source: proiecte/SIMEO/SimeoDemo/GLDebugDrawer.cpp @ 168

#include "GLDebugDrawer.h"
#include "GLDebugFont.h"
#include "GlutStuff.h"



#include <stdio.h> //printf debugging
GLDebugDrawer::GLDebugDrawer()
:m_debugMode(0)
{

}

void    GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
{
        glBegin(GL_LINES);
                glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
                glVertex3d(from.getX(), from.getY(), from.getZ());
                glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
                glVertex3d(to.getX(), to.getY(), to.getZ());
        glEnd();
}

void    GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
//      if (m_debugMode > 0)
        {
                glBegin(GL_LINES);
                glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
                glVertex3d(from.getX(), from.getY(), from.getZ());
                glVertex3d(to.getX(), to.getY(), to.getZ());
                glEnd();
        }
}

void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
{
        glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
        glPushMatrix ();
        glTranslatef (p.getX(), p.getY(), p.getZ());

        int lats = 5;
        int longs = 5;

        int i, j;
        for(i = 0; i <= lats; i++) {
                btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
                btScalar z0  = radius*sin(lat0);
                btScalar zr0 =  radius*cos(lat0);

                btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
                btScalar z1 = radius*sin(lat1);
                btScalar zr1 = radius*cos(lat1);

                glBegin(GL_QUAD_STRIP);
                for(j = 0; j <= longs; j++) {
                        btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
                        btScalar x = cos(lng);
                        btScalar y = sin(lng);

                        glNormal3f(x * zr0, y * zr0, z0);
                        glVertex3f(x * zr0, y * zr0, z0);
                        glNormal3f(x * zr1, y * zr1, z1);
                        glVertex3f(x * zr1, y * zr1, z1);
                }
                glEnd();
        }

        glPopMatrix();
}

void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
{
        btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
        btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
        //glEnable(GL_BLEND);     // Turn blending On
        //glBlendFunc(GL_SRC_ALPHA, GL_ONE);
        glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
        glPushMatrix ();
        glTranslatef (center.getX(), center.getY(), center.getZ());
        glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
//      glutSolidCube(1.0);
        glPopMatrix ();
        //glDisable(GL_BLEND);
}

void    GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
{
//      if (m_debugMode > 0)
        {
                const btVector3 n=btCross(b-a,c-a).normalized();
                glBegin(GL_TRIANGLES);          
                glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
                glNormal3d(n.getX(),n.getY(),n.getZ());
                glVertex3d(a.getX(),a.getY(),a.getZ());
                glVertex3d(b.getX(),b.getY(),b.getZ());
                glVertex3d(c.getX(),c.getY(),c.getZ());
                glEnd();
        }
}

void    GLDebugDrawer::setDebugMode(int debugMode)
{
        m_debugMode = debugMode;

}

void    GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
{
        glRasterPos3f(location.x(),  location.y(),  location.z());
        //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
}

void    GLDebugDrawer::reportErrorWarning(const char* warningString)
{
        printf(warningString);
}

void    GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
        
        {
                btVector3 to=pointOnB+normalOnB*distance;
                const btVector3&from = pointOnB;
                glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
                //glColor4f(0,0,0,1.f);

                glBegin(GL_LINES);
                glVertex3d(from.getX(), from.getY(), from.getZ());
                glVertex3d(to.getX(), to.getY(), to.getZ());
                glEnd();

                
                glRasterPos3f(from.x(),  from.y(),  from.z());
                char buf[12];
                sprintf(buf," %d",lifeTime);
                //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);


        }
}