void Skeleton::Draw( DebugRenderer& rend )
{
ColorRGBA color = ColorRGBA::Green;
for( u32 i = 0; i < m_joint_count; ++i )
{
SkeletonJoint& joint = m_joints[i];
Matrix4x4 bind_pose = joint.GetInvBindPose();
bind_pose.InverseIt();
Vec4 pos = bind_pose * Vec4(0.f, 0.f, 0.f, 1.f);
rend.AddAxis(bind_pose, 0.5f);
// draw parent-child connection (if applicable).
if( joint.GetParentIndex() != (u32)-1 && joint.GetParentIndex() < m_joint_count )
{
SkeletonJoint& parent = m_joints[joint.GetParentIndex()];
Matrix4x4 parent_bind_pose = parent.GetInvBindPose();
parent_bind_pose.InverseIt();
Vec4 parent_pos = parent_bind_pose * Vec4(0.f, 0.f, 0.f, 1.f);
rend.AddLine(Vec3(pos.x, pos.y, pos.z), Vec3(parent_pos.x, parent_pos.y, parent_pos.z), color);
}
}
}
void LiquidFunDebugDraw::DrawParticles(const b2Vec2* centers, float32 radius,
const b2ParticleColor* colors, int32 count) {
DebugRenderer* debugRenderer = Renderer::getCurrent()->getDebugRenderer();
for (int i = 0; i < count; ++i) {
debugRenderer->queueCircle(centers[i], radius, PARTICLE_CIRCLE_SEGMENTS,
b2ColorToRgba(colors[i], 0xFF));
}
}
void CompositeBody::DebugRender(const DebugRenderer& debugRenderer) {
debugRenderer.SetWorldTransform(GetPosition(), GetAngle());
for (size_t i = 0; i < m_shapes.size(); ++i) {
m_shapes[i].DebugRender(debugRenderer);
}
debugRenderer.RenderWorldAxises();
debugRenderer.ResetWorldTransform();
}
//显示选中物体的包围盒
void ObjectPositionEditor::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
EditorRoot* pEditorRoot = EditorRoot::Instance();
DebugRenderer* debug = pEditorRoot->scene_->GetComponent<DebugRenderer>();
if(debug == NULL)
return;
vector<Node*> nodes = pEditorRoot->GetUnionSelections();
for(int i = 0;i < nodes.size();i ++)
{
Node* node = nodes[i];
if(node->GetComponent<Skybox>() != NULL)
continue;
debug->AddNode(node,1.0f,false);
const Vector<SharedPtr<Component> >& components = node->GetComponents();
for(int j = 0;j < node->GetNumComponents();j ++)
{
Drawable* drawable = dynamic_cast<Drawable*>(components[j].Get());
if(drawable != NULL)
{
debug->AddBoundingBox(drawable->GetWorldBoundingBox(),Color::WHITE,true);
}
}
}
//计算总的
if(nodes.size() > 1)
{
BoundingBox allBox;
for(int i = 0;i < nodes.size();i ++)
{
Node* node = nodes[i];
if(node->GetComponent<Skybox>() != NULL)
continue;
const Vector<SharedPtr<Component> >& components = node->GetComponents();
for(int j = 0;j < node->GetNumComponents();j ++)
{
Drawable* drawable = dynamic_cast<Drawable*>(components[j].Get());
if(drawable != NULL)
{
allBox.Merge(drawable->GetWorldBoundingBox());
}
}
}
debug->AddBoundingBox(allBox,Color::BLUE,true);
}
if(CurrentHoverObject != NULL)
{
CurrentHoverObject->DrawDebugGeometry(debug,false);
}
}
void Hypothesis::draw(DebugRenderer &renderer) const {
printf("Belief::Hypothesis::draw(showFrame=%s, showPoints=%s)\n", appearance.showFrames ? "ON" : "OFF", appearance.showPoints ? "ON" : "OFF");
if (appearance.showFrames || true)
renderer.addAxes(sample.toMat34() * modelFrame, appearance.frameSize);
size_t t = 0;
if (appearance.showPoints || true) {
for (Cloud::PointSeq::const_iterator i = points.begin(); i != points.end(); ++i) {
Cloud::Point point = *i;
//if (++t < 10) printf("Belief::Hypothesis point %d <%.4f %.4f %.4f>\n", t, point.x, point.y, point.z);
Cloud::setColour(/*appearance.colour*/RGBA::RED, point);
renderer.addPoint(Cloud::getPoint<Real>(point));
}
}
}
static void RenderCallback()
{
// Physics code
if(gScene && !gPause)
{
gScene->simulate(1.0f/60.0f); //Note: a real application would compute and pass the elapsed time here.
