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source: code/trunk/src/external/bullet/LinearMath/btIDebugDraw.h @ 9589

Last change on this file since 9589 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

Property svn:eol-style set to native

File size: 15.5 KB

Rev	Line
[1963]	1	/*
[8351]	2	Bullet Continuous Collision Detection and Physics Library
	3	Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
[1963]	4
[8351]	5	This software is provided 'as-is', without any express or implied warranty.
	6	In no event will the authors be held liable for any damages arising from the use of this software.
	7	Permission is granted to anyone to use this software for any purpose,
	8	including commercial applications, and to alter it and redistribute it freely,
	9	subject to the following restrictions:
[1963]	10
[8351]	11	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.
	12	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	13	3. This notice may not be removed or altered from any source distribution.
[1963]	14	*/
	15
	16
[8393]	17	#ifndef BT_IDEBUG_DRAW__H
	18	#define BT_IDEBUG_DRAW__H
[1963]	19
	20	#include "btVector3.h"
[2882]	21	#include "btTransform.h"
[1963]	22
	23
	24	///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
	25	///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
	26	///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
[8351]	27	///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
[1963]	28	class btIDebugDraw
	29	{
	30	public:
	31
	32	enum DebugDrawModes
	33	{
	34	DBG_NoDebug=0,
	35	DBG_DrawWireframe = 1,
	36	DBG_DrawAabb=2,
	37	DBG_DrawFeaturesText=4,
	38	DBG_DrawContactPoints=8,
	39	DBG_NoDeactivation=16,
	40	DBG_NoHelpText = 32,
	41	DBG_DrawText=64,
	42	DBG_ProfileTimings = 128,
	43	DBG_EnableSatComparison = 256,
	44	DBG_DisableBulletLCP = 512,
	45	DBG_EnableCCD = 1024,
[2882]	46	DBG_DrawConstraints = (1 << 11),
	47	DBG_DrawConstraintLimits = (1 << 12),
[8351]	48	DBG_FastWireframe = (1<<13),
[1963]	49	DBG_MAX_DEBUG_DRAW_MODE
	50	};
	51
	52	virtual ~btIDebugDraw() {};
	53
[8351]	54	virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
	55
[2882]	56	virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
	57	{
[8351]	58	(void) toColor;
[2882]	59	drawLine (from, to, fromColor);
	60	}
	61
[8351]	62	virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
[2882]	63	{
[8351]	64	btVector3 start = transform.getOrigin();
	65
	66	const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
	67	const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
	68	const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
	69
	70	// XY
	71	drawLine(start-xoffs, start+yoffs, color);
	72	drawLine(start+yoffs, start+xoffs, color);
	73	drawLine(start+xoffs, start-yoffs, color);
	74	drawLine(start-yoffs, start-xoffs, color);
	75
	76	// XZ
	77	drawLine(start-xoffs, start+zoffs, color);
	78	drawLine(start+zoffs, start+xoffs, color);
	79	drawLine(start+xoffs, start-zoffs, color);
	80	drawLine(start-zoffs, start-xoffs, color);
	81
	82	// YZ
	83	drawLine(start-yoffs, start+zoffs, color);
	84	drawLine(start+zoffs, start+yoffs, color);
	85	drawLine(start+yoffs, start-zoffs, color);
	86	drawLine(start-zoffs, start-yoffs, color);
[2882]	87	}
[8351]	88
[2882]	89	virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
	90	{
[8351]	91	btTransform tr;
	92	tr.setIdentity();
	93	tr.setOrigin(p);
	94	drawSphere(radius,tr,color);
[2882]	95	}
[1963]	96
	97	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)
	98	{
	99	drawTriangle(v0,v1,v2,color,alpha);
	100	}
	101	virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /alpha/)
	102	{
	103	drawLine(v0,v1,color);
	104	drawLine(v1,v2,color);
	105	drawLine(v2,v0,color);
	106	}
	107
	108	virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;
	109
	110	virtual void reportErrorWarning(const char* warningString) = 0;
	111
	112	virtual void draw3dText(const btVector3& location,const char* textString) = 0;
	113
	114	virtual void setDebugMode(int debugMode) =0;
	115
	116	virtual int getDebugMode() const = 0;
	117
[8351]	118	virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
[1963]	119	{
	120
	121	btVector3 halfExtents = (to-from)* 0.5f;
	122	btVector3 center = (to+from) *0.5f;
	123	int i,j;
	124
	125	btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
	126	for (i=0;i<4;i++)
	127	{
	128	for (j=0;j<3;j++)
	129	{
	130	pa = btVector3(edgecoord[0]halfExtents[0], edgecoord[1]halfExtents[1],
	131	edgecoord[2]*halfExtents[2]);
	132	pa+=center;
	133
	134	int othercoord = j%3;
	135	edgecoord[othercoord]*=-1.f;
	136	pb = btVector3(edgecoord[0]halfExtents[0], edgecoord[1]halfExtents[1],
