Implemented debug draw for bullet.

data/shader/debug.fsh

@@ -0,0 +1,9 @@
+#version 150
+
+in vec3 vColor;
+
+out vec4 oColor;
+
+void main() {
+    oColor = vec4(vColor, 1.0);
+}

data/shader/debug.vsh

@@ -0,0 +1,13 @@
+#version 150
+
+uniform mat4 viewProjectionMatrix;
+
+in vec3 aPosition;
+in vec3 aColor;
+
+out vec3 vColor;
+
+void main() {
+    vColor = aColor;
+    gl_Position = viewProjectionMatrix * vec4(aPosition, 1.0);
+}

game/debugDraw.cc

@@ -0,0 +1,64 @@
+#include "debugDraw.hh"
+
+DebugDraw::DebugDraw() : debug_mode(0) {
+    data = std::vector<float>();
+}
+
+void DebugDraw::setDebugMode(int debugMode) {
+    this->debug_mode = debugMode;
+}
+
+int DebugDraw::getDebugMode() const {
+    return debug_mode;
+}
+
+std::vector<float>* DebugDraw::getData() {
+    return &data;
+}
+
+void DebugDraw::drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &color) {
+    data.push_back(from.getX());
+    data.push_back(from.getY());
+    data.push_back(from.getZ());
+    data.push_back(color.getX());
+    data.push_back(color.getY());
+    data.push_back(color.getZ());
+    data.push_back(to.getX());
+    data.push_back(to.getY());
+    data.push_back(to.getZ());
+    data.push_back(color.getX());
+    data.push_back(color.getY());
+    data.push_back(color.getZ());
+}
+
+void DebugDraw::drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &fromColor,
+    const btVector3 &toColor) {
+    data.push_back(from.getX());
+    data.push_back(from.getY());
+    data.push_back(from.getZ());
+    data.push_back(fromColor.getX());
+    data.push_back(fromColor.getY());
+    data.push_back(fromColor.getZ());
+    data.push_back(to.getX());
+    data.push_back(to.getY());
+    data.push_back(to.getZ());
+    data.push_back(toColor.getX());
+    data.push_back(toColor.getY());
+    data.push_back(toColor.getZ());
+}
+
+
+void DebugDraw::drawContactPoint (const btVector3 &PointOnB, const btVector3 &normalOnB, 
+        btScalar distance, int lifeTime, const btVector3 &color){
+}
+
+void DebugDraw::reportErrorWarning (const char *warningString) {
+    printf("%s\n", warningString);
+}
+
+void DebugDraw::draw3dText (const btVector3 &location, const char *textString) {
+}
+
+void DebugDraw::clearData() {
+    this->data = std::vector<float>();
+}

game/debugDraw.hh

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "LinearMath/btIDebugDraw.h"
+#include <ACGL/OpenGL/Objects.hh>
+
+class DebugDraw : public btIDebugDraw {
+    int debug_mode;
+    public:
+        DebugDraw();
+        void setDebugMode(int debugMode);
+        int getDebugMode() const;
+        std::vector<float>* getData();
+        void drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &color);
+        void drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &fromColor,
+                const btVector3 &toColor);
+        void reportErrorWarning (const char *warningString);
+        void clearData();
+        // the following functions don't do anything but are defined to 
+        // get the class not to be abstract
+        void drawContactPoint (const btVector3 &PointOnB, const btVector3 &normalOnB, 
+            btScalar distance, int lifeTime, const btVector3 &color);
+        void draw3dText (const btVector3 &location, const char *textString);
+    private:
+        std::vector<float> data;
+};

game/graphics.cc

@@ -6,6 +6,7 @@
 #include <functional>
 
 #include <ACGL/OpenGL/Creator/ShaderProgramCreator.hh>
+#include "LinearMath/btIDebugDraw.h"
 
 using namespace ACGL::OpenGL;
 
@@ -27,6 +28,7 @@ Graphics::Graphics(glm::uvec2 windowSize, float nearPlane,
     gameStart = false;
     renderShadows = true;
     renderFlames = true;
+    renderDebug = false;
 }
 
 Graphics::Graphics() {
@@ -109,6 +111,20 @@ void Graphics::init(Level* level) {
     flamePostShader = ShaderProgramCreator("flame_post")
         .attributeLocations(fullscreen_quad->getAttributeLocations()).create();
 