gScene->flushStream();
gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
}
// ~Physics code
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup camera
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0f, (float)glutGet(GLUT_WINDOW_WIDTH)/(float)glutGet(GLUT_WINDOW_HEIGHT), 1.0f, 10000.0f);
gluLookAt(Eye.x, Eye.y, Eye.z, Eye.x + Dir.x, Eye.y + Dir.y, Eye.z + Dir.z, 0.0f, 1.0f, 0.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gDebugRenderer.renderData(*gScene->getDebugRenderable());
#ifdef __PPCGEKKO__
char buf[256];
sprintf(buf,"Press 1,2,+,-,a,HOME to drop boxes. Press b to shoot a box.\nArrows camera.\n" );
GLFontRenderer::setScreenResolution(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
GLFontRenderer::setColor(0.9f, 1.0f, 0.0f, 1.0f);
GLFontRenderer::print(0.01, 0.9, 0.036, buf, false, 11, true);
#endif
glutSwapBuffers();
}
void ProcessInputs()
{
UpdateWheelShapeUserData();
ProcessForceKeys();
if (bSetCurrentMotorTorque1)
{
bSetCurrentMotorTorque1 = false;
wheel1->setMotorTorque(gCurrentMotorTorque1);
// Set motor torque #1 in HUD
char ds[512];
sprintf(ds, "Left wheel torque: %d", gCurrentMotorTorque1);
hud.SetDisplayString(2, ds, 0.015f, 0.92f);
}
if (bSetCurrentMotorTorque2)
{
bSetCurrentMotorTorque2 = false;
wheel2->setMotorTorque(gCurrentMotorTorque2);
// Set motor torque #2 in HUD
char ds[512];
sprintf(ds, "Right wheel torque: %d", gCurrentMotorTorque2);
hud.SetDisplayString(3, ds, 0.015f, 0.87f);
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene)
{
gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
}
void ProcessInputs()
{
DisableAKey('t');
ProcessForceKeys();
UpdateJointMotorTarget();
if (bReconfigureD6Joint)
{
bReconfigureD6Joint = false;
gJointType = (gJointType+1)%gNumJointConfigurations;
ReconfigureD6Joint();
}
if (bToggleLowerActorGravity)
{
char ds[512];
bToggleLowerActorGravity = false;
if (capsule2->readBodyFlag(NX_BF_DISABLE_GRAVITY))
capsule2->clearBodyFlag(NX_BF_DISABLE_GRAVITY);
else
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
// Set lower actor gravity in HUD
sprintf(ds, "Lower Actor Gravity: %s", gOnOffString[!capsule2->readBodyFlag(NX_BF_DISABLE_GRAVITY)]);
hud.SetDisplayString(11, ds, 0.015f, 0.47f);
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void ProcessInputs()
{
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void ProcessInputs()
{
ProcessForceKeys();
// Show debug wireframes
if (bDebugWireframeMode && (0 != gScene))
gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
void GameApplication::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
// If draw debug mode is enabled, draw viewport debug geometry. Disable depth test so that we can see the effect of occlusion
if (drawDebug_)
{
GetSubsystem<Renderer>()->DrawDebugGeometry(false);
}
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
//4
for(int i = 0;i < 5;i ++)
{
//横线
debug->AddLine(Vector3(- 2,0,i - 2),Vector3(2,0,i - 2),Color::YELLOW);
//竖线
debug->AddLine(Vector3(i - 2,0,- 2),Vector3(i - 2,0,2),Color::GREEN);
}
}
