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-rw-r--r--thirdparty/bullet/LinearMath/btIDebugDraw.h340
1 files changed, 165 insertions, 175 deletions
diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h
index b57282717d..82ec19a69b 100644
--- a/thirdparty/bullet/LinearMath/btIDebugDraw.h
+++ b/thirdparty/bullet/LinearMath/btIDebugDraw.h
@@ -13,86 +13,84 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#ifndef BT_IDEBUG_DRAW__H
#define BT_IDEBUG_DRAW__H
#include "btVector3.h"
#include "btTransform.h"
-
-
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
-class btIDebugDraw
+class btIDebugDraw
{
- public:
-
- ATTRIBUTE_ALIGNED16(struct) DefaultColors
+public:
+ ATTRIBUTE_ALIGNED16(struct)
+ DefaultColors
{
- btVector3 m_activeObject;
- btVector3 m_deactivatedObject;
- btVector3 m_wantsDeactivationObject;
- btVector3 m_disabledDeactivationObject;
- btVector3 m_disabledSimulationObject;
- btVector3 m_aabb;
+ btVector3 m_activeObject;
+ btVector3 m_deactivatedObject;
+ btVector3 m_wantsDeactivationObject;
+ btVector3 m_disabledDeactivationObject;
+ btVector3 m_disabledSimulationObject;
+ btVector3 m_aabb;
btVector3 m_contactPoint;
-
+
DefaultColors()
- : m_activeObject(1,1,1),
- m_deactivatedObject(0,1,0),
- m_wantsDeactivationObject(0,1,1),
- m_disabledDeactivationObject(1,0,0),
- m_disabledSimulationObject(1,1,0),
- m_aabb(1,0,0),
- m_contactPoint(1,1,0)
+ : m_activeObject(1, 1, 1),
+ m_deactivatedObject(0, 1, 0),
+ m_wantsDeactivationObject(0, 1, 1),
+ m_disabledDeactivationObject(1, 0, 0),
+ m_disabledSimulationObject(1, 1, 0),
+ m_aabb(1, 0, 0),
+ m_contactPoint(1, 1, 0)
{
}
};
-
- enum DebugDrawModes
+ enum DebugDrawModes
{
- DBG_NoDebug=0,
+ DBG_NoDebug = 0,
DBG_DrawWireframe = 1,
- DBG_DrawAabb=2,
- DBG_DrawFeaturesText=4,
- DBG_DrawContactPoints=8,
- DBG_NoDeactivation=16,
+ DBG_DrawAabb = 2,
+ DBG_DrawFeaturesText = 4,
+ DBG_DrawContactPoints = 8,
+ DBG_NoDeactivation = 16,
DBG_NoHelpText = 32,
- DBG_DrawText=64,
+ DBG_DrawText = 64,
DBG_ProfileTimings = 128,
DBG_EnableSatComparison = 256,
DBG_DisableBulletLCP = 512,
DBG_EnableCCD = 1024,
DBG_DrawConstraints = (1 << 11),
DBG_DrawConstraintLimits = (1 << 12),
- DBG_FastWireframe = (1<<13),
- DBG_DrawNormals = (1<<14),
- DBG_DrawFrames = (1<<15),
+ DBG_FastWireframe = (1 << 13),
+ DBG_DrawNormals = (1 << 14),
+ DBG_DrawFrames = (1 << 15),
DBG_MAX_DEBUG_DRAW_MODE
};
- virtual ~btIDebugDraw() {};
+ virtual ~btIDebugDraw(){};
-
- virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; }
+ virtual DefaultColors getDefaultColors() const
+ {
+ DefaultColors colors;
+ return colors;
+ }
///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
-
- virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
-
- virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
+
+ virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& color) = 0;
+
+ virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
{
- (void) toColor;
- drawLine (from, to, fromColor);
+ (void)toColor;
+ drawLine(from, to, fromColor);
}
- virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
+ virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
{
-
btVector3 center = transform.getOrigin();
btVector3 up = transform.getBasis().getColumn(1);
btVector3 axis = transform.getBasis().getColumn(0);
@@ -101,103 +99,102 @@ class btIDebugDraw
btScalar minPs = -SIMD_HALF_PI;
btScalar maxPs = SIMD_HALF_PI;
btScalar stepDegrees = 30.f;
- drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false);
- drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false );
+ drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
+ drawSpherePatch(center, up, -axis, radius, minTh, maxTh, minPs, maxPs, color, stepDegrees, false);
}
-
- virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+
+ virtual void drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(p);
- drawSphere(radius,tr,color);
+ drawSphere(radius, tr, color);
}
-
- 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)
+
+ 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)
{
- drawTriangle(v0,v1,v2,color,alpha);
+ drawTriangle(v0, v1, v2, color, alpha);
}
- virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/)
+ virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& color, btScalar /*alpha*/)
{
- drawLine(v0,v1,color);
- drawLine(v1,v2,color);
- drawLine(v2,v0,color);
