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-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-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 will need to provide non-empty implementations of the the drawLine and getDebugMode methods 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
-{
-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_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)
- {
- }
- };
-
- enum DebugDrawModes
- {
- DBG_NoDebug = 0,
- DBG_DrawWireframe = 1,
- DBG_DrawAabb = 2,
- DBG_DrawFeaturesText = 4,
- DBG_DrawContactPoints = 8,
- DBG_NoDeactivation = 16,
- DBG_NoHelpText = 32,
- 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_MAX_DEBUG_DRAW_MODE
- };
-
- virtual ~btIDebugDraw(){};
-
- 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)
- {
- (void)toColor;
- drawLine(from, to, fromColor);
- }
-
- 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);
- btScalar minTh = -SIMD_HALF_PI;
- btScalar maxTh = SIMD_HALF_PI;
- 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);
- }
-
- virtual void drawSphere(const btVector3& p, btScalar radius, const btVector3& color)
- {
- btTransform tr;
- tr.setIdentity();
- tr.setOrigin(p);
- 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)
- {
- drawTriangle(v0, v1, v2, color, 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);
- }
-
- 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 draw3dText(const btVector3& location, const char* textString) = 0;
-
- virtual void setDebugMode(int debugMode) = 0;
-
- virtual int getDebugMode() const = 0;
-
- 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++)
- {
- for (j = 0; j < 3; j++)
- {
- 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;
-
- drawLine(pa, pb, color);
- }
- 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.)));
- }
-
- 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;
- btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
- if (drawSect)
- {
- drawLine(center, prev, color);
- }
- 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)
- {
- 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)
- {
- btVector3 vA[74];
- btVector3 vB[74];
- btVector3 *pvA = vA, *pvB = vB, *pT;
- btVector3 npole = center + up * radius;
- btVector3 spole = center - up * radius;
- btVector3 arcStart;
- btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
- const btVector3& kv = up;
- const btVector3& iv = axis;
- btVector3 jv = kv.cross(iv);
- bool drawN = false;
- bool drawS = false;
- if (minTh <= -SIMD_HALF_PI)
- {
- minTh = -SIMD_HALF_PI + step;
- drawN = true;
- }
- if (maxTh >= SIMD_HALF_PI)
- {
- maxTh = SIMD_HALF_PI - step;
- drawS = true;
- }
- if (minTh > maxTh)
- {
- minTh = -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;
- btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
- bool isClosed = false;
- if (minPs > maxPs)
- {
- minPs = -SIMD_PI + step;
- maxPs = SIMD_PI;
- isClosed = true;
- }
- else if ((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
- {
- isClosed = true;
- }
- else
- {
- isClosed = false;
- }
- int n_vert = (int)((maxPs - minPs) / step) + 1;
- if (n_vert < 2) n_vert = 2;
- btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
- 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++)
- {
- 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)
- {
- drawLine(pvA[j], pvB[j], color);
- }
- else if (drawS)
- {
- drawLine(spole, pvB[j], color);
- }
- if (j)
- {
- drawLine(pvB[j - 1], pvB[j], color);
- }
- else
- {
- arcStart = pvB[j];
- }
- if ((i == (n_hor - 1)) && drawN)
- {
- drawLine(npole, pvB[j], color);
- }
-
- if (drawCenter)
- {
- if (isClosed)
- {
- if (j == (n_vert - 1))
- {
- drawLine(arcStart, pvB[j], color);
- }
- }
- else
- {
- if (((!i) || (i == (n_hor - 1))) && ((!j) || (j == (n_vert - 1))))
- {
- drawLine(center, pvB[j], color);
- }
- }
- }
- }
- 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);
- drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
- drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
- drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
- drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
- drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
- drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
- drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
- drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
- drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
- drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
- drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
- }
- virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
- {
- drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
- drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
- drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
- drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
- drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
- drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
- }
-
- virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
- {
- int stepDegrees = 30;
-
- btVector3 capStart(0.f, 0.f, 0.f);
- capStart[upAxis] = -halfHeight;
-
- 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 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);
- }
- }
-
- {
- btTransform childTransform = transform;
- childTransform.getOrigin() = transform * capEnd;
- {
- btVector3 center = childTransform.getOrigin();
- 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);
- }
- }
-
- // Draw some additional lines
- btVector3 start = transform.getOrigin();
-
- 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);
- }
- }
-
- virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
- {
- btVector3 start = transform.getOrigin();
- btVector3 offsetHeight(0, 0, 0);
- offsetHeight[upAxis] = halfHeight;
- int stepDegrees = 30;
- btVector3 capStart(0.f, 0.f, 0.f);
- capStart[upAxis] = -halfHeight;
- btVector3 capEnd(0.f, 0.f, 0.f);
- capEnd[upAxis] = halfHeight;
-
- 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);
- }
- // Drawing top and bottom caps of the cylinder
- 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));
- }
-
- virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
- {
- int stepDegrees = 30;
- btVector3 start = transform.getOrigin();
-
- 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 capEnd(0.f, 0.f, 0.f);
- capEnd[upAxis] = -halfHeight;
-
- 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);
- }
-
- 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);
- 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);
- }
-
- 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);
- 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);
- }
-
- virtual void clearLines()
- {
- }
-
- virtual void flushLines()
- {
- }
-};
-
-#endif //BT_IDEBUG_DRAW__H
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