void GameMain::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
#if 0 // debug waypoints trigger
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
if (world.flyingBot.aiWaypoints_.Size() > 1)
for(int i=0; i < world.flyingBot.aiWaypoints_.Size()-1; ++i)
{
debug->AddLine(world.flyingBot.aiWaypoints_[i]->GetWorldPosition(),world.flyingBot.aiWaypoints_[i+1]->GetWorldPosition(), Color(1.0f, 1.0f, 0.0f));
}
debug->AddLine(world.flyingBot.aiWaypoints_[0]->GetWorldPosition(),world.flyingBot.aiWaypoints_[world.flyingBot.aiWaypoints_.Size()-1]->GetWorldPosition(), Color(1.0f, 1.0f, 0.0f));
if (world.flyingBot.botSplinePath_ != NULL)
world.flyingBot.botSplinePath_->DrawDebugGeometry(debug, true);
#endif
}
void ProcessInputs()
{
DisableAKey('t');
ProcessForceKeys();
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void Navigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
// If draw debug mode is enabled, draw navigation mesh debug geometry
if (drawDebug_)
scene_->GetComponent<NavigationMesh>()->DrawDebugGeometry(true);
// Visualize the start and end points and the last calculated path
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
if (startPosDefined_)
debug->AddBoundingBox(BoundingBox(startPos_ - 0.1f * Vector3::ONE, startPos_ + 0.1f * Vector3::ONE), Color::WHITE);
if (endPosDefined_)
debug->AddBoundingBox(BoundingBox(endPos_ - 0.1f * Vector3::ONE, endPos_ + 0.1f * Vector3::ONE), Color::WHITE);
if (currentPath_.Size() > 1)
{
// Draw the path with a small upward bias so that it does not clip into the surfaces
Vector3 bias = 0.05f * Vector3::UP;
for (unsigned i = 0; i < currentPath_.Size() - 1; ++i)
debug->AddLine(currentPath_[i] + bias, currentPath_[i + 1] + bias, Color::WHITE);
}
}
void ProcessInputs()
{
ProcessForceKeys();
// Show debug wireframes
if (bDebugWireframeMode)
{
glDisable(GL_LIGHTING);
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
glEnable(GL_LIGHTING);
}
}
void ProcessInputs()
{
ProcessMoveKeys();
MatchTarget();
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void
InputDeviceTouch::InternalUpdate(InputDeltaState* delta)
{
impl_->Update(delta);
if ((manager_.IsDebugRenderingEnabled() || IsDebugRenderingEnabled())
&& manager_.GetDebugRenderer())
{
DebugRenderer* debugRenderer = manager_.GetDebugRenderer();
InputState* state = GetInputState();
for (unsigned i = 0; i < TouchPointCount; ++i)
{
if (state->GetBool(Touch0Down + i*4))
{
const float x = state->GetFloat(Touch0X + i*4);
const float y = state->GetFloat(Touch0Y + i*4);
debugRenderer->DrawCircle(x, y, 0.03f);
}
}
}
}
void Navigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
// If draw debug mode is enabled, draw navigation mesh debug geometry
if (drawDebug_)
scene_->GetComponent<NavigationMesh>()->DrawDebugGeometry(true);
if (currentPath_.Size())
{
// Visualize the current calculated path
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
debug->AddBoundingBox(BoundingBox(endPos_ - Vector3(0.1f, 0.1f, 0.1f), endPos_ + Vector3(0.1f, 0.1f, 0.1f)),
Color(1.0f, 1.0f, 1.0f));
// Draw the path with a small upward bias so that it does not clip into the surfaces
