void btHfFluidRigidDynamicsWorld::drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw)
{
if (voxelDraw)
{
btTransform xform = object->getWorldTransform();
for (int i = 0; i < buoyantShape->getNumVoxels(); i++)
{
btVector3 p = buoyantShape->getVoxelPositionsArray()[i];
p = xform.getBasis() * p;
p += xform.getOrigin();
debugDrawer->drawSphere (p, buoyantShape->getVoxelRadius(), btVector3(1.0, 0.0, 0.0));
}
} else {
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(object->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
const btConvexShape* convexShape = ((const btHfFluidBuoyantConvexShape*)object->getCollisionShape())->getConvexShape();
debugDrawObject(object->getWorldTransform(),(btCollisionShape*)convexShape,color);
}
}
void btCollisionWorld::debugDrawWorld()
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
int numManifolds = getDispatcher()->getNumManifolds();
btVector3 color(0,0,0);
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& cp = contactManifold->getContactPoint(j);
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
}
}
}
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
{
int i;
for ( i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
}
}
}
void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
// Draw a small simplex at the center of the object
getDebugDrawer()->drawTransform(worldTransform,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 BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
break;
}
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
getDebugDrawer()->drawSphere(radius, worldTransform, color);
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
btTransform childTransform;
childTransform.setIdentity();
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*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();
getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, 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();
int upAxis= coneShape->getConeUpIndex();
getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, 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];
getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
break;
}
case STATIC_PLANE_PROXYTYPE:
{
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, 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(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//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 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);
}
}
}
}
}
}
void btDiscreteDynamicsWorld::debugDrawWorld()
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
{
int i;
//todo: iterate over awake simulation islands!
for ( i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btPoint3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
for ( i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
}
void btDiscreteDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("debugDrawWorld");
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
int numManifolds = getDispatcher()->getNumManifolds();
btVector3 color(0,0,0);
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& cp = contactManifold->getContactPoint(j);
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
}
}
}
bool drawConstraints = false;
if (getDebugDrawer())
{
int mode = getDebugDrawer()->getDebugMode();
if(mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
{
drawConstraints = true;
}
}
if(drawConstraints)
{
for(int i = getNumConstraints()-1; i>=0 ;i--)
{
btTypedConstraint* constraint = getConstraint(i);
debugDrawConstraint(constraint);
}
}
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
{
int i;
for ( i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
{
for (i=0;i<m_actions.size();i++)
{
m_actions[i]->debugDraw(m_debugDrawer);
}
}
}
}