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source: code/trunk/src/libraries/tools/BulletDebugDrawer.cc @ 10229

Last change on this file since 10229 was 10195, checked in by landauf, 10 years ago

removed unnecessary material from BulletDebugDrawer.
fixed crash with ogre 1.7 if the number of vertices dropped to 0 in DebugDrawer.

File size: 6.5 KB
RevLine 
[10190]1/**
2 * Originally from http://www.ogre3d.org/tikiwiki/BulletDebugDrawer&structure=Cookbook
3 * This source code is released into the Public Domain.
4 *
5 * Modified by Fabian 'x3n' Landau by using DebugDrawer and Orxonox specific utilities (e.g. output).
6 */
7
8#include "BulletDebugDrawer.h"
9#include "OgreBulletUtils.h"
10
11#include <OgreRoot.h>
12#include <OgreManualObject.h>
13#include <OgreSceneManager.h>
14
15#include "util/Output.h"
16#include "DebugDrawer.h"
17
18namespace orxonox
19{
20    BulletDebugDrawer::BulletDebugDrawer(Ogre::SceneManager* sceneManager)
21    {
[10193]22        this->drawer_ = new DebugDrawer(sceneManager, 0.5f);
23        this->bFill_ = true;
[10190]24
25        mContactPoints = &mContactPoints1;
26
27        mDebugMode = (DebugDrawModes) DBG_DrawWireframe;
28        Ogre::Root::getSingleton().addFrameListener(this);
29    }
30
31    BulletDebugDrawer::~BulletDebugDrawer()
32    {
33        Ogre::Root::getSingleton().removeFrameListener(this);
[10193]34        delete this->drawer_;
[10190]35    }
36
37    void BulletDebugDrawer::drawLine(const btVector3& from, const btVector3& to, const btVector3& color)
38    {
[10193]39        this->drawer_->drawLine(vector3(from), vector3(to), colour(color, 1.0f));
[10190]40    }
41
42//    void BulletDebugDrawer::drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& color, btScalar alpha)
43//    {
44//        // TODO
45//    }
46
47    void BulletDebugDrawer::drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
48    {
[10193]49        this->drawer_->drawSphere(vector3(p), Ogre::Quaternion::IDENTITY, radius, colour(color, 1.0f), this->bFill_);
[10190]50    }
51
52    void BulletDebugDrawer::drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
53    {
[10191]54        Ogre::Matrix4 matrix = matrix4(transform);
[10193]55        this->drawer_->drawSphere(matrix.getTrans(), matrix.extractQuaternion(), radius, colour(color, 1.0f), this->bFill_);
[10190]56    }
57
58    void BulletDebugDrawer::drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
59    {
60        Ogre::Vector3* corners = new Ogre::Vector3[8];
61        corners[0]  = Ogre::Vector3(bbMin[0], bbMin[1], bbMin[2]);
62        corners[1]  = Ogre::Vector3(bbMin[0], bbMax[1], bbMin[2]);
63        corners[2]  = Ogre::Vector3(bbMax[0], bbMax[1], bbMin[2]);
64        corners[3]  = Ogre::Vector3(bbMax[0], bbMin[1], bbMin[2]);
65        corners[4]  = Ogre::Vector3(bbMax[0], bbMax[1], bbMax[2]);
66        corners[5]  = Ogre::Vector3(bbMin[0], bbMax[1], bbMax[2]);
67        corners[6]  = Ogre::Vector3(bbMin[0], bbMin[1], bbMax[2]);
68        corners[7]  = Ogre::Vector3(bbMax[0], bbMin[1], bbMax[2]);
[10193]69        this->drawer_->drawCuboid(corners, colour(color, 1.0f), this->bFill_);
[10190]70    }
71
72    void BulletDebugDrawer::drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
73    {
74        Ogre::Vector3* corners = new Ogre::Vector3[8];
75        corners[0]  = Ogre::Vector3(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]));
76        corners[1]  = Ogre::Vector3(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]));
77        corners[2]  = Ogre::Vector3(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]));
78        corners[3]  = Ogre::Vector3(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]));
79        corners[4]  = Ogre::Vector3(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]));
80        corners[5]  = Ogre::Vector3(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]));
81        corners[6]  = Ogre::Vector3(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]));
82        corners[7]  = Ogre::Vector3(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]));
[10193]83        this->drawer_->drawCuboid(corners, colour(color, 1.0f), this->bFill_);
[10190]84    }
85
[10191]86    void BulletDebugDrawer::drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
87    {
88        Ogre::Matrix4 matrix = matrix4(transform);
[10193]89        this->drawer_->drawCylinder(matrix.getTrans(), matrix.extractQuaternion(), radius, halfHeight * 2, colour(color, 1.0f), this->bFill_);
[10191]90    }
91
92    void BulletDebugDrawer::drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
93    {
94        Ogre::Matrix4 matrix = matrix4(transform);
[10193]95        this->drawer_->drawCone(matrix.getTrans(), matrix.extractQuaternion(), radius, height, colour(color, 1.0f), this->bFill_);
[10191]96    }
97
[10190]98    void BulletDebugDrawer::drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color)
99    {
100        mContactPoints->resize(mContactPoints->size() + 1);
101        ContactPoint p = mContactPoints->back();
102        p.from = vector3(PointOnB);
103        p.to = p.from + vector3(normalOnB) * distance;
104        p.dieTime = Ogre::Root::getSingleton().getTimer()->getMilliseconds() + lifeTime;
105        p.color.r = color.x();
106        p.color.g = color.y();
107        p.color.b = color.z();
108    }
109
110    bool BulletDebugDrawer::frameStarted(const Ogre::FrameEvent& evt)
111    {
112        size_t now = Ogre::Root::getSingleton().getTimer()->getMilliseconds();
113        std::vector<ContactPoint>* newCP = mContactPoints == &mContactPoints1 ? &mContactPoints2 : &mContactPoints1;
114        for (std::vector<ContactPoint>::iterator i = mContactPoints->begin(); i < mContactPoints->end(); i++ )
115        {
116            ContactPoint& cp = *i;
[10193]117            this->drawer_->drawLine(cp.from, cp.to, cp.color);
[10190]118            if (now <= cp.dieTime)
119                newCP->push_back(cp);
120        }
121        mContactPoints->clear();
122        mContactPoints = newCP;
123
124        // Right before the frame is rendered, call DebugDrawer::build().
[10193]125        this->drawer_->build();
[10195]126
[10190]127        return true;
128    }
129
130    bool BulletDebugDrawer::frameEnded(const Ogre::FrameEvent& evt)
131    {
132        // After the frame is rendered, call DebugDrawer::clear()
[10193]133        this->drawer_->clear();
[10195]134
[10190]135        return true;
136    }
137
138    void BulletDebugDrawer::reportErrorWarning(const char* warningString)
139    {
140        orxout(internal_error) << warningString << endl;
141        Ogre::LogManager::getSingleton().getDefaultLog()->logMessage(warningString);
142    }
143
144    void BulletDebugDrawer::draw3dText(const btVector3& location, const char* textString)
145    {
146
147    }
148
149    void BulletDebugDrawer::setDebugMode(int debugMode)
150    {
151        mDebugMode = (DebugDrawModes) debugMode;
152    }
153
154    int BulletDebugDrawer::getDebugMode() const
155    {
156        return mDebugMode;
157    }
[10193]158
159    void BulletDebugDrawer::configure(bool bFill, float fillAlpha)
160    {
161        this->bFill_ = bFill;
162        this->drawer_->setFillAlpha(fillAlpha);
163    }
[10190]164}
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