+    debug_ab = SharedArrayBuffer(new ArrayBuffer());
+    debug_ab->defineAttribute("aPosition", GL_FLOAT, 3);
+    debug_ab->defineAttribute("aColor", GL_FLOAT, 3);
+    debug_vao = SharedVertexArrayObject(new VertexArrayObject());
+    debug_vao->attachAllAttributes(debug_ab);
+    debug_vao->setMode(GL_LINES);
+
+    debugShader = ShaderProgramCreator("debug")
+        .attributeLocations(debug_vao->getAttributeLocations()).create();
+
+    debugDrawer = DebugDraw();
+
+    level->getPhysics()->getWorld()->setDebugDrawer(&debugDrawer);
+
 
     depth_directionalMaps = std::vector<SharedTexture2D>(3);
     framebuffer_directional = std::vector<SharedFrameBufferObject>(3);
@@ -508,6 +524,21 @@ void Graphics::render(double time)
             glBlitFramebuffer(0, 0, windowSize.x, windowSize.y, 0, 0, windowSize.x, windowSize.y,
                     GL_COLOR_BUFFER_BIT, GL_NEAREST);
         }
+        if (renderDebug) {
+            debugDrawer.setDebugMode(btIDebugDraw::DBG_DrawWireframe);
+            level->getPhysics()->getWorld()->debugDrawWorld();
+            debugDrawer.setDebugMode(btIDebugDraw::DBG_NoDebug);
+            unsigned int data_count = debugDrawer.getData()->size();
+            float* debugData = new float[data_count];
+            for (unsigned int i = 0; i<data_count; i++) {
+                debugData[i] = debugDrawer.getData()->at(i);
+            }
+            debug_ab->setDataElements(data_count/6, debugData);
+            debugDrawer.clearData();
+            debugShader->use();
+            debugShader->setUniform("viewProjectionMatrix", lightingViewProjectionMatrix);
+            debug_vao->render();
+        }
     }
 }
 
@@ -662,3 +693,12 @@ bool Graphics::getRenderShadows() {
 bool Graphics::getRenderFlames() {
     return renderFlames;
 }
+
+
+void Graphics::setRenderDebug(bool state) {
+    renderDebug = state;
+}
+
+bool Graphics::getRenderDebug() {
+    return renderDebug;
+}

game/graphics.hh

@@ -7,6 +7,7 @@
 #include <ACGL/OpenGL/Objects/FrameBufferObject.hh>
 
 #include "level.hh"
+#include "debugDraw.hh"
 
 using namespace ACGL::OpenGL;
 
@@ -26,8 +27,10 @@ class Graphics {
         void renderLoadingScreen();
         void setRenderShadows(bool state);
         void setRenderFlames(bool state);
+        void setRenderDebug(bool state);
         bool getRenderShadows();
         bool getRenderFlames();
+        bool getRenderDebug();
     private:
         void bindTextureUnits();
         void updateLights();
@@ -77,6 +80,12 @@ class Graphics {
         float loadingScreenHeight;
         bool renderShadows;
         bool renderFlames;
+        bool renderDebug;
+        DebugDraw debugDrawer;
+        SharedArrayBuffer debug_ab;
+        SharedVertexArrayObject debug_vao;
+        SharedShaderProgram debugShader;
+
 };
 
 #endif

game/main.cc

@@ -29,6 +29,9 @@ static void keyCallback(GLFWwindow* _window, int _key, int, int _action, int)
     if (_key == GLFW_KEY_F6 && _action == GLFW_PRESS) {
         app.getGraphics()->setRenderFlames(!app.getGraphics()->getRenderFlames());
     }
+    if (_key == GLFW_KEY_F7 && _action == GLFW_PRESS) {
+        app.getGraphics()->setRenderDebug(!app.getGraphics()->getRenderDebug());
+    }
 }
 
 static void mouseCallback(GLFWwindow* window, int button, int action, int) {

game/physics.cc

@@ -710,3 +710,7 @@ void Physics::kill() //delete dynamically allocated memory
     
     //feel like a good little programmer because everything is clean
 }
+
+btDynamicsWorld* Physics::getWorld() {
+    return world;
+}

game/physics.hh

@@ -79,6 +79,7 @@ class Physics {
 	bool playerWithObject();
 	void activateEndgame();
     void forcePlayer(glm::vec3 newPosition);
+    btDynamicsWorld* getWorld();
 
     struct positionConstraint{btRigidBody* body; float strength; btVector3 position;};