Demos/OpenGL/GLDebugDrawer.cpp

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