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Draw solid stuff inside b3World

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This commit is contained in:
Irlan 2019-06-04 20:56:51 -03:00
parent 43085c8cc1
commit 56db3517f9
10 changed files with 165 additions and 218 deletions
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171
examples/testbed/framework/draw.cpp
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@ -302,16 +302,16 @@ void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
void Draw::DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color)
{
b3Transform xf;
xf.SetIdentity();
xf.rotation.SetIdentity();
xf.position = center;
m_wire->DrawSphere(radius, color, xf);
}
void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color)
void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color)
{
b3Transform xf;
xf.SetIdentity();
xf.rotation = rotation;
xf.position = center;
m_solid->DrawSphere(radius, color, xf);
@ -529,171 +529,6 @@ void Draw::DrawString(const b3Color& color, const char* text, ...)
va_end(args);
}
void Draw::DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf)
{
b3Transform xfc;
xfc.rotation = xf.rotation;
xfc.position = xf * s->m_center;
m_solid->DrawSphere(s->m_radius, c, xfc);
}
void Draw::DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf)
{
b3Vec3 c1 = s->m_centers[0];
b3Vec3 c2 = s->m_centers[1];
float32 height = b3Length(c1 - c2);
float32 radius = s->m_radius;
{
b3Transform xfc;
xfc.rotation = xf.rotation;
xfc.position = xf * c1;
m_solid->DrawSphere(radius, c, xfc);
}
if (height > 0.0f)
{
{
b3Mat33 R;
R.y = (1.0f / height) * (c1 - c2);
R.z = b3Perp(R.y);
R.x = b3Cross(R.y, R.z);
b3Transform xfc;
xfc.position = xf * (0.5f * (c1 + c2));
xfc.rotation = xf.rotation * R;
m_solid->DrawCylinder(radius, height, c, xfc);
}
{
b3Transform xfc;
xfc.rotation = xf.rotation;
xfc.position = xf * c2;
m_solid->DrawSphere(radius, c, xfc);
}
}
}
void Draw::DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf)
{
const b3Hull* hull = s->m_hull;
for (u32 i = 0; i < hull->faceCount; ++i)
{
const b3Face* face = hull->GetFace(i);
const b3HalfEdge* begin = hull->GetEdge(face->edge);
b3Vec3 n = xf.rotation * hull->planes[i].normal;
const b3HalfEdge* edge = hull->GetEdge(begin->next);
do
{
u32 i1 = begin->origin;
u32 i2 = edge->origin;
const b3HalfEdge* next = hull->GetEdge(edge->next);
u32 i3 = next->origin;
b3Vec3 p1 = xf * hull->vertices[i1];
b3Vec3 p2 = xf * hull->vertices[i2];
b3Vec3 p3 = xf * hull->vertices[i3];
m_triangles->Vertex(p1, c, n);
m_triangles->Vertex(p2, c, n);
m_triangles->Vertex(p3, c, n);
edge = next;
} while (hull->GetEdge(edge->next) != begin);
}
}
void Draw::DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf)
{
const b3Mesh* mesh = s->m_mesh;
for (u32 i = 0; i < mesh->triangleCount; ++i)
{
const b3Triangle* t = mesh->triangles + i;
b3Vec3 p1 = xf * mesh->vertices[t->v1];
b3Vec3 p2 = xf * mesh->vertices[t->v2];
b3Vec3 p3 = xf * mesh->vertices[t->v3];
b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
n1.Normalize();
m_triangles->Vertex(p1, c, n1);
m_triangles->Vertex(p2, c, n1);
m_triangles->Vertex(p3, c, n1);
b3Vec3 n2 = -n1;
m_triangles->Vertex(p1, c, n2);
m_triangles->Vertex(p3, c, n2);
m_triangles->Vertex(p2, c, n2);
}
}
void Draw::DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf)
{
switch (s->GetType())
{
case e_sphereShape:
{
DrawSolidSphere((b3SphereShape*)s, c, xf);
break;
}
case e_capsuleShape:
{
DrawSolidCapsule((b3CapsuleShape*)s, c, xf);
break;
}
case e_hullShape:
{
DrawSolidHull((b3HullShape*)s, c, xf);
break;
}
case e_meshShape:
{
DrawSolidMesh((b3MeshShape*)s, c, xf);
break;
}
default:
{
break;
}
}
}
void Draw::DrawSolidShapes(const b3World& world)
{
for (b3Body* b = world.GetBodyList().m_head; b; b = b->GetNext())
{
b3Color c;
if (b->IsAwake() == false)
{
c = b3Color(0.5f, 0.25f, 0.25f, 1.0f);
}
else if (b->GetType() == e_staticBody)
{
c = b3Color(0.5f, 0.5f, 0.5f, 1.0f);
}
else if (b->GetType() == e_dynamicBody)
{
c = b3Color(1.0f, 0.5f, 0.5f, 1.0f);
}
else
{
c = b3Color(0.5f, 0.5f, 1.0f, 1.0f);
}
b3Transform xf = b->GetTransform();
for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
{
DrawSolidShape(s, c, xf);
}
}
}
void Draw::Flush()
{
m_triangles->Flush();

