コード例 #1
0
ファイル: dynamicsSolver.cpp プロジェクト: ahmidou/aphid
void DynamicsSolver::renderWorld()
{
	const int	numObjects= m_dynamicsWorld->getNumCollisionObjects();
	btVector3 wireColor(1,0,0);
	for(int i=0;i<numObjects;i++)
	{
		btCollisionObject*	colObj= m_dynamicsWorld->getCollisionObjectArray()[i];
		_drawer->drawObject(colObj);
	}
	
	for (  int i=0;i<m_dynamicsWorld->getSoftBodyArray().size();i++) {
		//btSoftBody*	psb=(btSoftBody*)m_dynamicsWorld->getSoftBodyArray()[i];

			//btSoftBodyHelpers::DrawFrame(psb,m_dynamicsWorld->getDebugDrawer());
			//btSoftBodyHelpers::Draw(psb,m_dynamicsWorld->getDebugDrawer(),m_dynamicsWorld->getDrawFlags());
	}
	
	const int numConstraints = m_dynamicsWorld->getNumConstraints();
	for(int i=0;i< numConstraints;i++) {
	    btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
	    _drawer->drawConstraint(constraint);
	}
	
	if(!m_activeBody) return;
	
	if(m_interactMode == TranslateBone) {
	    _drawer->drawTranslateHandle(m_activeBody);
	}
	//else if(m_interactMode == RotateJoint) {
	    
	//}
}
コード例 #2
0
void MyColladaConverter::Render(float delta_time)
{
//		m_dynamicsWorld->updateAabbs();

	btScalar m[16];

	if (m_dynamicsWorld)
	{
//		float fixedTimeStep = 1.f/60.f;
		//	if you want to test some physics simulation, uncomment out next line
		//	delta_time = fixedTimeStep;
		m_dynamicsWorld->stepSimulation(delta_time);


		int numObjects = m_dynamicsWorld->getNumCollisionObjects();
		btVector3 wireColor(1,0,0);
		for (int i=0;i<numObjects;i++)
		{
			btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
			btRigidBody* body = btRigidBody::upcast(colObj);

			if (body && body->getMotionState())
			{
				btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
				myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
				CrtNode * crtnode = m_RigidBody_map[body];
				if (crtnode)
				{
					crtnode->SetUpdateLocalMatrix(false);
					crtnode->SetUpdateLocalToWorldMatrix(false);
					crtnode->SetLocalToWorldMatrix((CrtMatrix*) m);

//					printf("I got this node\n");
				}
			} else
			{
				colObj->getWorldTransform().getOpenGLMatrix(m);
				printf("transform matrix\n");
				printf("[ %f, %f, %f, %f]\n", m[0], m[1], m[2], m[3]);
				printf("[ %f, %f, %f, %f]\n", m[4], m[5], m[6], m[7]);
				printf("[ %f, %f, %f, %f]\n", m[8], m[9], m[10], m[11]);
				printf("[ %f, %f, %f, %f]\n", m[12], m[13], m[14], m[15]);
			}

		}
	}
}
コード例 #3
0
void renderme()
{
	float m[16];
	int i;

	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();
		
		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );
		
		SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation

		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			wireColor = SimdVector3 (1.f,0.f,0.f);
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			wireColor = SimdVector3 (0.f,1.f,0.f);
		}

		char	extraDebug[125];
		//sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
		shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
	}

}
コード例 #4
0
ファイル: World.cpp プロジェクト: jsj2008/VirtualAlvinn
void World::Render()
{
	if(cameraType == CT_3RD)
		UpdateCamera3rd();
	else if(cameraType == CT_1ST)
		UpdateCamera1st();

	SetupGL();

	btScalar m[16];
	btMatrix3x3	rot;
	rot.setIdentity();
	const int numObjects = dynamicsWorld->getNumCollisionObjects();
	btVector3 wireColor(1,0,0);

	//render all objs
	for(int i=0; i<numObjects; i++)
	{
		btCollisionObject* colObj=dynamicsWorld->getCollisionObjectArray()[i];
		btRigidBody* body=btRigidBody::upcast(colObj);

		if(body&&body->getMotionState())
		{
			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
			rot = myMotionState->m_graphicsWorldTrans.getBasis();
		}
		else
		{
			colObj->getWorldTransform().getOpenGLMatrix(m);
			rot = colObj->getWorldTransform().getBasis();
		}
		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
		///color differently for active, sleeping, wantsdeactivation states
		if (colObj->getActivationState() == 1) //active
		{
			if (i & 1)
			{
				wireColor += btVector3 (1.f,0.f,0.f);
			}
			else
			{			
				wireColor += btVector3 (.5f,0.f,0.f);
			}
		}
		if(colObj->getActivationState()==2) //ISLAND_SLEEPING
		{
			if(i&1)
			{
				wireColor += btVector3 (0.f,1.f, 0.f);
			}
			else
			{
				wireColor += btVector3 (0.f,0.5f,0.f);
			}
		}

		btVector3 aabbMin,aabbMax;
		dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin, aabbMax);
		
