void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
{
for (int v=0; v<this->getNumWheels(); v++)
{
btVector3 wheelColor(0,1,1);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,1);
} else
{
wheelColor.setValue(1,0,1);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
//debug wheels (cylinders)
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
void RaycastCar::debugDraw(btIDebugDraw * debugDrawer)
{
for (int v = 0; v < getNumWheels(); v++)
{
btVector3 wheelColor(0.0f,1.0f,1.0f);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0.0f,0.0f,1.0f);
}
else
{
wheelColor.setValue(1.0f,0.0f,1.0f);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