	137	edgecoord[2]*halfExtents[2]);
	138	pb+=center;
	139
	140	drawLine(pa,pb,color);
	141	}
	142	edgecoord = btVector3(-1.f,-1.f,-1.f);
	143	if (i<3)
	144	edgecoord[i]*=-1.f;
	145	}
	146	}
[8351]	147	virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
[2882]	148	{
	149	btVector3 start = transform.getOrigin();
	150	drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
	151	drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
	152	drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
	153	}
	154
[8351]	155	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
[2882]	156	const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
	157	{
	158	const btVector3& vx = axis;
	159	btVector3 vy = normal.cross(axis);
	160	btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
	161	int nSteps = (int)((maxAngle - minAngle) / step);
	162	if(!nSteps) nSteps = 1;
	163	btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
	164	if(drawSect)
	165	{
	166	drawLine(center, prev, color);
	167	}
	168	for(int i = 1; i <= nSteps; i++)
	169	{
	170	btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
	171	btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
	172	drawLine(prev, next, color);
	173	prev = next;
	174	}
	175	if(drawSect)
	176	{
	177	drawLine(center, prev, color);
	178	}
	179	}
[8351]	180	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
[2882]	181	btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
	182	{
	183	btVector3 vA[74];
	184	btVector3 vB[74];
	185	btVector3 pvA = vA, pvB = vB, *pT;
	186	btVector3 npole = center + up * radius;
	187	btVector3 spole = center - up * radius;
	188	btVector3 arcStart;
	189	btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
	190	const btVector3& kv = up;
	191	const btVector3& iv = axis;
	192	btVector3 jv = kv.cross(iv);
	193	bool drawN = false;
	194	bool drawS = false;
	195	if(minTh <= -SIMD_HALF_PI)
	196	{
	197	minTh = -SIMD_HALF_PI + step;
	198	drawN = true;
	199	}
	200	if(maxTh >= SIMD_HALF_PI)
	201	{
	202	maxTh = SIMD_HALF_PI - step;
	203	drawS = true;
	204	}
	205	if(minTh > maxTh)
	206	{
	207	minTh = -SIMD_HALF_PI + step;
	208	maxTh = SIMD_HALF_PI - step;
	209	drawN = drawS = true;
	210	}
	211	int n_hor = (int)((maxTh - minTh) / step) + 1;
	212	if(n_hor < 2) n_hor = 2;
	213	btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
	214	bool isClosed = false;
	215	if(minPs > maxPs)
	216	{
	217	minPs = -SIMD_PI + step;
	218	maxPs = SIMD_PI;
	219	isClosed = true;
	220	}
	221	else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
	222	{
	223	isClosed = true;
	224	}
	225	else
	226	{
	227	isClosed = false;
	228	}
	229	int n_vert = (int)((maxPs - minPs) / step) + 1;
	230	if(n_vert < 2) n_vert = 2;
	231	btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
	232	for(int i = 0; i < n_hor; i++)
	233	{
	234	btScalar th = minTh + btScalar(i) * step_h;
	235	btScalar sth = radius * btSin(th);
	236	btScalar cth = radius * btCos(th);
	237	for(int j = 0; j < n_vert; j++)
	238	{
	239	btScalar psi = minPs + btScalar(j) * step_v;
	240	btScalar sps = btSin(psi);
	241	btScalar cps = btCos(psi);
	242	pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
	243	if(i)
	244	{
	245	drawLine(pvA[j], pvB[j], color);
	246	}
	247	else if(drawS)
	248	{
	249	drawLine(spole, pvB[j], color);
	250	}
	251	if(j)
	252	{
	253	drawLine(pvB[j-1], pvB[j], color);
	254	}
	255	else
	256	{
	257	arcStart = pvB[j];
	258	}
	259	if((i == (n_hor - 1)) && drawN)
	260	{
	261	drawLine(npole, pvB[j], color);
	262	}
	263	if(isClosed)
	264	{
	265	if(j == (n_vert-1))
	266	{
	267	drawLine(arcStart, pvB[j], color);
	268	}
	269	}
	270	else
	271	{
	272	if(((!i) \|\| (i == (n_hor-1))) && ((!j) \|\| (j == (n_vert-1))))
	273	{
	274	drawLine(center, pvB[j], color);
	275	}
	276	}
	277	}
	278	pT = pvA; pvA = pvB; pvB = pT;
	279	}
	280	}
	281
[8351]	282	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
[2882]	283	{
	284	drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
	285	drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
	286	drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
	287	drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
	288	drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
	289	drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
	290	drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
	291	drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
	292	drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
	293	drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
	294	drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
	295	drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