14
examples/testbed/framework/draw.h
View File

@ -85,7 +85,7 @@ public:
void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color);
void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color);
void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color);
void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
@ -105,18 +105,6 @@ public:
void DrawString(const b3Color& color, const char* string, ...);
void DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf);
void DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf);
void DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf);
void DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf);
void DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf);
void DrawSolidShapes(const b3World& world);
void Flush();
private:
friend struct DrawPoints;

2
examples/testbed/framework/test.cpp
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@ -88,7 +88,7 @@ void Test::Step()
if (g_settings->drawTriangles)
{
g_draw->DrawSolidShapes(m_world);
m_world.DrawSolid();
}
if (g_settings->drawStats)

8
examples/testbed/tests/collide_test.h
View File

@ -50,13 +50,13 @@ public:
g_draw->DrawSegment(pw, pw + wm.points[i].normal, b3Color_white);
}
m_world.DrawShape(m_xfA, m_shapeA);
m_world.DrawShape(m_xfB, m_shapeB);
m_world.DrawShape(m_xfA, m_shapeA, b3Color_black);
m_world.DrawShape(m_xfB, m_shapeB, b3Color_black);
g_draw->Flush();
g_draw->DrawSolidShape(m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.25f), m_xfA);
g_draw->DrawSolidShape(m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.25f), m_xfB);
m_world.DrawSolidShape(m_xfA, m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.25f));
m_world.DrawSolidShape(m_xfB, m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.25f));
g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");

4
examples/testbed/tests/distance_test.h
View File

@ -68,8 +68,8 @@ public:
g_draw->DrawTransform(m_xfA);
g_draw->DrawTransform(m_xfB);
m_world.DrawShape(m_xfA, &m_shapeA);
m_world.DrawShape(m_xfB, &m_shapeB);
m_world.DrawShape(m_xfA, &m_shapeA, b3Color_black);
m_world.DrawShape(m_xfB, &m_shapeB, b3Color_black);
g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");

10
examples/testbed/tests/shape_cast.h
View File

@ -30,11 +30,11 @@ public:
g_draw->DrawTransform(m_xfA);
g_draw->DrawTransform(m_xfB);
m_world.DrawShape(m_xfA, &m_shapeA);
m_world.DrawShape(m_xfB, &m_shapeB);
m_world.DrawShape(m_xfA, &m_shapeA, b3Color_black);
m_world.DrawShape(m_xfB, &m_shapeB, b3Color_black);
g_draw->DrawSolidShape(&m_shapeA, b3Color_white, m_xfA);
g_draw->DrawSolidShape(&m_shapeB, b3Color_white, m_xfB);
m_world.DrawSolidShape(m_xfA, &m_shapeA, b3Color_white);
m_world.DrawSolidShape(m_xfB, &m_shapeB, b3Color_white);
b3Vec3 translationB = -100.0f * b3Vec3_x;
g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
@ -53,7 +53,7 @@ public:
xfB.rotation = m_xfB.rotation;
xfB.position = m_xfB.position + out.t * translationB;
m_world.DrawShape(xfB, &m_shapeB);
m_world.DrawShape(xfB, &m_shapeB, b3Color_black);
}
}