Vector3 bias(0.0f, 0.05f, 0.0f);
debug->AddLine(jackNode_->GetPosition() + bias, currentPath_[0] + bias, Color(1.0f, 1.0f, 1.0f));
if (currentPath_.Size() > 1)
{
for (unsigned i = 0; i < currentPath_.Size() - 1; ++i)
debug->AddLine(currentPath_[i] + bias, currentPath_[i + 1] + bias, Color(1.0f, 1.0f, 1.0f));
}
}
}
void ProcessInputs()
{
UpdateWheelShapeUserData();
ProcessForceKeys();
if (bSetCurrentSteerAngle)
{
bSetCurrentSteerAngle = false;
wheel1->setSteerAngle(gCurrentSteerAngle);
// Add front wheel steer angle to HUD
char ds[512];
sprintf(ds, "Front Wheel Steer Angle: %d", (int)(gCurrentSteerAngle*180.0/NxPi));
hud.SetDisplayString(2, ds, 0.015f, 0.92f);
}
if (bSetCurrentMotorTorque)
{
bSetCurrentMotorTorque = false;
wheel2->setMotorTorque(gCurrentMotorTorque);
wheel3->setMotorTorque(gCurrentMotorTorque);
// Add rear wheel motor torque to HUD
char ds[512];
sprintf(ds, "Rear Wheel Motor Torque: %d", gCurrentMotorTorque);
hud.SetDisplayString(3, ds, 0.015f, 0.87f);
}
if (bSetCurrentBrakeTorque)
{
bSetCurrentBrakeTorque = false;
wheel2->setBrakeTorque(gCurrentBrakeTorque);
wheel3->setBrakeTorque(gCurrentBrakeTorque);
// Add rear wheel brake torque to HUD
char ds[512];
sprintf(ds, "Rear Wheel Brake Torque: %d", gCurrentBrakeTorque);
hud.SetDisplayString(4, ds, 0.015f, 0.82f);
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene)
{
gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
}
void ProcessInputs()
{
ProcessForceKeys();
if (bReleaseRandomShape)
{
bReleaseRandomShape = false;
ReleaseRandomShape();
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void ProcessInputs()
{
// Print profile results (if enabled)
gPerfRenderer.render(gScene->readProfileData(true), glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));
if (gbThreadPolling)
{
// We must reset the polling threads so they are ready for the next run
gPollingThreads.ResetPollForWork();
}
ProcessForceKeys();
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void Display()
{
//clear display buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//set the camera view
SetupCamera();
//display scene
if (rendering_mode != RENDER_WIREFRAME)
RenderActors(bShadows);
if (debugRenderable)
gDebugRenderer.renderData(*debugRenderable);
//render HUD
hud.Render();
glFlush();
glutSwapBuffers();
}
void ProcessInputs()
{
ProcessForceKeys();
// Core dump
if (bCoreDump)
{
bool ok = NXU::coreDump(gPhysicsSDK, fnameCD, NXU::FT_XML, true, false);
if(ok) {
printf("Output core dump successfully!\n");
} else {
printf("Output core dump failed!\n");
}
bCoreDump = false;
}
// Load core to core container
if (bLoadCore)
{
if(gPhysicsCollection) {
NXU::releaseCollection(gPhysicsCollection);
gPhysicsCollection = NULL;
}
gPhysicsCollection = LoadCoreDump(fnameCD);
if(!gPhysicsCollection) {
printf("Unable to load the core dump, please first save a core dump.\n");
}
else
{
printf("Core dump has been loaded into container.\n");
}
bLoadCore = false;
}
// instantiate a core dump
if(bInstantiateCore) {