+ drawLine(v0, v1, color);
+ drawLine(v1, v2, color);
+ drawLine(v2, v0, color);
}
- virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;
+ virtual void drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color) = 0;
- virtual void reportErrorWarning(const char* warningString) = 0;
+ virtual void reportErrorWarning(const char* warningString) = 0;
- virtual void draw3dText(const btVector3& location,const char* textString) = 0;
-
- virtual void setDebugMode(int debugMode) =0;
-
- virtual int getDebugMode() const = 0;
+ virtual void draw3dText(const btVector3& location, const char* textString) = 0;
- virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
- {
+ virtual void setDebugMode(int debugMode) = 0;
+
+ virtual int getDebugMode() const = 0;
- btVector3 halfExtents = (to-from)* 0.5f;
- btVector3 center = (to+from) *0.5f;
- int i,j;
+ virtual void drawAabb(const btVector3& from, const btVector3& to, const btVector3& color)
+ {
+ btVector3 halfExtents = (to - from) * 0.5f;
+ btVector3 center = (to + from) * 0.5f;
+ int i, j;
- btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
- for (i=0;i<4;i++)
+ btVector3 edgecoord(1.f, 1.f, 1.f), pa, pb;
+ for (i = 0; i < 4; i++)
{
- for (j=0;j<3;j++)
+ for (j = 0; j < 3; j++)
{
- pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
- edgecoord[2]*halfExtents[2]);
- pa+=center;
+ pa = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
+ edgecoord[2] * halfExtents[2]);
+ pa += center;
- int othercoord = j%3;
- edgecoord[othercoord]*=-1.f;
- pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
- edgecoord[2]*halfExtents[2]);
- pb+=center;
+ int othercoord = j % 3;
+ edgecoord[othercoord] *= -1.f;
+ pb = btVector3(edgecoord[0] * halfExtents[0], edgecoord[1] * halfExtents[1],
+ edgecoord[2] * halfExtents[2]);
+ pb += center;
- drawLine(pa,pb,color);
+ drawLine(pa, pb, color);
}
- edgecoord = btVector3(-1.f,-1.f,-1.f);
- if (i<3)
- edgecoord[i]*=-1.f;
+ edgecoord = btVector3(-1.f, -1.f, -1.f);
+ if (i < 3)
+ edgecoord[i] *= -1.f;
}
}
virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
- drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3)));
- drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3)));
- drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.)));
+ drawLine(start, start + transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3)));
+ drawLine(start, start + transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3)));
+ drawLine(start, start + transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.)));
}
- virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
- const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
+ virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
+ const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
{
const btVector3& vx = axis;
btVector3 vy = normal.cross(axis);
btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
int nSteps = (int)btFabs((maxAngle - minAngle) / step);
- if(!nSteps) nSteps = 1;
+ if (!nSteps) nSteps = 1;
btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
- if(drawSect)
+ if (drawSect)
{
drawLine(center, prev, color);
}
- for(int i = 1; i <= nSteps; i++)
+ for (int i = 1; i <= nSteps; i++)
{
btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
drawLine(prev, next, color);
prev = next;
}
- if(drawSect)
+ if (drawSect)
{
drawLine(center, prev, color);
}
}
- virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
- btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true)
+ virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
+ btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f), bool drawCenter = true)
{
btVector3 vA[74];
btVector3 vB[74];
@@ -211,33 +208,33 @@ class btIDebugDraw
btVector3 jv = kv.cross(iv);
bool drawN = false;
bool drawS = false;
- if(minTh <= -SIMD_HALF_PI)
+ if (minTh <= -SIMD_HALF_PI)
{
minTh = -SIMD_HALF_PI + step;
drawN = true;
}
- if(maxTh >= SIMD_HALF_PI)
+ if (maxTh >= SIMD_HALF_PI)
{
maxTh = SIMD_HALF_PI - step;
drawS = true;
}
- if(minTh > maxTh)
+ if (minTh > maxTh)
{
minTh = -SIMD_HALF_PI + step;
- maxTh = SIMD_HALF_PI - step;
+ maxTh = SIMD_HALF_PI - step;
drawN = drawS = true;
}
int n_hor = (int)((maxTh - minTh) / step) + 1;
- if(n_hor < 2) n_hor = 2;
+ if (n_hor < 2) n_hor = 2;
btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
bool isClosed = false;