24
include/bounce/common/draw.h
View File

@ -95,24 +95,24 @@ public :
// Draw a solid circle with center, normal, and radius.
virtual void DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color) = 0;
// Draw a sphere with center and radius.
virtual void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;
// Draw a solid sphere with center and radius.
virtual void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;
// Draw a capsule with segment and radius.
virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
// 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 sphere with center, and radius.
virtual void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;
// Draw a solid sphere with center, radius, and rotation.
virtual void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color) = 0;
// Draw a capsule with segment, and radius.
virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
// 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 AABB.
virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;

11
include/bounce/dynamics/world.h
View File

@ -22,6 +22,7 @@
#include <bounce/common/memory/stack_allocator.h>
#include <bounce/common/memory/block_pool.h>
#include <bounce/common/template/list.h>
#include <bounce/common/draw.h>
#include <bounce/dynamics/time_step.h>
#include <bounce/dynamics/joint_manager.h>
#include <bounce/dynamics/contact_manager.h>
@ -121,9 +122,15 @@ public:
// Draw the entities in this world.
void Draw() const;
// Draw solid the entities in this world.
void DrawSolid() const;
// Draw a shape.
void DrawShape(const b3Transform& xf, const b3Shape* shape) const;
private :
void DrawShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const;
// Draw solid a shape.
void DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const;
private:
enum b3Flags
{
e_shapeAddedFlag = 0x0001,

