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Pushed code to draw a plane

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This commit is contained in:
Irlan
2019-06-04 19:38:43 -03:00
parent 552970cfe7
commit 43085c8cc1
4 changed files with 69 additions and 43 deletions
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86
examples/testbed/framework/draw.cpp
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@ -251,24 +251,9 @@ void Draw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 co
void Draw::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));
b3Vec3 n1, n3;
b3ComputeBasis(normal, n1, n3);
// 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);
b3Quat q(normal, kAngleInc);
@ -292,24 +277,9 @@ void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
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, n3;
b3ComputeBasis(normal, n1, n3);
// 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.
const u32 kEdgeCount = 20;
const float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
b3Quat q(normal, kAngleInc);
@ -460,6 +430,54 @@ void Draw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
DrawSegment(vs[1], vs[7], color);
}
void Draw::DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
{
b3Vec3 n1, n2;
b3ComputeBasis(normal, n1, n2);
float32 scale = 2.0f * radius;
// v1__v4
// | |
// v2__v3
b3Vec3 v1 = center - scale * n1 - scale * n2;
b3Vec3 v2 = center + scale * n1 - scale * n2;
b3Vec3 v3 = center + scale * n1 + scale * n2;
b3Vec3 v4 = center - scale * n1 + scale * n2;
DrawSegment(v1, v2, color);
DrawSegment(v2, v3, color);
DrawSegment(v3, v4, color);
DrawSegment(v4, v1, color);
DrawSegment(center, center + normal, color);
}
void Draw::DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
{
b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
b3Vec3 n1, n2;
b3ComputeBasis(normal, n1, n2);
float32 scale = 2.0f * radius;
b3Vec3 v1 = center - scale * n1 - scale * n2;
b3Vec3 v2 = center + scale * n1 - scale * n2;
b3Vec3 v3 = center + scale * n1 + scale * n2;
b3Vec3 v4 = center - scale * n1 + scale * n2;
DrawSegment(v1, v2, frameColor);
DrawSegment(v2, v3, frameColor);
DrawSegment(v3, v4, frameColor);
DrawSegment(v4, v1, frameColor);
DrawSegment(center, center + normal, frameColor);
DrawSolidTriangle(normal, v1, v2, v3, color);
DrawSolidTriangle(normal, v3, v4, v1, color);
}
void Draw::DrawString(const b3Color& color, const b3Vec2& ps, const char* text, ...)
{
va_list args;

4
examples/testbed/framework/draw.h
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@ -91,6 +91,10 @@ public:
void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
void DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
void DrawAABB(const b3AABB3& aabb, const b3Color& color);
void DrawTransform(const b3Transform& xf);

6
include/bounce/common/draw.h
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@ -107,6 +107,12 @@ public :
// Draw a solid capsule with segment and radius.
virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
// Draw a plane with center, normal and radius.
virtual void DrawPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
// Draw a solid plane with center, normal and radius.
virtual void DrawSolidPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
// Draw a AABB.
virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;

16
include/bounce/common/math/mat33.h
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@ -233,22 +233,20 @@ inline b3Mat33 b3Outer(const b3Vec3& a, const b3Vec3& b)
// Compute an orthogonal basis given one of its vectors.
// The vector must be normalized.
inline b3Mat33 b3Basis(const b3Vec3& a)
inline void b3ComputeBasis(const b3Vec3& a, b3Vec3& b, b3Vec3& c)
{
// Box2D
b3Mat33 A;
// https://box2d.org/2014/02/computing-a-basis/
if (b3Abs(a.x) >= float32(0.57735027))
{
A.y.Set(a.y, -a.x, 0.0f);
b.Set(a.y, -a.x, 0.0f);
}
else
{
A.y.Set(0.0f, a.z, -a.y);
b.Set(0.0f, a.z, -a.y);
}
A.x = a;
A.y = b3Normalize(A.y);
A.z = b3Cross(a, A.y);
return A;
b.Normalize();
c = b3Cross(a, b);
}
// Rotation about the x-axis.