virtual void Render(const PR& pose)
{
glPushMatrix();
{
SetupGLMatrix(pose);
// glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
glCallList(mDisplayListNum);
}
glPopMatrix();
if(0 && mShadows)
{
glPushMatrix();
{
const static float shadowMat[]={ 1,0,0,0, 0,0,0,0, 0,0,1,0, 0,0,0,1 };
glMultMatrixf(shadowMat);
// glMultMatrixf(glMat);
SetupGLMatrix(pose);
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
//glutSolidCube(float(size_t(actor->userData))*2.0f);
glCallList(mDisplayListNum);
glEnable(GL_LIGHTING);
}
glPopMatrix();
}
}
void DrawCapsule(NxShape* capsule, const NxVec3& color)
{
NxMat34 pose = capsule->getGlobalPose();
const NxReal & r = capsule->isCapsule()->getRadius();
const NxReal & h = capsule->isCapsule()->getHeight();
glPushMatrix();
SetupGLMatrix(pose.t, pose.M);
glPushMatrix();
glTranslatef(0.0f, h*0.5f, 0.0f);
glScalef(r,r,r);
RenderSphere();
glPopMatrix();
glPushMatrix();
glTranslatef(0.0f,-h*0.5f, 0.0f);
glScalef(r,r,r);
RenderSphere();
glPopMatrix();
glPushMatrix();
glTranslatef(0.0f,h*0.5f, 0.0f);
glScalef(r,h,r);
glRotatef(90.0f,1.0f,0.0f,0.0f);
RenderCylinder();
glPopMatrix();
glPopMatrix();
}
void DrawBox(const Point& extents, const PR& pose)
{
// return;
glPushMatrix();
SetupGLMatrix(pose);
glScalef(extents.x, extents.y, extents.z);
glutSolidCube(2.0f);
glPopMatrix();
}
void DrawSphere(float radius, const PR& pose)
{
// return;
glPushMatrix();
SetupGLMatrix(pose);
glScalef(radius, radius, radius);
glutSolidSphere(1.0f, 12, 12);
glPopMatrix();
}
void DrawSphere(NxShape* sphere, const NxVec3& color)
{
NxMat34 pose = sphere->getGlobalPose();
glPushMatrix();
SetupGLMatrix(pose.t, pose.M);
NxReal r = sphere->isSphere()->getRadius();
glScalef(r,r,r);
RenderSphere();
glPopMatrix();
}
void DrawBox(NxShape* box, const NxVec3& color)
{
NxMat34 pose = box->getGlobalPose();
glPushMatrix();
SetupGLMatrix(pose.t, pose.M);
NxVec3 boxDim = box->isBox()->getDimensions();
glScalef(boxDim.x, boxDim.y, boxDim.z);
RenderBox(2.0);
glPopMatrix();
}
void DrawCapsule(float r, float h, const PR& pose)
{
/* glPushMatrix();
SetupGLMatrix(pose);
unsigned num = 12;
glRotatef(90.0f, 0.0f, 1.0f, 0.0f);
gluSphere(GetGLUQuadric(),
r,
num, num);
gluCylinder(GetGLUQuadric(), r, r, h, num, num);
glTranslatef(0.0f, 0.0f, h);
gluSphere(GetGLUQuadric(),
r,
num, num);
glPopMatrix();
return;*/
glPushMatrix();
SetupGLMatrix(pose);
glPushMatrix();
glTranslatef(0.0f, h*0.5f, 0.0f);
glScalef(r,r,r);
glutSolidSphere(1.0f, 12, 12); // doesn't include texcoords
glPopMatrix();
glPushMatrix();
glTranslatef(0.0f,-h*0.5f, 0.0f);
glScalef(r,r,r);
glutSolidSphere(1.0f, 12, 12); // doesn't include texcoords
glPopMatrix();
glPushMatrix();
glTranslatef(0.0f,h*0.5f, 0.0f);
glScalef(r,h,r);
glRotatef(90.0f,1.0f,0.0f,0.0f);
RenderCylinder();
glPopMatrix();
glPopMatrix();
}
void DrawPlane(NxShape* plane)
{
NxPlaneShape* planeShape = plane->isPlane();
NxPlane p = planeShape->getPlane();
NxVec3 n=p.normal;
n.normalize();
NxVec3 t1;
NxVec3 t2;
static const NxReal cos45 = 0.7071067811865475244008443621048490;
if (fabs(n.z) > cos45)
{
NxReal a = n.y*n.y + n.z*n.z;
NxReal k = NxReal(1.0)/NxMath::sqrt(a);
t1.set(0,-n.z*k,n.y*k);
t2.set(a*k,-n.x*t1.z,n.x*t1.y);
}
else
{
NxReal a = n.x*n.x + n.y*n.y;
NxReal k = NxReal(1.0)/NxMath::sqrt(a);
t1.set(-n.y*k,n.x*k,0);
t2.set(-n.z*t1.y,n.z*t1.x,a*k);
}
NxMat34 pose;
pose.M.setColumn(0, t2);
pose.M.setColumn(1, n);
pose.M.setColumn(2, t1);
// We can't use this cause someone decided it was a good idea to support two plane representations
// pose.t=p.pointInPlane();
pose.t = n * p.d;
glPushMatrix();
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
SetupGLMatrix(pose.t, pose.M);
glTranslatef(0,-0.1f,0);
glScalef(1024,1,1024);
RenderPlane();
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
glPopMatrix();
}
