89 lines
2.7 KiB
C
89 lines
2.7 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef DEBUG_CAST_RESULT_H
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#define DEBUG_CAST_RESULT_H
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#include "BulletCollision/NarrowPhaseCollision/btConvexCast.h"
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#include "LinearMath/btTransform.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#ifdef WIN32
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#else
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#include <GL/gl.h>
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#endif
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struct btDebugCastResult : public btConvexCast::CastResult
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{
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btTransform m_fromTrans;
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const btPolyhedralConvexShape* m_shape;
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btVector3 m_linVel;
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btVector3 m_angVel;
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GL_ShapeDrawer* m_shapeDrawer;
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btDebugCastResult(const btTransform& fromTrans,const btPolyhedralConvexShape* shape,
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const btVector3& linVel,const btVector3& angVel,GL_ShapeDrawer* drawer)
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:m_fromTrans(fromTrans),
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m_shape(shape),
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m_linVel(linVel),
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m_angVel(angVel),
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m_shapeDrawer(drawer)
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{
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}
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virtual void drawCoordSystem(const btTransform& tr)
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{
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btScalar m[16];
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tr.getOpenGLMatrix(m);
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glPushMatrix();
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btglLoadMatrix(m);
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glBegin(GL_LINES);
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btglColor3(1, 0, 0);
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btglVertex3(0, 0, 0);
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btglVertex3(1, 0, 0);
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btglColor3(0, 1, 0);
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btglVertex3(0, 0, 0);
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btglVertex3(0, 1, 0);
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btglColor3(0, 0, 1);
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btglVertex3(0, 0, 0);
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btglVertex3(0, 0, 1);
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glEnd();
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glPopMatrix();
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}
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virtual void DebugDraw(btScalar fraction)
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{
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btVector3 worldBoundsMin(-1000,-1000,-1000);
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btVector3 worldBoundsMax(1000,1000,1000);
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ATTRIBUTE_ALIGNED16(btScalar) m[16];
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btTransform hitTrans;
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btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
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hitTrans.getOpenGLMatrix(m);
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if (m_shapeDrawer)
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m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug,worldBoundsMin,worldBoundsMax);
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}
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};
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#endif //DEBUG_CAST_RESULT_H
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