		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);

		//set texture for terrain
		if(body == groundRigidBody)
		{
			glEnable(GL_TEXTURE_2D);
			glBindTexture(GL_TEXTURE_2D, groundTexture);

			static const GLfloat	planex[]={0.1f,0.f,0.f,21.f};
			//static const GLfloat	planey[]={0,0.025,0,0};
			static const GLfloat	planez[]={0.f,0.f,0.1f,21.f};

			glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
			glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
			glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
			glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
			glEnable(GL_TEXTURE_GEN_S);
			glEnable(GL_TEXTURE_GEN_T);

			wireColor = btVector3(1.f, 1.f, 1.f);
		}

		shapeDrawer->drawOpenGL(m, colObj->getCollisionShape(), wireColor, 0, aabbMin, aabbMax);

		if(body == groundRigidBody)
		{
			glBindTexture(GL_TEXTURE_2D, 0);
			glDisable(GL_TEXTURE_2D);
			glDisable(GL_TEXTURE_GEN_S);
			glDisable(GL_TEXTURE_GEN_T);
		}
	}

	//draw wheels
	if(cameraType != CT_1ST)
		vehicle->Render(shapeDrawer);
}
コード例 #5
0
ファイル: GimpactTestDemo.cpp プロジェクト: BlackYoup/medusa
//------------------------------------------------------------------------------
void GimpactConcaveDemo::renderme()
{
	updateCamera();


	btScalar m[16];

	if (m_dynamicsWorld)
	{
		btVector3	worldBoundsMin,worldBoundsMax;
		getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);


		int numObjects = m_dynamicsWorld->getNumCollisionObjects();
		btVector3 wireColor(1,0,0);
		for (int i=0;i<numObjects;i++)
		{
			btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
			btRigidBody* body = btRigidBody::upcast(colObj);

			if (body && body->getMotionState())
			{
				btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
				myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
			} else
			{
				colObj->getWorldTransform().getOpenGLMatrix(m);
			}

			btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
			if (i & 1)
			{
				wireColor = btVector3(0.f,0.0f,1.f);
			}
			///color differently for active, sleeping, wantsdeactivation states
			if (colObj->getActivationState() == 1) //active
			{
				if (i & 1)
				{
					wireColor += btVector3 (0.8f,0.1f,0.1f);
				} else
				{
					wireColor += btVector3 (0.5f,0.f,0.f);
				}
			}
			if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
			{
				if (i & 1)
				{
					wireColor += btVector3 (0.5f,0.8f, 0.5f);
				} else
				{
					wireColor += btVector3 (0.f,0.5f,0.f);
				}
			}

			m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
		}


			float xOffset = 10.f;
			float yStart = 20.f;
			float yIncr = 20.f;
			char buf[124];

			glColor3f(0, 0, 0);

			setOrthographicProjection();

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"mouse to interact");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

		/*	glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"space to reset");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;
		*/
			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"cursor keys and z,x to navigate");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"i to toggle simulation, s single step");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"q to quit");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,". to shoot TRIMESH (dot)");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			// not yet hooked up again after refactoring...

/*			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"d to toggle deactivation");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;
*/

		/*
			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"a to draw temporal AABBs");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;
		*/

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"h to toggle help text");
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);

			bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			glRasterPos3f(xOffset,yStart,0);
			sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
			GLDebugDrawString(xOffset,yStart,buf);
			yStart += yIncr;

			#ifdef SHOW_NUM_DEEP_PENETRATIONS
				
				glRasterPos3f(xOffset,yStart,0);
				sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
				GLDebugDrawString(xOffset,yStart,buf);
				yStart += yIncr;

				glRasterPos3f(xOffset,yStart,0);
				sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
				GLDebugDrawString(xOffset,yStart,buf);
				yStart += yIncr;

				


				glRasterPos3f(xOffset,yStart,0);
				sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
				GLDebugDrawString(xOffset,yStart,buf);
				yStart += yIncr;

			#endif //SHOW_NUM_DEEP_PENETRATIONS


			resetPerspectiveProjection();


