void GxGDEW042T2_FPU::drawPaged(void (*drawCallback)(const void*, const void*), const void* p1, const void* p2)
{
if (_current_page != -1) return;
_using_partial_mode = false;
_wakeUp();
IO.writeCommandTransaction(0x13);
for (_current_page = 0; _current_page < GxGDEW042T2_FPU_PAGES; _current_page++)
{
fillScreen(GxEPD_WHITE);
drawCallback(p1, p2);
for (int16_t y1 = 0; y1 < GxGDEW042T2_FPU_PAGE_HEIGHT; y1++)
{
for (int16_t x1 = 0; x1 < GxGDEW042T2_FPU_WIDTH / 8; x1++)
{
uint16_t idx = y1 * (GxGDEW042T2_FPU_WIDTH / 8) + x1;
uint8_t data = (idx < sizeof(_buffer)) ? _buffer[idx] : 0x00;
IO.writeDataTransaction(~data);
}
}
}
_current_page = -1;
IO.writeCommandTransaction(0x12); //display refresh
_waitWhileBusy("drawPaged");
_sleep();
}
void GxGDEW042T2_FPU::drawPagedToWindow(void (*drawCallback)(uint32_t), uint16_t x, uint16_t y, uint16_t w, uint16_t h, uint32_t p)
{
if (_current_page != -1) return;
_rotate(x, y, w, h);
if (!_using_partial_mode)
{
eraseDisplay(false);
eraseDisplay(true);
}
_using_partial_mode = true;
for (_current_page = 0; _current_page < GxGDEW042T2_FPU_PAGES; _current_page++)
{
uint16_t yds = max(y, _current_page * GxGDEW042T2_FPU_PAGE_HEIGHT);
uint16_t yde = min(y + h, (_current_page + 1) * GxGDEW042T2_FPU_PAGE_HEIGHT);
if (yde > yds)
{
fillScreen(GxEPD_WHITE);
drawCallback(p);
//fillScreen(p);
uint16_t ys = yds % GxGDEW042T2_FPU_PAGE_HEIGHT;
_writeToWindow(x, ys, x, yds, w, yde - yds);
}
}
IO.writeCommandTransaction(0x12); //display refresh
delay(2);
_waitWhileBusy("updateToWindow");
// update erase buffer
for (_current_page = 0; _current_page < GxGDEW042T2_FPU_PAGES; _current_page++)
{
uint16_t yds = max(y, _current_page * GxGDEW042T2_FPU_PAGE_HEIGHT);
uint16_t yde = min(y + h, (_current_page + 1) * GxGDEW042T2_FPU_PAGE_HEIGHT);
if (yde > yds)
{
fillScreen(GxEPD_WHITE);
drawCallback(p);
//fillScreen(p);
uint16_t ys = yds % GxGDEW042T2_FPU_PAGE_HEIGHT;
_writeToWindow(x, ys, x, yds, w, yde - yds);
}
}
delay(2);
_waitWhileBusy("updateToWindow");
_current_page = -1;
}
void GxGDEP015OC1::drawPagedToWindow(void (*drawCallback)(const void*, const void*), uint16_t x, uint16_t y, uint16_t w, uint16_t h, const void* p1, const void* p2)
{
if (_current_page != -1) return;
_rotate(x, y, w, h);
if (!_using_partial_mode)
{
eraseDisplay(false);
eraseDisplay(true);
}
_using_partial_mode = true;
_Init_Part(0x03);
for (_current_page = 0; _current_page < GxGDEP015OC1_PAGES; _current_page++)
{
uint16_t yds = max(y, _current_page * GxGDEP015OC1_PAGE_HEIGHT);
uint16_t yde = min(y + h, (_current_page + 1) * GxGDEP015OC1_PAGE_HEIGHT);
if (yde > yds)
{
fillScreen(GxEPD_WHITE);
drawCallback(p1, p2);
uint16_t ys = yds % GxGDEP015OC1_PAGE_HEIGHT;
_writeToWindow(x, ys, x, yds, w, yde - yds);
}
}
_Update_Part();
delay(GxGDEP015OC1_PU_DELAY);
// update erase buffer
for (_current_page = 0; _current_page < GxGDEP015OC1_PAGES; _current_page++)
{
uint16_t yds = max(y, _current_page * GxGDEP015OC1_PAGE_HEIGHT);
uint16_t yde = min(y + h, (_current_page + 1) * GxGDEP015OC1_PAGE_HEIGHT);
if (yde > yds)
{
fillScreen(GxEPD_WHITE);
drawCallback(p1, p2);
uint16_t ys = yds % GxGDEP015OC1_PAGE_HEIGHT;
_writeToWindow(x, ys, x, yds, w, yde - yds);
}
}
delay(GxGDEP015OC1_PU_DELAY);
_current_page = -1;
_PowerOff();
}
void GxGDEP015OC1::drawPaged(void (*drawCallback)(const void*, const void*), const void* p1, const void* p2)
{
if (_current_page != -1) return;
_using_partial_mode = false;
_Init_Full(0x03);
_writeCommand(0x24);
for (_current_page = 0; _current_page < GxGDEP015OC1_PAGES; _current_page++)
{
fillScreen(GxEPD_WHITE);
drawCallback(p1, p2);
for (int16_t y1 = 0; y1 < GxGDEP015OC1_PAGE_HEIGHT; y1++)
{
for (int16_t x1 = 0; x1 < GxGDEP015OC1_WIDTH / 8; x1++)
{
uint16_t idx = y1 * (GxGDEP015OC1_WIDTH / 8) + x1;
uint8_t data = (idx < sizeof(_buffer)) ? _buffer[idx] : 0x00;
_writeData(~data);
}
}
}
_current_page = -1;
_Update_Full();
_PowerOff();
}
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);
}
}
}
}
}
}