135
src/bounce/dynamics/draw_world.cpp
View File

@ -51,7 +51,7 @@ void b3World::Draw() const
const b3Transform& xf = b->GetTransform();
for (b3Shape* s = b->m_shapeList.m_head; s; s = s->m_next)
{
DrawShape(xf, s);
DrawShape(xf, s, b3Color_black);
}
}
}
@ -142,16 +142,15 @@ void b3World::Draw() const
}
}
void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const
{
b3Color wireColor(0.0f, 0.0f, 0.0f);
switch (shape->GetType())
{
case e_sphereShape:
{
const b3SphereShape* sphere = (b3SphereShape*)shape;
b3Vec3 p = xf * sphere->m_center;
b3Draw_draw->DrawPoint(p, 4.0f, wireColor);
b3Draw_draw->DrawPoint(p, 4.0f, color);
break;
}
case e_capsuleShape:
@ -159,9 +158,9 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
b3Vec3 p1 = xf * capsule->m_centers[0];
b3Vec3 p2 = xf * capsule->m_centers[1];
b3Draw_draw->DrawPoint(p1, 4.0f, wireColor);
b3Draw_draw->DrawPoint(p2, 4.0f, wireColor);
b3Draw_draw->DrawSegment(p1, p2, wireColor);
b3Draw_draw->DrawPoint(p1, 4.0f, color);
b3Draw_draw->DrawPoint(p2, 4.0f, color);
b3Draw_draw->DrawSegment(p1, p2, color);
break;
}
case e_hullShape:
@ -176,7 +175,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
b3Vec3 p1 = xf * hull->vertices[edge->origin];
b3Vec3 p2 = xf * hull->vertices[twin->origin];
b3Draw_draw->DrawSegment(p1, p2, wireColor);
b3Draw_draw->DrawSegment(p1, p2, color);
}
break;
}
@ -192,7 +191,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
b3Vec3 p2 = xf * mesh->vertices[t->v2];
b3Vec3 p3 = xf * mesh->vertices[t->v3];
b3Draw_draw->DrawTriangle(p1, p2, p3, wireColor);
b3Draw_draw->DrawTriangle(p1, p2, p3, color);
}
break;
}
@ -201,4 +200,122 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
break;
}
};
}
void b3World::DrawSolid() const
{
for (b3Body* b = m_bodyList.m_head; b; b = b->GetNext())
{
b3Color c;
if (b->IsAwake() == false)
{
c = b3Color(0.5f, 0.25f, 0.25f, 1.0f);
}
else if (b->GetType() == e_staticBody)
{
c = b3Color(0.5f, 0.5f, 0.5f, 1.0f);
}
else if (b->GetType() == e_dynamicBody)
{
c = b3Color(1.0f, 0.5f, 0.5f, 1.0f);
}
else
{
c = b3Color(0.5f, 0.5f, 1.0f, 1.0f);
}
b3Transform xf = b->GetTransform();
for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
{
DrawSolidShape(xf, s, c);
}
}
}
void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const
{
switch (shape->GetType())
{
case e_sphereShape:
{
const b3SphereShape* sphere = (b3SphereShape*)shape;
b3Vec3 center = xf * sphere->m_center;
b3Draw_draw->DrawSolidSphere(center, sphere->m_radius, xf.rotation, color);
break;
}
case e_capsuleShape:
{
const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
b3Vec3 c1 = xf * capsule->m_centers[0];
b3Vec3 c2 = xf * capsule->m_centers[1];
b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, color);
break;
}
case e_hullShape:
{
const b3HullShape* hullShape = (b3HullShape*)shape;
const b3Hull* hull = hullShape->m_hull;
for (u32 i = 0; i < hull->faceCount; ++i)
{
const b3Face* face = hull->GetFace(i);
const b3HalfEdge* begin = hull->GetEdge(face->edge);
b3Vec3 n = xf.rotation * hull->planes[i].normal;
const b3HalfEdge* edge = hull->GetEdge(begin->next);
do
{
u32 i1 = begin->origin;
u32 i2 = edge->origin;
const b3HalfEdge* next = hull->GetEdge(edge->next);
u32 i3 = next->origin;
b3Vec3 p1 = xf * hull->vertices[i1];
b3Vec3 p2 = xf * hull->vertices[i2];
b3Vec3 p3 = xf * hull->vertices[i3];
b3Draw_draw->DrawSolidTriangle(n, p1, p2, p3, color);
edge = next;
} while (hull->GetEdge(edge->next) != begin);
}
break;
}
case e_meshShape:
{
const b3MeshShape* meshShape = (b3MeshShape*)shape;
const b3Mesh* mesh = meshShape->m_mesh;
for (u32 i = 0; i < mesh->triangleCount; ++i)
{
const b3Triangle* t = mesh->triangles + i;
b3Vec3 p1 = xf * mesh->vertices[t->v1];
b3Vec3 p2 = xf * mesh->vertices[t->v2];
b3Vec3 p3 = xf * mesh->vertices[t->v3];
b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
n1.Normalize();
b3Draw_draw->DrawSolidTriangle(n1, p1, p2, p3, color);
b3Vec3 n2 = -n1;
b3Draw_draw->DrawSolidTriangle(n2, p3, p2, p1, color);
}
break;
}
default:
{
break;
}
};
}

4
src/bounce/rope/rope.cpp
View File

@ -480,7 +480,7 @@ void b3Rope::Draw() const
b3RopeBody* b = m_links;
b3Draw_draw->DrawTransform(b->m_X);
b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b->m_X.rotation, b3Color_green);
}
for (u32 i = 1; i < m_count; ++i)
@ -498,6 +498,6 @@ void b3Rope::Draw() const
b3Draw_draw->DrawPoint(X_J0.position, 5.0f, b3Color_red);
b3Draw_draw->DrawTransform(b->m_X);
b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b->m_X.rotation, b3Color_green);
}
}