| 1 | /** |
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| 2 | * Originally from http://www.ogre3d.org/tikiwiki/BulletDebugDrawer&structure=Cookbook |
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| 3 | * This source code is released into the Public Domain. |
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| 4 | * |
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| 5 | * Modified by Fabian 'x3n' Landau by using DebugDrawer and Orxonox specific utilities (e.g. output). |
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| 6 | */ |
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| 7 | |
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| 8 | #ifndef _BulletDebugDrawer_H__ |
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| 9 | #define _BulletDebugDrawer_H__ |
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| 10 | |
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| 11 | #include "tools/ToolsPrereqs.h" |
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| 12 | |
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| 13 | #include <btBulletCollisionCommon.h> |
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| 14 | |
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| 15 | namespace orxonox |
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| 16 | { |
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| 17 | class _ToolsExport BulletDebugDrawer : public btIDebugDraw, public Ogre::FrameListener |
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| 18 | { |
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| 19 | public: |
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| 20 | BulletDebugDrawer(Ogre::SceneManager* sceneManager); |
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| 21 | ~BulletDebugDrawer(); |
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| 22 | virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& color); |
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| 23 | // virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& color, btScalar); |
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| 24 | virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color); |
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| 25 | virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color); |
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| 26 | virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color); |
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| 27 | virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color); |
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| 28 | virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color); |
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| 29 | virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color); |
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| 30 | // virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color); |
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| 31 | |
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| 32 | virtual void drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color); |
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| 33 | |
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| 34 | virtual void reportErrorWarning(const char* warningString); |
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| 35 | virtual void draw3dText(const btVector3& location, const char* textString); |
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| 36 | |
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| 37 | virtual void setDebugMode(int debugMode); |
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| 38 | virtual int getDebugMode() const; |
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| 39 | |
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| 40 | void configure(bool bFill, float fillAlpha); |
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| 41 | |
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| 42 | protected: |
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| 43 | bool frameStarted(const Ogre::FrameEvent& evt); |
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| 44 | bool frameEnded(const Ogre::FrameEvent& evt); |
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| 45 | |
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| 46 | private: |
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| 47 | struct ContactPoint |
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| 48 | { |
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| 49 | Ogre::Vector3 from; |
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| 50 | Ogre::Vector3 to; |
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| 51 | Ogre::ColourValue color; |
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| 52 | size_t dieTime; |
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| 53 | }; |
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| 54 | |
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| 55 | bool bFill_; |
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| 56 | DebugDrawer* drawer_; |
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| 57 | |
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| 58 | DebugDrawModes mDebugMode; |
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| 59 | std::vector<ContactPoint>* mContactPoints; |
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| 60 | std::vector<ContactPoint> mContactPoints1; |
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| 61 | std::vector<ContactPoint> mContactPoints2; |
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| 62 | }; |
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| 63 | } |
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| 64 | |
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| 65 | #endif /* _BulletDebugDrawer_H__ */ |
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