1 | #include "GLDebugDrawer.h" |
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2 | #include "GLDebugFont.h" |
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3 | #include "GlutStuff.h" |
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4 | |
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5 | #include <stdio.h> //printf debugging |
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6 | |
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7 | GLDebugDrawer::GLDebugDrawer() |
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8 | :m_debugMode(0) |
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9 | { |
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10 | |
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11 | } |
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12 | |
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13 | void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor) |
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14 | { |
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15 | glBegin(GL_LINES); |
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16 | glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ()); |
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17 | glVertex3d(from.getX(), from.getY(), from.getZ()); |
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18 | glColor3f(toColor.getX(), toColor.getY(), toColor.getZ()); |
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19 | glVertex3d(to.getX(), to.getY(), to.getZ()); |
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20 | glEnd(); |
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21 | } |
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22 | |
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23 | void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color) |
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24 | { |
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25 | // if (m_debugMode > 0) |
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26 | { |
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27 | glBegin(GL_LINES); |
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28 | glColor4f(color.getX(), color.getY(), color.getZ(),1.f); |
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29 | glVertex3d(from.getX(), from.getY(), from.getZ()); |
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30 | glVertex3d(to.getX(), to.getY(), to.getZ()); |
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31 | glEnd(); |
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32 | } |
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33 | } |
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34 | |
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35 | void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color) |
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36 | { |
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37 | glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f)); |
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38 | glPushMatrix (); |
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39 | glTranslatef (p.getX(), p.getY(), p.getZ()); |
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40 | |
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41 | int lats = 5; |
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42 | int longs = 5; |
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43 | |
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44 | int i, j; |
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45 | for(i = 0; i <= lats; i++) { |
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46 | btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats); |
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47 | btScalar z0 = radius*sin(lat0); |
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48 | btScalar zr0 = radius*cos(lat0); |
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49 | |
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50 | btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats); |
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51 | btScalar z1 = radius*sin(lat1); |
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52 | btScalar zr1 = radius*cos(lat1); |
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53 | |
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54 | glBegin(GL_QUAD_STRIP); |
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55 | for(j = 0; j <= longs; j++) { |
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56 | btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs; |
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57 | btScalar x = cos(lng); |
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58 | btScalar y = sin(lng); |
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59 | |
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60 | glNormal3f(x * zr0, y * zr0, z0); |
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61 | glVertex3f(x * zr0, y * zr0, z0); |
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62 | glNormal3f(x * zr1, y * zr1, z1); |
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63 | glVertex3f(x * zr1, y * zr1, z1); |
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64 | } |
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65 | glEnd(); |
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66 | } |
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67 | |
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68 | glPopMatrix(); |
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69 | } |
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70 | |
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71 | void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha) |
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72 | { |
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73 | btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f); |
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74 | btVector3 center = (boxMax + boxMin) * btScalar(0.5f); |
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75 | //glEnable(GL_BLEND); // Turn blending On |
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76 | //glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
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77 | glColor4f (color.getX(), color.getY(), color.getZ(), alpha); |
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78 | glPushMatrix (); |
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79 | glTranslatef (center.getX(), center.getY(), center.getZ()); |
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80 | glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]); |
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81 | // glutSolidCube(1.0); |
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82 | glPopMatrix (); |
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83 | //glDisable(GL_BLEND); |
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84 | } |
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85 | |
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86 | void GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha) |
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87 | { |
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88 | // if (m_debugMode > 0) |
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89 | { |
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90 | const btVector3 n=btCross(b-a,c-a).normalized(); |
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91 | glBegin(GL_TRIANGLES); |
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92 | glColor4f(color.getX(), color.getY(), color.getZ(),alpha); |
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93 | glNormal3d(n.getX(),n.getY(),n.getZ()); |
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94 | glVertex3d(a.getX(),a.getY(),a.getZ()); |
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95 | glVertex3d(b.getX(),b.getY(),b.getZ()); |
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96 | glVertex3d(c.getX(),c.getY(),c.getZ()); |
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97 | glEnd(); |
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98 | } |
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99 | } |
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100 | |
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101 | void GLDebugDrawer::setDebugMode(int debugMode) |
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102 | { |
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103 | m_debugMode = debugMode; |
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104 | |
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105 | } |
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106 | |
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107 | void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString) |
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108 | { |
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109 | glRasterPos3f(location.x(), location.y(), location.z()); |
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110 | //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString); |
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111 | } |
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112 | |
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113 | void GLDebugDrawer::reportErrorWarning(const char* warningString) |
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114 | { |
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115 | printf("%s", warningString); |
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116 | } |
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117 | |
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118 | void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color) |
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119 | { |
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120 | |
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121 | { |
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122 | btVector3 to=pointOnB+normalOnB*distance; |
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123 | const btVector3&from = pointOnB; |
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124 | glColor4f(color.getX(), color.getY(), color.getZ(),1.f); |
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125 | //glColor4f(0,0,0,1.f); |
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126 | |
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127 | glBegin(GL_LINES); |
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128 | glVertex3d(from.getX(), from.getY(), from.getZ()); |
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129 | glVertex3d(to.getX(), to.getY(), to.getZ()); |
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130 | glEnd(); |
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131 | |
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132 | |
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133 | glRasterPos3f(from.x(), from.y(), from.z()); |
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134 | char buf[12]; |
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135 | sprintf(buf," %d",lifeTime); |
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136 | //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf); |
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137 | |
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138 | |
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139 | } |
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140 | } |
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141 | |
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142 | |
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143 | |
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144 | |
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145 | |
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