if(gPhysicsCollection) {
if(gPhysicsSDK) {
ReleasePhysicsSDK(gPhysicsSDK);
gPhysicsSDK = CreatePhysics();
}
if(InstantiateCoreDump(gPhysicsSDK, gPhysicsCollection)) {
if(gPhysicsSDK->getNbScenes()) {
gScene = gPhysicsSDK->getScene(0);
AddUserDataToActors(gScene);
NxActor** actors = gScene->getActors();
gSelectedActor = *actors;
while(!IsSelectable(gSelectedActor))
{
gSelectedActor = *actors++;
}
}
printf("Core dump instantiated\n");
}
else
{
printf("Error in instantiating the core dump\n");
}
}
else
{
printf("Unable to instantiate the core dump with an empty container\n");
}
bInstantiateCore = false;
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void PolygonShape::DebugRender(const DebugRenderer& debugRenderer) {
debugRenderer.RenderWirePolygon(m_polygon);
}
void EnemyEntity::UpdateCast()
{
DebugRenderer* debug = GetScene()->GetComponent<DebugRenderer>();
PhysicsWorld2D* physicsWorld = GetScene()->GetComponent<PhysicsWorld2D>();
RigidBody2D* body = GetComponent<RigidBody2D>();
/*cast ground*/
Vector2 originpos = node_->GetPosition2D();
Vector2 FinishC;
Vector2 FinishD;
if(!isLeft)
{
FinishC = originpos + Vector2(-0.60,-0.35);
FinishD = originpos + Vector2(-0.60,0);
}
else
{
FinishC = originpos + Vector2(0.60,-0.35);
FinishD = originpos + Vector2(0.60,0);
}
PhysicsRaycastResult2D RayCastC;
physicsWorld->RaycastSingle(RayCastC, originpos , FinishC,1);
if ( !RayCastC.body_ && body->GetLinearVelocity().y_ >= -0.05f)
{
SetReturn();
}
PhysicsRaycastResult2D RayCastD;
physicsWorld->RaycastSingle(RayCastD, originpos , FinishD,1);
if ( RayCastD.body_)
{
SetReturn();
}
/*end cast ground*/
/*cast player*/
if(!isBusy && !isCooldDown)
{
Node* target = GetScene()->GetChild("Player",false);
if(target)
{
Vector2 targetpos = target->GetPosition2D();
Vector2 direction = targetpos - originpos;
direction.Normalize();
Vector2 FinishT = originpos + Vector2(direction.x_*2.5f,direction.y_*2.5);
PhysicsRaycastResult2D RayCastT;
physicsWorld->RaycastSingle(RayCastT, originpos , FinishT, 4);
if (RayCastT.body_)
{
Node* node = RayCastT.body_->GetNode();
if(node->GetName() == "Player")
{
if(direction.x_ < 0)
setRight();
else
setLeft();
SetAtack();
}
}
debug->AddLine( Vector3(originpos.x_, originpos.y_,0),
Vector3(FinishT.x_, FinishT.y_,0),
Color(0, 1, 1, 1),
false );
}
}
/*end castplayer*/
debug->AddLine( Vector3(originpos.x_, originpos.y_,0),
Vector3(FinishC.x_, FinishC.y_,0),
Color(1, 0, 0, 1),
false );
debug->AddLine( Vector3(originpos.x_, originpos.y_,0),
Vector3(FinishD.x_, FinishD.y_,0),
Color(1, 0, 0, 1),
false );
}
bool IK::Solve(Vector3 targetPos)
{
//http://mrl.nyu.edu/~perlin/gdc/ik/ik.java.html
//Get nodes
Node* hip = effector_->GetParent()->GetParent();
Node* knee = effector_->GetParent();
// Get current world position for the 3 joints of the IK chain
Vector3 hipPos = hip->GetWorldPosition(); // Thigh pos (hip joint)
Vector3 kneePos = knee->GetWorldPosition(); // Calf pos (knee joint)
Vector3 effectorPos = effector_->GetWorldPosition(); // Foot pos (ankle joint)
// Pre IK Direction vectors
