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Draw capsule in world space

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This commit is contained in:
Irlan 2019-06-04 21:47:01 -03:00
parent 53e1f3a0be
commit b277b8b588
4 changed files with 15 additions and 13 deletions
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17
examples/testbed/framework/draw.cpp
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@ -341,14 +341,14 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
}
}
void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Transform& transform, const b3Color& c)
void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Mat33& rotation, const b3Color& c)
{
float32 height = b3Length(c1 - c2);
{
b3Transform xf;
xf.rotation = transform.rotation;
xf.position = transform * c1;
xf.rotation = rotation;
xf.position = c1;
m_solid->DrawSphere(radius, c, xf);
}
@ -357,20 +357,19 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
{
b3Mat33 R;
R.y = (1.0f / height) * (c1 - c2);
R.z = b3Perp(R.y);
R.x = b3Cross(R.y, R.z);
b3ComputeBasis(R.y, R.z, R.x);
b3Transform xf;
xf.position = transform * (0.5f * (c1 + c2));
xf.rotation = transform.rotation * R;
xf.position = (0.5f * (c1 + c2));
xf.rotation = R;
m_solid->DrawCylinder(radius, height, c, xf);
}
{
b3Transform xf;
xf.rotation = transform.rotation;
xf.position = transform * c2;
xf.rotation = rotation;
xf.position = c2;
m_solid->DrawSphere(radius, c, xf);
}
}

2
examples/testbed/framework/draw.h
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@ -89,7 +89,7 @@ public:
void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color);
void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, const b3Color& color);
void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);

4
include/bounce/common/draw.h
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@ -110,8 +110,8 @@ public :
// 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 local segment, radius, and transform.
virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color) = 0;
// Draw a solid capsule with local segment, radius, and rotation.
virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, const b3Color& color) = 0;
// Draw a AABB.
virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;

5
src/bounce/dynamics/draw_world.cpp
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@ -250,7 +250,10 @@ void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const
{
const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
b3Draw_draw->DrawSolidCapsule(capsule->m_centers[0], capsule->m_centers[1], capsule->m_radius, xf, color);
b3Vec3 c1 = xf * capsule->m_centers[0];
b3Vec3 c2 = xf * capsule->m_centers[1];
b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, xf.rotation, color);
break;
}