	296	}
[8351]	297	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
[2882]	298	{
	299	drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
	300	drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
	301	drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
	302	drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
	303	drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
	304	drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
	305	drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
	306	drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
	307	drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
	308	drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
	309	drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
	310	drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
	311	}
[8393]	312
	313	virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
	314	{
	315	btVector3 capStart(0.f,0.f,0.f);
	316	capStart[upAxis] = -halfHeight;
	317
	318	btVector3 capEnd(0.f,0.f,0.f);
	319	capEnd[upAxis] = halfHeight;
	320
	321	// Draw the ends
	322	{
	323
	324	btTransform childTransform = transform;
	325	childTransform.getOrigin() = transform * capStart;
	326	drawSphere(radius, childTransform, color);
	327	}
	328
	329	{
	330	btTransform childTransform = transform;
	331	childTransform.getOrigin() = transform * capEnd;
	332	drawSphere(radius, childTransform, color);
	333	}
	334
	335	// Draw some additional lines
	336	btVector3 start = transform.getOrigin();
	337
	338	capStart[(upAxis+1)%3] = radius;
	339	capEnd[(upAxis+1)%3] = radius;
	340	drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
	341	capStart[(upAxis+1)%3] = -radius;
	342	capEnd[(upAxis+1)%3] = -radius;
	343	drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
	344
	345	capStart[(upAxis+1)%3] = 0.f;
	346	capEnd[(upAxis+1)%3] = 0.f;
	347
	348	capStart[(upAxis+2)%3] = radius;
	349	capEnd[(upAxis+2)%3] = radius;
	350	drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
	351	capStart[(upAxis+2)%3] = -radius;
	352	capEnd[(upAxis+2)%3] = -radius;
	353	drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
	354	}
	355
	356	virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
	357	{
	358	btVector3 start = transform.getOrigin();
	359	btVector3 offsetHeight(0,0,0);
	360	offsetHeight[upAxis] = halfHeight;
	361	btVector3 offsetRadius(0,0,0);
	362	offsetRadius[(upAxis+1)%3] = radius;
	363	drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
	364	drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
	365
	366	// Drawing top and bottom caps of the cylinder
	367	btVector3 yaxis(0,0,0);
	368	yaxis[upAxis] = btScalar(1.0);
	369	btVector3 xaxis(0,0,0);
	370	xaxis[(upAxis+1)%3] = btScalar(1.0);
	371	drawArc(start-transform.getBasis()(offsetHeight),transform.getBasis()yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
	372	drawArc(start+transform.getBasis()(offsetHeight),transform.getBasis()yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
	373	}
	374
	375	virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
	376	{
	377
	378	btVector3 start = transform.getOrigin();
	379
	380	btVector3 offsetHeight(0,0,0);
	381	offsetHeight[upAxis] = height * btScalar(0.5);
	382	btVector3 offsetRadius(0,0,0);
	383	offsetRadius[(upAxis+1)%3] = radius;
	384	btVector3 offset2Radius(0,0,0);
	385	offset2Radius[(upAxis+2)%3] = radius;
	386
	387	drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
	388	drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
	389	drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
	390	drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
	391
	392	// Drawing the base of the cone
	393	btVector3 yaxis(0,0,0);
	394	yaxis[upAxis] = btScalar(1.0);
	395	btVector3 xaxis(0,0,0);
	396	xaxis[(upAxis+1)%3] = btScalar(1.0);
	397	drawArc(start-transform.getBasis()(offsetHeight),transform.getBasis()yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
	398	}
	399
	400	virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
	401	{
	402	btVector3 planeOrigin = planeNormal * planeConst;
	403	btVector3 vec0,vec1;
	404	btPlaneSpace1(planeNormal,vec0,vec1);
	405	btScalar vecLen = 100.f;
	406	btVector3 pt0 = planeOrigin + vec0*vecLen;
	407	btVector3 pt1 = planeOrigin - vec0*vecLen;
	408	btVector3 pt2 = planeOrigin + vec1*vecLen;
	409	btVector3 pt3 = planeOrigin - vec1*vecLen;
	410	drawLine(transformpt0,transformpt1,color);
	411	drawLine(transformpt2,transformpt3,color);
	412	}
[1963]	413	};
	414
	415
[8393]	416	#endif //BT_IDEBUG_DRAW__H
[1963]	417

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