- if(minPs > maxPs)
+ if (minPs > maxPs)
{
minPs = -SIMD_PI + step;
- maxPs = SIMD_PI;
+ maxPs = SIMD_PI;
isClosed = true;
}
- else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
+ else if ((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
{
isClosed = true;
}
@@ -246,63 +243,64 @@ class btIDebugDraw
isClosed = false;
}
int n_vert = (int)((maxPs - minPs) / step) + 1;
- if(n_vert < 2) n_vert = 2;
+ if (n_vert < 2) n_vert = 2;
btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
- for(int i = 0; i < n_hor; i++)
+ for (int i = 0; i < n_hor; i++)
{
btScalar th = minTh + btScalar(i) * step_h;
btScalar sth = radius * btSin(th);
btScalar cth = radius * btCos(th);
- for(int j = 0; j < n_vert; j++)
+ for (int j = 0; j < n_vert; j++)
{
btScalar psi = minPs + btScalar(j) * step_v;
btScalar sps = btSin(psi);
btScalar cps = btCos(psi);
pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
- if(i)
+ if (i)
{
drawLine(pvA[j], pvB[j], color);
}
- else if(drawS)
+ else if (drawS)
{
drawLine(spole, pvB[j], color);
}
- if(j)
+ if (j)
{
- drawLine(pvB[j-1], pvB[j], color);
+ drawLine(pvB[j - 1], pvB[j], color);
}
else
{
arcStart = pvB[j];
}
- if((i == (n_hor - 1)) && drawN)
+ if ((i == (n_hor - 1)) && drawN)
{
drawLine(npole, pvB[j], color);
}
-
+
if (drawCenter)
{
- if(isClosed)
+ if (isClosed)
{
- if(j == (n_vert-1))
+ if (j == (n_vert - 1))
{
drawLine(arcStart, pvB[j], color);
}
}
else
{
- if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
+ if (((!i) || (i == (n_hor - 1))) && ((!j) || (j == (n_vert - 1))))
{
drawLine(center, pvB[j], color);
}
}
}
}
- pT = pvA; pvA = pvB; pvB = pT;
+ pT = pvA;
+ pvA = pvB;
+ pvB = pT;
}
}
-
-
+
virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
{
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
@@ -338,31 +336,27 @@ class btIDebugDraw
{
int stepDegrees = 30;
- btVector3 capStart(0.f,0.f,0.f);
+ btVector3 capStart(0.f, 0.f, 0.f);
capStart[upAxis] = -halfHeight;
- btVector3 capEnd(0.f,0.f,0.f);
+ btVector3 capEnd(0.f, 0.f, 0.f);
capEnd[upAxis] = halfHeight;
// Draw the ends
{
-
btTransform childTransform = transform;
childTransform.getOrigin() = transform * capStart;
{
btVector3 center = childTransform.getOrigin();
- btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3);
+ btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
btVector3 axis = -childTransform.getBasis().getColumn(upAxis);
btScalar minTh = -SIMD_HALF_PI;
btScalar maxTh = SIMD_HALF_PI;
btScalar minPs = -SIMD_HALF_PI;
btScalar maxPs = SIMD_HALF_PI;
-
- drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false);
- }
-
-
+ drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
+ }
}
{
@@ -370,52 +364,51 @@ class btIDebugDraw
childTransform.getOrigin() = transform * capEnd;
{
btVector3 center = childTransform.getOrigin();
- btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3);
+ btVector3 up = childTransform.getBasis().getColumn((upAxis + 1) % 3);
btVector3 axis = childTransform.getBasis().getColumn(upAxis);
btScalar minTh = -SIMD_HALF_PI;
btScalar maxTh = SIMD_HALF_PI;
btScalar minPs = -SIMD_HALF_PI;
btScalar maxPs = SIMD_HALF_PI;
- drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false);
+ drawSpherePatch(center, up, axis, radius, minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees), false);
}
}
// Draw some additional lines
btVector3 start = transform.getOrigin();
- for (int i=0;i<360;i+=stepDegrees)
+ for (int i = 0; i < 360; i += stepDegrees)
{
- capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
- capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
- drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+ capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+ capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+ drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
}
-
}
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
{
btVector3 start = transform.getOrigin();
- btVector3 offsetHeight(0,0,0);
+ btVector3 offsetHeight(0, 0, 0);
offsetHeight[upAxis] = halfHeight;
- int stepDegrees=30;
- btVector3 capStart(0.f,0.f,0.f);
+ int stepDegrees = 30;
+ btVector3 capStart(0.f, 0.f, 0.f);
capStart[upAxis] = -halfHeight;
- btVector3 capEnd(0.f,0.f,0.f);
+ btVector3 capEnd(0.f, 0.f, 0.f);
capEnd[upAxis] = halfHeight;
- for (int i=0;i<360;i+=stepDegrees)
+ for (int i = 0; i < 360; i += stepDegrees)
{
- capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
- capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
- drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+ capEnd[(upAxis + 1) % 3] = capStart[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+ capEnd[(upAxis + 2) % 3] = capStart[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+ drawLine(start + transform.getBasis() * capStart, start + transform.getBasis() * capEnd, color);
}
// Drawing top and bottom caps of the cylinder
- btVector3 yaxis(0,0,0);
+ btVector3 yaxis(0, 0, 0);
yaxis[upAxis] = btScalar(1.0);
- btVector3 xaxis(0,0,0);
- xaxis[(upAxis+1)%3] = btScalar(1.0);
- drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
- drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+ btVector3 xaxis(0, 0, 0);
+ xaxis[(upAxis + 1) % 3] = btScalar(1.0);
+ drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
+ drawArc(start + transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, btScalar(10.0));
}
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
@@ -423,50 +416,49 @@ class btIDebugDraw
int stepDegrees = 30;
btVector3 start = transform.getOrigin();
- btVector3 offsetHeight(0,0,0);
+ btVector3 offsetHeight(0, 0, 0);
btScalar halfHeight = height * btScalar(0.5);
offsetHeight[upAxis] = halfHeight;
- btVector3 offsetRadius(0,0,0);
- offsetRadius[(upAxis+1)%3] = radius;
- btVector3 offset2Radius(0,0,0);
- offset2Radius[(upAxis+2)%3] = radius;
+ btVector3 offsetRadius(0, 0, 0);
+ offsetRadius[(upAxis + 1) % 3] = radius;
+ btVector3 offset2Radius(0, 0, 0);
+ offset2Radius[(upAxis + 2) % 3] = radius;
-
- btVector3 capEnd(0.f,0.f,0.f);
+ btVector3 capEnd(0.f, 0.f, 0.f);
capEnd[upAxis] = -halfHeight;
- for (int i=0;i<360;i+=stepDegrees)
+ for (int i = 0; i < 360; i += stepDegrees)
{
- capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
- capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius;
- drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color);
+ capEnd[(upAxis + 1) % 3] = btSin(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+ capEnd[(upAxis + 2) % 3] = btCos(btScalar(i) * SIMD_RADS_PER_DEG) * radius;
+ drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * capEnd, color);
}
- drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
- drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
- drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
- drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
+ drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offsetRadius), color);
+ drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offsetRadius), color);
+ drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight + offset2Radius), color);
+ drawLine(start + transform.getBasis() * (offsetHeight), start + transform.getBasis() * (-offsetHeight - offset2Radius), color);
// Drawing the base of the cone
- btVector3 yaxis(0,0,0);
+ btVector3 yaxis(0, 0, 0);
yaxis[upAxis] = btScalar(1.0);
- btVector3 xaxis(0,0,0);
- xaxis[(upAxis+1)%3] = btScalar(1.0);
- drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
+ btVector3 xaxis(0, 0, 0);
+ xaxis[(upAxis + 1) % 3] = btScalar(1.0);
+ drawArc(start - transform.getBasis() * (offsetHeight), transform.getBasis() * yaxis, transform.getBasis() * xaxis, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
}
virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
{
btVector3 planeOrigin = planeNormal * planeConst;
- btVector3 vec0,vec1;
- btPlaneSpace1(planeNormal,vec0,vec1);
+ btVector3 vec0, vec1;
+ btPlaneSpace1(planeNormal, vec0, vec1);
btScalar vecLen = 100.f;
- btVector3 pt0 = planeOrigin + vec0*vecLen;
- btVector3 pt1 = planeOrigin - vec0*vecLen;
- btVector3 pt2 = planeOrigin + vec1*vecLen;
- btVector3 pt3 = planeOrigin - vec1*vecLen;
- drawLine(transform*pt0,transform*pt1,color);
- drawLine(transform*pt2,transform*pt3,color);
+ btVector3 pt0 = planeOrigin + vec0 * vecLen;
+ btVector3 pt1 = planeOrigin - vec0 * vecLen;
+ btVector3 pt2 = planeOrigin + vec1 * vecLen;
+ btVector3 pt3 = planeOrigin - vec1 * vecLen;
+ drawLine(transform * pt0, transform * pt1, color);
+ drawLine(transform * pt2, transform * pt3, color);
}
virtual void clearLines()
@@ -478,6 +470,4 @@ class btIDebugDraw
}
};
-
-#endif //BT_IDEBUG_DRAW__H
-
+#endif //BT_IDEBUG_DRAW__H
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-21 14:57:50 +0000