	}

}
コード例 #6
0
void	DemoApplication::renderscene(int pass)
{
	btScalar	m[16];
	btMatrix3x3	rot;rot.setIdentity();
	const int	numObjects=m_dynamicsWorld->getNumCollisionObjects();
	btVector3 wireColor(1,0,0);
	for(int i=0;i<numObjects;i++)
	{
		btCollisionObject*	colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
		btRigidBody*		body=btRigidBody::upcast(colObj);
		if(body&&body->getMotionState())
		{
			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
			rot=myMotionState->m_graphicsWorldTrans.getBasis();
		}
		else
		{
			colObj->getWorldTransform().getOpenGLMatrix(m);
			rot=colObj->getWorldTransform().getBasis();
		}
		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
		///color differently for active, sleeping, wantsdeactivation states
		if (colObj->getActivationState() == 1) //active
		{
			if (i & 1)
			{
				wireColor += btVector3 (1.f,0.f,0.f);
			}
			else
			{			
				wireColor += btVector3 (.5f,0.f,0.f);
			}
		}
		if(colObj->getActivationState()==2) //ISLAND_SLEEPING
		{
			if(i&1)
			{
				wireColor += btVector3 (0.f,1.f, 0.f);
			}
			else
			{
				wireColor += btVector3 (0.f,0.5f,0.f);
			}
		}

		btVector3 aabbMin,aabbMax;
		m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
		
		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
//		printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
//		printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
//		m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));


		if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
		{
			switch(pass)
			{
			case	0:	m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
			case	1:	m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
			case	2:	m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*btScalar(0.3),0,aabbMin,aabbMax);break;
			}
		}
	}
}
コード例 #7
0
ファイル: logicworld.cpp プロジェクト: ktj007/mmo
void LogicWorld::GetGhostPos(float* pos) const
{
    btScalar	m[16];
    btMatrix3x3	rot;rot.setIdentity();
    const int	numObjects=m_dynamicsWorld->getNumCollisionObjects();
    btVector3 wireColor(1,0,0);
    for(int i=0;i<numObjects;i++)
    {
        btCollisionObject*	colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
        btRigidBody*		body=btRigidBody::upcast(colObj);
        if(body&&body->getMotionState())
        {
            btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
            myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
            rot=myMotionState->m_graphicsWorldTrans.getBasis();
        }
        else
        {
            colObj->getWorldTransform().getOpenGLMatrix(m);
            rot=colObj->getWorldTransform().getBasis();
        }
        btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
        if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
        ///color differently for active, sleeping, wantsdeactivation states
        if (colObj->getActivationState() == 1) //active
        {
            if (i & 1)
            {
                wireColor += btVector3 (1.f,0.f,0.f);
            }
            else
            {			
                wireColor += btVector3 (.5f,0.f,0.f);
            }
        }
        if(colObj->getActivationState()==2) //ISLAND_SLEEPING
        {
            if(i&1)
            {
                wireColor += btVector3 (0.f,1.f, 0.f);
            }
            else
            {
                wireColor += btVector3 (0.f,0.5f,0.f);
            }
        }

        btVector3 aabbMin,aabbMax;
        m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);

        aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
        aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
        //		printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
        //		printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
        //		m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));

        if (i == 0)
        {
            pos[0] = m[12];
            pos[1] = m[13];
            pos[2] = m[14];
        }
    }
}
コード例 #8
0
void KeplerBtDynamics::renderscene(int pass)
{
	btScalar	m[16];
	btMatrix3x3	rot;rot.setIdentity();
	const int	numObjects=m_dynamicsWorld->getNumCollisionObjects();
	btVector3 wireColor(1,0,0);
	for(int i=0;i<numObjects;i++) {
		btCollisionObject*	colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
		btRigidBody*		body=btRigidBody::upcast(colObj);
		if(body&&body->getMotionState()) {
			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
			rot=myMotionState->m_graphicsWorldTrans.getBasis();
		}
		else {
			colObj->getWorldTransform().getOpenGLMatrix(m);
			rot=colObj->getWorldTransform().getBasis();
		}
		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
		///color differently for active, sleeping, wantsdeactivation states
        //active
		if (colObj->getActivationState() == 1) {
			if (i & 1)
				wireColor += btVector3 (1.f,0.f,0.f);
			else
				wireColor += btVector3 (.5f,0.f,0.f);
		}
        //ISLAND_SLEEPING
		if(colObj->getActivationState()==2) {
			if(i&1)
				wireColor += btVector3 (0.f,1.f, 0.f);
			else
				wireColor += btVector3 (0.f,0.5f,0.f);
		}
        
        if (colObj->getCollisionShape()->getShapeType() == BOX_SHAPE_PROXYTYPE) {
            MyInfo *info = (MyInfo *)colObj->getUserPointer();
            if (info && info->isGround)
                wireColor = btVector3 (0.3f,0.3f,0.3f);
        }
        
		btVector3 aabbMin,aabbMax;
		m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
		
