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();
int upAxis = capsuleShape->getUpAxis();
btVector3 capStart(0.f,0.f,0.f);
capStart[upAxis] = -halfHeight;
btVector3 capEnd(0.f,0.f,0.f);
capEnd[upAxis] = halfHeight;
// Draw the ends
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * capStart;
debugDrawSphere(radius, childTransform, color);
}
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * capEnd;
debugDrawSphere(radius, childTransform, color);
}
// Draw some additional lines
btVector3 start = worldTransform.getOrigin();
capStart[(upAxis+1)%3] = radius;
capEnd[(upAxis+1)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
capStart[(upAxis+1)%3] = -radius;
capEnd[(upAxis+1)%3] = -radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
capStart[(upAxis+1)%3] = 0.f;
capEnd[(upAxis+1)%3] = 0.f;
capStart[(upAxis+2)%3] = radius;
capEnd[(upAxis+2)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
capStart[(upAxis+2)%3] = -radius;
capEnd[(upAxis+2)%3] = -radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, 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? no -> we are not a graphics lib
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++)
{
btVector3 a,b;
polyshape->getEdge(i,a,b);
btVector3 wa = worldTransform * a;
btVector3 wb = worldTransform * b;
getDebugDrawer()->drawLine(wa,wb,color);
}
}
}
}
}
}
void CControlArrowStyleSelector::Draw(CDC* pDC)
{
CRect rc(m_rcControl);
int nCount = sizeof(arrowStyles) / sizeof(arrowStyles[0]);
for (int i = 0; i < nCount; i++)
{
CRect rcButton = GetRect(i);
if (i == m_nSelected || arrowStyles[i].iArrowStyle == m_iArrowStyle)
{
BOOL bPressed = GetPressed() && i == m_nSelected;
//GetPaintManager()->DrawControlEntry(pDC, &rcButton, m_bEnabled, i == m_nSelected, bPressed, arrowStyles[i].iArrowStyle == m_iArrowStyle, FALSE, GetParent()->GetPosition());
GetPaintManager()->DrawRectangle(pDC, &rcButton, i == m_nSelected, bPressed, m_bEnabled, arrowStyles[i].iArrowStyle == m_iArrowStyle, FALSE, GetParent()->GetType(), GetParent()->GetPosition());
}
Gdiplus::Graphics gdipGraphics(pDC->m_hDC);
Gdiplus::Pen pen(Gdiplus::Color(255, 0, 0, 0), 1);
Gdiplus::SolidBrush brush(Gdiplus::Color(255, 0, 0, 0));
/* if (arrowStyles[i].iArrowStyle == msoLineRoundDot)
pen.SetDashCap(Gdiplus::DashCapTriangle);
else
pen.SetDashCap(Gdiplus::DashCapFlat);
pen.SetDashPattern(arrowStyles[i].dashValues, arrowStyles[i].iDashValueCount);
pen.SetDashStyle(Gdiplus::DashStyleCustom);*/
// Gdiplus::Point points[3] = {Gdiplus::Point(0, 0), Gdiplus::Point(0, 0), Gdiplus::Point(0, 0)};
Gdiplus::GraphicsPath startCapPath;
Gdiplus::GraphicsPath endCapPath;
// Create a CustomLineCap object with capPath as the stroke path.
int yPos = rcButton.top + XTP_AS_SELECTOR_HEIGHT / 2;
switch(arrowStyles[i].startCap)
{
case Gdiplus::LineCapArrowAnchor:
{
Gdiplus::AdjustableArrowCap capStart(9, 9, false);
pen.SetCustomStartCap(&capStart);
break;
}
case Gdiplus::LineCapTriangle:
{
Gdiplus::AdjustableArrowCap capStart(6, 5, true);
pen.SetCustomStartCap(&capStart);
break;
}
case Gdiplus::LineCapDiamondAnchor:
{
Gdiplus::Point points[4] = {Gdiplus::Point(rcButton.left , yPos ), Gdiplus::Point(rcButton.left + 5, yPos + 5), Gdiplus::Point(rcButton.left + 10, yPos), Gdiplus::Point(rcButton.left + 5, yPos - 5)};
startCapPath.AddPolygon(points, 4);
break;
}
case Gdiplus::LineCapRoundAnchor:
{
Gdiplus::Rect rect(rcButton.left, yPos - 5, 10, 10);
startCapPath.AddEllipse(rect);
break;
}
default:
break;
}
switch(arrowStyles[i].endCap)
{
case Gdiplus::LineCapArrowAnchor:
{
Gdiplus::AdjustableArrowCap capEnd(9, 9, false);
pen.SetCustomEndCap(&capEnd);
break;
}
case Gdiplus::LineCapTriangle:
{
Gdiplus::AdjustableArrowCap capEnd(6, 5, true);
pen.SetCustomEndCap(&capEnd);
break;
}
case Gdiplus::LineCapDiamondAnchor:
{
Gdiplus::Point points[4] = {Gdiplus::Point(rcButton.right - 10 , yPos ), Gdiplus::Point(rcButton.right - 5, yPos + 5), Gdiplus::Point(rcButton.right, yPos), Gdiplus::Point(rcButton.right - 5, yPos - 5)};
endCapPath.AddPolygon(points, 4);
break;
}
case Gdiplus::LineCapRoundAnchor:
{
Gdiplus::Rect rect(rcButton.right - 10, yPos - 5, 10, 10);
endCapPath.AddEllipse(rect);
break;
}
default:
break;
}
if (!m_bEnabled)
{
pen.SetColor(Gdiplus::Color(255, 128, 128, 128));
brush.SetColor(Gdiplus::Color(255, 128, 128, 128));
}
gdipGraphics.DrawLine(&pen, Gdiplus::Point(rcButton.left + 2, yPos), Gdiplus::Point(rcButton.right-2, yPos));
gdipGraphics.FillPath(&brush,&startCapPath);
gdipGraphics.FillPath(&brush,&endCapPath);
}
}
