bullet-0.2.1: cbits/GLDebugDrawer.cpp

//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#ifdef _WINDOWS
#include <windows.h>
#include <GL/gl.h>
#include <GL/glu.h>
#else
#include <GL/gl.h>
#include <GL/glu.h>
#endif //_WINDOWS
#endif //APPLE

#include "GLDebugDrawer.h"

#include <stdio.h> //printf debugging

btGLDebugDrawer::btGLDebugDrawer()
:m_debugMode(0)
{

}

void	btGLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
{
    //printf("btGLDebugDrawer::drawLine\n");
	glBegin(GL_LINES);
		glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
		glVertex3d(from.getX(), from.getY(), from.getZ());
		glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
		glVertex3d(to.getX(), to.getY(), to.getZ());
	glEnd();
}

void	btGLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
	drawLine(from,to,color,color);
}

void btGLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
{
    //printf("btGLDebugDrawer::drawSphere\n");
	glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
	glPushMatrix ();
	glTranslatef (p.getX(), p.getY(), p.getZ());

	int lats = 5;
	int longs = 5;

	int i, j;
	for(i = 0; i <= lats; i++) {
		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
		btScalar z0  = radius*sin(lat0);
		btScalar zr0 =  radius*cos(lat0);

		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
		btScalar z1 = radius*sin(lat1);
		btScalar zr1 = radius*cos(lat1);

		glBegin(GL_QUAD_STRIP);
		for(j = 0; j <= longs; j++) {
			btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
			btScalar x = cos(lng);
			btScalar y = sin(lng);

			glNormal3f(x * zr0, y * zr0, z0);
			glVertex3f(x * zr0, y * zr0, z0);
			glNormal3f(x * zr1, y * zr1, z1);
			glVertex3f(x * zr1, y * zr1, z1);
		}
		glEnd();
	}

	glPopMatrix();
}

void btGLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
{
    //printf("btGLDebugDrawer::drawBox\n");
	btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
	btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
	//glEnable(GL_BLEND);     // Turn blending On
	//glBlendFunc(GL_SRC_ALPHA, GL_ONE);
	glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
	glPushMatrix ();
	glTranslatef (center.getX(), center.getY(), center.getZ());
	glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
//	glutSolidCube(1.0);
	glPopMatrix ();
	//glDisable(GL_BLEND);
}

void	btGLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
{
    //printf("btGLDebugDrawer::drawTriangle\n");
//	if (m_debugMode > 0)
	{
		const btVector3	n=btCross(b-a,c-a).normalized();
		glBegin(GL_TRIANGLES);		
		glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
		glNormal3d(n.getX(),n.getY(),n.getZ());
		glVertex3d(a.getX(),a.getY(),a.getZ());
		glVertex3d(b.getX(),b.getY(),b.getZ());
		glVertex3d(c.getX(),c.getY(),c.getZ());
		glEnd();
	}
}

void	btGLDebugDrawer::setDebugMode(int debugMode)
{
	m_debugMode = debugMode;

}

void	btGLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
{
    //printf("btGLDebugDrawer::draw3dText\n");
	glRasterPos3f(location.x(),  location.y(),  location.z());
	//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
}

void	btGLDebugDrawer::reportErrorWarning(const char* warningString)
{
	printf("%s\n",warningString);
}

void	btGLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
    //printf("btGLDebugDrawer::drawContactPoint\n");
	{
		btVector3 to=pointOnB+normalOnB*distance;
		const btVector3&from = pointOnB;
		glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
		//glColor4f(0,0,0,1.f);

		glBegin(GL_LINES);
		glVertex3d(from.getX(), from.getY(), from.getZ());
		glVertex3d(to.getX(), to.getY(), to.getZ());
		glEnd();

		
		glRasterPos3f(from.x(),  from.y(),  from.z());
		char buf[12];
		sprintf(buf," %d",lifeTime);
		//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);


	}
}