		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
        
        switch(pass) {
			case 0:
                m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor);
                break;
			case 1:
                m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape());
                break;
			case 2:
                m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*btScalar(0.3));
                break;
        }
	}
}
コード例 #9
0
//to be implemented by the demo
void renderme()
{
	debugDrawer.SetDebugMode(getDebugMode());

	//render the hinge axis
	if (createConstraint)
	{
		SimdVector3 color(1,0,0);
		SimdVector3 dirLocal(0,1,0);
		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);
		SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);
		SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
		SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
		debugDrawer.DrawLine(from,from+dirWorldA,color);
		debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
	}

	float m[16];
	int i;


	if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
	{
		//don't use Bullet, use quickstep
		physicsEnvironmentPtr->setSolverType(0);
	} else
	{
		//Bullet LCP solver
		physicsEnvironmentPtr->setSolverType(1);
	}

	if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
	{
		physicsEnvironmentPtr->setCcdMode(3);
	} else
	{
		physicsEnvironmentPtr->setCcdMode(0);
	}


	bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);

	physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);


#ifdef USE_HULL
	//some testing code for SAT
	if (isSatEnabled)
	{
		for (int s=0;s<numShapes;s++)
		{
			CollisionShape* shape = shapePtr[s];

			if (shape->IsPolyhedral())
			{
				PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(shape);
				if (!polyhedron->m_optionalHull)
				{
					//first convert vertices in 'Point3' format
					int numPoints = polyhedron->GetNumVertices();
					Point3* points = new Point3[numPoints+1];
					//first 4 points should not be co-planar, so add central point to satisfy MakeHull
					points[0] = Point3(0.f,0.f,0.f);

					SimdVector3 vertex;
					for (int p=0;p<numPoints;p++)
					{
						polyhedron->GetVertex(p,vertex);
						points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
					}

					Hull* hull = Hull::MakeHull(numPoints+1,points);
					polyhedron->m_optionalHull = hull;
				}

			}
		}

	}
#endif //USE_HULL


	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();

		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );


		SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
		if (i & 1)
		{
			wireColor = SimdVector3(0.f,0.0f,1.f);
		}
		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			if (i & 1)
			{
				wireColor += SimdVector3 (1.f,0.f,0.f);
			} else
			{			
				wireColor += SimdVector3 (.5f,0.f,0.f);
			}
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			if (i & 1)
			{
				wireColor += SimdVector3 (0.f,1.f, 0.f);
			} else
			{
				wireColor += SimdVector3 (0.f,0.5f,0.f);
			}
		}

		char	extraDebug[125];
		sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
		physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());

		///this block is just experimental code to show some internal issues with replacing shapes on the fly.
		if (getDebugMode()!=0 && (i>0))
		{
			if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
			{
				physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);

				//remove the persistent collision pairs that were created based on the previous shape

				BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;

				physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);

				SimdVector3 newinertia;
				SimdScalar newmass = 10.f;
				physObjects[i]->GetRigidBody()->GetCollisionShape()->CalculateLocalInertia(newmass,newinertia);
				physObjects[i]->GetRigidBody()->setMassProps(newmass,newinertia);
				physObjects[i]->GetRigidBody()->updateInertiaTensor();

			}

		}


	}

	if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
	{

		float xOffset = 10.f;
		float yStart = 20.f;

		float yIncr = -2.f;

		char buf[124];

		glColor3f(0, 0, 0);

#ifdef USE_QUICKPROF


		if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
		{
			static int counter = 0;
			counter++;
			std::map<std::string, hidden::ProfileBlock*>::iterator iter;
			for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
			{
				char blockTime[128];
				sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
				glRasterPos3f(xOffset,yStart,0);
				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
				yStart += yIncr;

			}
		}
#endif //USE_QUICKPROF
		//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT); 
		//<< std::endl;



		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"mouse to interact");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"space to reset");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"cursor keys and z,x to navigate");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"i to toggle simulation, s single step");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"q to quit");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"d to toggle deactivation");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"a to draw temporal AABBs");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;


		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"h to toggle help text");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);

		bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

	}

}