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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)