int RenderBoxModelObject::pixelSnappedOffsetHeight() const { return snapSizeToPixel(offsetHeight(), offsetTop()); }
void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color) { // Draw a small simplex at the center of the object { btVector3 start = worldTransform.getOrigin(); getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(1,0,0), btVector3(1,0,0)); getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,1,0), btVector3(0,1,0)); getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,0,1), btVector3(0,0,1)); } if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) { const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape); for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) { btTransform childTrans = compoundShape->getChildTransform(i); const btCollisionShape* colShape = compoundShape->getChildShape(i); debugDrawObject(worldTransform*childTrans,colShape,color); } } else { switch (shape->getShapeType()) { case SPHERE_SHAPE_PROXYTYPE: { const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape); btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin debugDrawSphere(radius, worldTransform, color); break; } case MULTI_SPHERE_SHAPE_PROXYTYPE: { const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape); for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--) { btTransform childTransform = worldTransform; childTransform.getOrigin() += multiSphereShape->getSpherePosition(i); debugDrawSphere(multiSphereShape->getSphereRadius(i), childTransform, color); } break; } case CAPSULE_SHAPE_PROXYTYPE: { const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape); btScalar radius = capsuleShape->getRadius(); btScalar halfHeight = capsuleShape->getHalfHeight(); // Draw the ends { btTransform childTransform = worldTransform; childTransform.getOrigin() = worldTransform * btVector3(0,halfHeight,0); debugDrawSphere(radius, childTransform, color); } { btTransform childTransform = worldTransform; childTransform.getOrigin() = worldTransform * btVector3(0,-halfHeight,0); debugDrawSphere(radius, childTransform, color); } // Draw some additional lines btVector3 start = worldTransform.getOrigin(); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(-radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(-radius,-halfHeight,0), color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(radius,-halfHeight,0), color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,-radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,-radius), color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,radius), color); break; } case CONE_SHAPE_PROXYTYPE: { const btConeShape* coneShape = static_cast<const btConeShape*>(shape); btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); btScalar height = coneShape->getHeight();//+coneShape->getMargin(); btVector3 start = worldTransform.getOrigin(); int upAxis= coneShape->getConeUpIndex(); btVector3 offsetHeight(0,0,0); offsetHeight[upAxis] = height * btScalar(0.5); btVector3 offsetRadius(0,0,0); offsetRadius[(upAxis+1)%3] = radius; btVector3 offset2Radius(0,0,0); offset2Radius[(upAxis+2)%3] = radius; getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color); break; } case CYLINDER_SHAPE_PROXYTYPE: { const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape); int upAxis = cylinder->getUpAxis(); btScalar radius = cylinder->getRadius(); btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; btVector3 start = worldTransform.getOrigin(); btVector3 offsetHeight(0,0,0); offsetHeight[upAxis] = halfHeight; btVector3 offsetRadius(0,0,0); offsetRadius[(upAxis+1)%3] = radius; getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color); getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color); break; } case STATIC_PLANE_PROXYTYPE: { const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape); btScalar planeConst = staticPlaneShape->getPlaneConstant(); const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); 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; getDebugDrawer()->drawLine(worldTransform*pt0,worldTransform*pt1,color); getDebugDrawer()->drawLine(worldTransform*pt2,worldTransform*pt3,color); break; } default: { if (shape->isConcave()) { btConcaveShape* concaveMesh = (btConcaveShape*) shape; //todo pass camera, for some culling btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); } if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE) { btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape; //todo: pass camera for some culling btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); //DebugDrawcallback drawCallback; DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); } /// for polyhedral shapes if (shape->isPolyhedral()) { btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; int i; for (i=0;i<polyshape->getNumEdges();i++) { btPoint3 a,b; polyshape->getEdge(i,a,b); btVector3 wa = worldTransform * a; btVector3 wb = worldTransform * b; getDebugDrawer()->drawLine(wa,wb,color); } } } } } }