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btIDebugDraw.h

/*
Copyright (c) 2005 Gino van den Bergen / Erwin Coumans http://continuousphysics.com

Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:

The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/


#ifndef IDEBUG_DRAW__H
#define IDEBUG_DRAW__H

#include "btVector3.h"
#include "btTransform.h"


///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
00038 class btIDebugDraw
{
      public:

      enum  DebugDrawModes
      {
            DBG_NoDebug=0,
            DBG_DrawWireframe = 1,
            DBG_DrawAabb=2,
            DBG_DrawFeaturesText=4,
            DBG_DrawContactPoints=8,
            DBG_NoDeactivation=16,
            DBG_NoHelpText = 32,
            DBG_DrawText=64,
            DBG_ProfileTimings = 128,
            DBG_EnableSatComparison = 256,
            DBG_DisableBulletLCP = 512,
            DBG_EnableCCD = 1024,
            DBG_DrawConstraints = (1 << 11),
            DBG_DrawConstraintLimits = (1 << 12),
            DBG_MAX_DEBUG_DRAW_MODE
      };

      virtual ~btIDebugDraw() {};

      virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
      {
            drawLine (from, to, fromColor);
      }

      virtual void      drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
      {
      }

      virtual void      drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
      {
      }

      virtual void      drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
      
      virtual     void  drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
      {
            drawTriangle(v0,v1,v2,color,alpha);
      }
      virtual     void  drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/)
      {
            drawLine(v0,v1,color);
            drawLine(v1,v2,color);
            drawLine(v2,v0,color);
      }

      virtual void      drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;

      virtual void      reportErrorWarning(const char* warningString) = 0;

      virtual void      draw3dText(const btVector3& location,const char* textString) = 0;
      
      virtual void      setDebugMode(int debugMode) =0;
      
      virtual int       getDebugMode() const = 0;

      inline void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
      {

            btVector3 halfExtents = (to-from)* 0.5f;
            btVector3 center = (to+from) *0.5f;
            int i,j;

            btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
            for (i=0;i<4;i++)
            {
                  for (j=0;j<3;j++)
                  {
                        pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],            
                              edgecoord[2]*halfExtents[2]);
                        pa+=center;

                        int othercoord = j%3;
                        edgecoord[othercoord]*=-1.f;
                        pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],      
                              edgecoord[2]*halfExtents[2]);
                        pb+=center;

                        drawLine(pa,pb,color);
                  }
                  edgecoord = btVector3(-1.f,-1.f,-1.f);
                  if (i<3)
                        edgecoord[i]*=-1.f;
            }
      }
      void drawTransform(const btTransform& transform, btScalar orthoLen)
      {
            btVector3 start = transform.getOrigin();
            drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
            drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
            drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
      }

      void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
                        const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
      {
            const btVector3& vx = axis;
            btVector3 vy = normal.cross(axis);
            btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
            int nSteps = (int)((maxAngle - minAngle) / step);
            if(!nSteps) nSteps = 1;
            btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
            if(drawSect)
            {
                  drawLine(center, prev, color);
            }
            for(int i = 1; i <= nSteps; i++)
            {
                  btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
                  btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
                  drawLine(prev, next, color);
                  prev = next;
            }
            if(drawSect)
            {
                  drawLine(center, prev, color);
            }
      }
      void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, 
            btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
      {
            btVector3 vA[74];
            btVector3 vB[74];
            btVector3 *pvA = vA, *pvB = vB, *pT;
            btVector3 npole = center + up * radius;
            btVector3 spole = center - up * radius;
            btVector3 arcStart;
            btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
            const btVector3& kv = up;
            const btVector3& iv = axis;
            btVector3 jv = kv.cross(iv);
            bool drawN = false;
            bool drawS = false;
            if(minTh <= -SIMD_HALF_PI)
            {
                  minTh = -SIMD_HALF_PI + step;
                  drawN = true;
            }
            if(maxTh >= SIMD_HALF_PI)
            {
                  maxTh = SIMD_HALF_PI - step;
                  drawS = true;
            }
            if(minTh > maxTh)
            {
                  minTh = -SIMD_HALF_PI + step;
                  maxTh =  SIMD_HALF_PI - step;
                  drawN = drawS = true;
            }
            int n_hor = (int)((maxTh - minTh) / step) + 1;
            if(n_hor < 2) n_hor = 2;
            btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
            bool isClosed = false;
            if(minPs > maxPs)
            {
                  minPs = -SIMD_PI + step;
                  maxPs =  SIMD_PI;
                  isClosed = true;
            }
            else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
            {
                  isClosed = true;
            }
            else
            {
                  isClosed = false;
            }
            int n_vert = (int)((maxPs - minPs) / step) + 1;
            if(n_vert < 2) n_vert = 2;
            btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
            for(int i = 0; i < n_hor; i++)
            {
                  btScalar th = minTh + btScalar(i) * step_h;
                  btScalar sth = radius * btSin(th);
                  btScalar cth = radius * btCos(th);
                  for(int j = 0; j < n_vert; j++)
                  {
                        btScalar psi = minPs + btScalar(j) * step_v;
                        btScalar sps = btSin(psi);
                        btScalar cps = btCos(psi);
                        pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
                        if(i)
                        {
                              drawLine(pvA[j], pvB[j], color);
                        }
                        else if(drawS)
                        {
                              drawLine(spole, pvB[j], color);
                        }
                        if(j)
                        {
                              drawLine(pvB[j-1], pvB[j], color);
                        }
                        else
                        {
                              arcStart = pvB[j];
                        }
                        if((i == (n_hor - 1)) && drawN)
                        {
                              drawLine(npole, pvB[j], color);
                        }
                        if(isClosed)
                        {
                              if(j == (n_vert-1))
                              {
                                    drawLine(arcStart, pvB[j], color);
                              }
                        }
                        else
                        {
                              if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
                              {
                                    drawLine(center, pvB[j], color);
                              }
                        }
                  }
                  pT = pvA; pvA = pvB; pvB = pT;
            }
      }
      
      void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
      {
            drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
            drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
            drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
            drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
            drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
            drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
            drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
            drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
            drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
            drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
            drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
            drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
      }
      void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
      {
            drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
            drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
            drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
            drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
            drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
            drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
      }
};


#endif //IDEBUG_DRAW__H


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