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fix and improve circle debug drawing

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This commit is contained in:
Irlan 2017-03-03 16:46:13 -03:00
parent edd29d729a
commit 03ebca5728
4 changed files with 92 additions and 42 deletions
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99
examples/testbed/framework/debug_draw.cpp
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@ -1137,7 +1137,7 @@ void DebugDraw::DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& co
void DebugDraw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 count, const b3Color& color)
{
b3Color fillColor(color.r, color.g, color.b, color.a);
b3Vec3 p1 = vertices[0];
for (u32 i = 1; i < count - 1; ++i)
{
@ -1149,60 +1149,91 @@ void DebugDraw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u
m_triangles->Vertex(p3, fillColor, normal);
}
b3Color edgeColor(0.0f, 0.0f, 0.0f, 1.0f);
DrawPolygon(vertices, count, edgeColor);
b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
DrawPolygon(vertices, count, frameColor);
}
void DebugDraw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
{
// Build a tangent vector to normal.
b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
// Handle edge cases (zero cross product).
b3Vec3 n1;
if (b3LengthSquared(u) > b3LengthSquared(v))
{
n1 = u;
}
else
{
n1 = v;
}
n1.Normalize();
// Build a quaternion to rotate the tangent about the normal.
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
float32 cosInc = cos(kAngleInc);
float32 sinInc = sin(kAngleInc);
float32 tInc = 1.0f - cosInc;
b3Quat q(normal, kAngleInc);
b3Vec3 n1 = b3Perp(normal);
b3Vec3 v1 = center + radius * n1;
b3Vec3 p1 = center + radius * n1;
for (u32 i = 0; i < kEdgeCount; ++i)
{
// Rodrigues' rotation formula
b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
b3Vec3 v2 = center + radius * n2;
b3Vec3 n2 = b3Mul(q, n1);
b3Vec3 p2 = center + radius * n2;
m_lines->Vertex(v1, color);
m_lines->Vertex(v2, color);
m_lines->Vertex(p1, color);
m_lines->Vertex(p2, color);
n1 = n2;
v1 = v2;
p1 = p2;
}
}
void DebugDraw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
{
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
float32 cosInc = cos(kAngleInc);
float32 sinInc = sin(kAngleInc);
float32 tInc = 1.0f - cosInc;
b3Color fillColor(color.r, color.g, color.b, color.a);
b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
// Build a tangent vector to normal.
b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
b3Vec3 n1 = b3Perp(normal);
b3Vec3 v1 = center + radius * n1;
for (u32 i = 0; i < kEdgeCount; ++i)
// Handle edge cases (zero cross product).
b3Vec3 n1;
if (b3LengthSquared(u) > b3LengthSquared(v))
{
// Rodrigues' rotation formula
b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
b3Vec3 v2 = center + radius * n2;
m_triangles->Vertex(center, color, normal);
m_triangles->Vertex(v1, color, normal);
m_triangles->Vertex(v2, color, normal);
n1 = n2;
v1 = v2;
n1 = u;
}
else
{
n1 = v;
}
b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
DrawCircle(normal, center, radius, frameColor);
n1.Normalize();
// Build a quaternion to rotate the tangent about the normal.
const u32 kEdgeCount = 20;
const float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
b3Quat q(normal, kAngleInc);
b3Vec3 p1 = center + radius * n1;
for (u32 i = 0; i < kEdgeCount; ++i)
{
b3Vec3 n2 = b3Mul(q, n1);
b3Vec3 p2 = center + radius * n2;
m_triangles->Vertex(center, fillColor, normal);
m_triangles->Vertex(p1, fillColor, normal);
m_triangles->Vertex(p2, fillColor, normal);
m_lines->Vertex(p1, frameColor);
m_lines->Vertex(p2, frameColor);
n1 = n2;
p1 = p2;
}
}
void DebugDraw::DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color)

30
examples/testbed/framework/test.cpp
View File

@ -357,6 +357,8 @@ void Test::Step()
m_world.Step(dt, g_settings.velocityIterations, g_settings.positionIterations);
ProfileEnd();
g_debugDraw->Submit();
// Draw World
u32 drawFlags = 0;
@ -370,6 +372,18 @@ void Test::Step()
g_debugDraw->SetFlags(drawFlags);
m_world.DebugDraw();
if (m_mouseJoint)
{
b3Shape* shape = m_rayHit.shape;
b3Body* body = shape->GetBody();
b3Vec3 n = body->GetWorldVector(m_rayHit.normal);
b3Vec3 p = body->GetWorldPoint(m_rayHit.point);
g_debugDraw->DrawSolidCircle(n, p + 0.05f * n, 1.0f, b3Color_white);
}
g_debugDraw->Submit();
if (g_settings.drawFaces)
@ -453,17 +467,21 @@ void Test::MouseLeftDown(const Ray3& pw)
m_world.DestroyBody(groundBody);
}
// Perform the ray cast
b3Vec3 p1 = pw.Start();
b3Vec3 p2 = pw.End();
RayCastListener listener;
listener.hit.shape = NULL;
// Perform the ray cast
b3RayCastSingleOutput out;
if (m_world.RayCastSingle(&out, p1, p2))
{
m_rayHit = out;
b3Shape* shape = out.shape;
b3Body* body = shape->GetBody();
m_rayHit.shape = out.shape;
m_rayHit.point = body->GetLocalPoint(out.point);
m_rayHit.normal = body->GetLocalVector(out.normal);
m_rayHit.fraction = out.fraction;
RayHit();
}
}
@ -491,7 +509,7 @@ void Test::RayHit()
b3MouseJointDef def;
def.bodyA = bodyA;
def.bodyB = bodyB;
def.target = m_rayHit.point;
def.target = bodyB->GetWorldPoint(m_rayHit.point);
def.maxForce = 2000.0f * bodyB->GetMass();
m_mouseJoint = (b3MouseJoint*)m_world.CreateJoint(def);

3
examples/testbed/tests/ray_cast.h
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@ -209,7 +209,8 @@ public:
{
g_debugDraw->DrawSegment(p1, out.point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.point, 4.0f, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(out.point, out.point + out.normal, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSegment(out.point, out.normal, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSolidCircle(out.normal, out.point + 0.05f * out.normal, 1.0f, b3Color(1.0f, 1.0f, 1.0f));
}
else
{

2
examples/testbed/tests/test.h
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@ -134,7 +134,7 @@ public:
b3World m_world;
b3RayCastSingleOutput m_rayHit;
b3RayCastSingleOutput m_rayHit; // local space
b3BoxHull m_groundHull;
b3BoxHull m_boxHull;
b3BoxHull m_tallHull;