TriangleMeshDebugObject::TriangleMeshDebugObject(int vertex_count):DebugObject()
	728	{
	729	_points.reserve(vertex_count);
	730	_points.resize(vertex_count);
	731	}
	732	//------------------------------------------------------------------------------------------------
	733	void TriangleMeshDebugObject::beginDefinition()
	734	{
	735	}
	736	//------------------------------------------------------------------------------------------------
	737	void TriangleMeshDebugObject::setVertex(int index,const Ogre::Vector3& vertex)
	738	{
	739	assert ((unsigned int)index < _points.size());
	740	_points[index] = vertex;
	741	}
	742	//------------------------------------------------------------------------------------------------
	743	void TriangleMeshDebugObject::endDefinition()
	744	{
	745	draw();
	746	}
	747	//------------------------------------------------------------------------------------------------
	748	TriangleMeshDebugObject::~TriangleMeshDebugObject()
	749	{
	750	}
	751	//------------------------------------------------------------------------------------------------
	752	RayDebugObject::RayDebugObject(const Ogre::Vector3& start,
	753	const Ogre::Vector3& direction,
	754	const Ogre::Real length):
	755	DebugObject()
	756	{
	757
	758	Ogre::Vector3 end;
	759
	760	if(length == Ogre::Math::POS_INFINITY)
	761	{
	762	end = (start + (direction.normalisedCopy() * 100000.0));
	763	}
	764	else
	765	{
	766	end = (start + (direction.normalisedCopy() * length));
	767	}
	768
	769	addLine(start, end);
	770
	771	draw();
	772	}
	773	void RayDebugObject::setDefinition(const Ogre::Vector3& start,
	774	const Ogre::Vector3& direction,
	775	const Ogre::Real length)
	776	{
	777	clear();
	778
	779	Ogre::Vector3 end;
	780
	781	if(length == Ogre::Math::POS_INFINITY)
	782	{
	783	end = (start + (direction.normalisedCopy() * 100000.0));
	784	}
	785	else
	786	{
	787	end = (start + (direction.normalisedCopy() * length));
	788	}
	789
	790	addLine(start, end);
	791
	792	draw();
	793	}
	794	//------------------------------------------------------------------------------------------------
	795	RayDebugObject::~RayDebugObject()
	796	{
	797	}
	798	//------------------------------------------------------------------------------------------------
	799

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