Vector3 thighDir = kneePos - hipPos; // Thigh direction
Vector3 calfDir = effectorPos - kneePos; // Calf direction
// Vectors lengths
float A = Vector3(thighDir).Length();//length of hip to knee
float B = Vector3(calfDir).Length();//length of knee to foot
Vector3 P = hip->WorldToLocal(targetPos);//target at origin
Vector3 D = hip->WorldToLocal(kneePos);//pre solve knee at origin
//float limbLength = length1 + length2;
//float lengthH = targetDir.Length();
//PERLINS STUFF
//bool test = Perlin(A,B,C,D);
//GetSubsystem<DebugHud>()->SetAppStats("ik:", String(test) );
//------
Vector3 R;
DefineM(P,D);
R = Rot(Minv,P);
//FIND D
float c = R.Length();
float d = Max(0.0f, Min(A, (c + (A*A-B*B)/c) / 2.0f));//FindD(A,B,R.Length());
//FIND E
float e = sqrtf(A*A-d*d);//FindE(A,d);
Vector3 S = Vector3(d,e,0.0f);
Vector3 Q = Rot(Mfwd,S);
//Convert Q back to world space
Vector3 worldQ = effector_->GetParent()->GetParent()->LocalToWorld(Q);
//Get angles
Vector3 tdn = thighDir.Normalized();
Vector3 ntdn = Vector3(worldQ-hipPos).Normalized();
Vector3 cdn = calfDir.Normalized();
Vector3 ncdn = Vector3(targetPos-worldQ).Normalized();
//Vector3 hipAxis = tdn.CrossProduct(ntdn);
//float hipAngle = tdn.Angle(ntdn);
//Vector3 kneeAxis = cdn.CrossProduct(ncdn);
//float kneeAngle = cdn.Angle(ncdn);
//GetSubsystem<DebugHud>()->SetAppStats("ik:", String(hipAngle)+":"+String(kneeAngle) );
//knee->SetWorldRotation(knee->GetWorldRotation() * Quaternion(kneeAngle,kneeAxis) );
//hip->SetWorldRotation(hip->GetWorldRotation() * Quaternion(hipAngle,hipAxis) );
//do top level first, then get new angle for lower level, since it might mangle it
bool success = d > 0.0f && d < A;
if(success)
{
Quaternion hipRot = Quaternion(tdn,ntdn);
hip->Rotate(hipRot,TS_WORLD );
knee->Rotate(Quaternion(cdn,ncdn)*hipRot.Inverse(),TS_WORLD );
}
if(drawDebug_)
{
DebugRenderer* dbg = effector_->GetScene()->GetComponent<DebugRenderer>();
/*dbg->AddLine(hipPos,hipPos+tdn,Color(0.0f,1.0f,0.0f),false);
dbg->AddLine(hipPos,hipPos+ntdn,Color(0.0f,0.0f,1.0f),false);
dbg->AddLine(kneePos,kneePos+cdn,Color(0.0f,1.0f,0.0f),false);
dbg->AddLine(kneePos,kneePos+ncdn,Color(0.0f,0.0f,1.0f),false);
dbg->AddSphere(Sphere(effectorPos,0.2f),Color(0.0f,1.0f,0.0f),false);
dbg->AddSphere(Sphere(targetPos,0.2f),Color(0.0f,0.0f,1.0f),false);*/
//at origin
/*dbg->AddSphere(Sphere(Vector3(),0.2f),Color(0.0f,0.0f,0.0f),false);//origin
dbg->AddSphere(Sphere(D,0.2f),Color(0.1f,0.0f,0.0f),false);//old elbow
dbg->AddSphere(Sphere(P,0.2f),Color(0.0f,1.0f,0.0f),false);//target
dbg->AddLine(Vector3(),P,Color(0.1f,0.1f,0.1f),false);
//show solve at origin
dbg->AddSphere(Sphere(Q,0.2f),Color(1.0f,0.0f,0.0f),false);
dbg->AddLine(Vector3(),Q,Color(1.0f,0.0f,0.0f),false);
dbg->AddLine(Q,P,Color(1.0f,0.0f,0.0f),false);*/
//show solve at position
dbg->AddSphere(Sphere(worldQ,0.2f),Color(1.0f,0.0f,0.0f),false);
dbg->AddSphere(Sphere(targetPos,0.2f),Color(0.0f,1.0f,0.0f),false);
dbg->AddLine(hipPos,worldQ,Color(1.0f,0.0f,0.0f),false);
dbg->AddLine(worldQ,targetPos,Color(1.0f,0.0f,0.0f),false);
}
return success;
}
