AnotherFoxGuy/bounce
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add rope

Browse Source
This commit is contained in:
Irlan
2017-05-28 21:05:32 -03:00
parent e0d2580fa1
commit c411bf341a
34 changed files with 1693 additions and 181 deletions
Download Patch File Download Diff File Expand all files Collapse all files

63
examples/testbed/framework/debug_draw.cpp
View File

@ -64,7 +64,7 @@ b3Mat44 Camera::BuildProjectionMatrix() const
b3Transform Camera::BuildWorldTransform() const
{
b3Transform xf;
xf.rotation = b3ConvertQuatToMat(m_q);
xf.rotation = b3QuatMat33(m_q);
xf.position = (m_zoom * xf.rotation.z) - m_center;
return xf;
}
@ -78,7 +78,7 @@ b3Mat44 Camera::BuildWorldMatrix() const
b3Transform Camera::BuildViewTransform() const
{
b3Transform xf;
xf.rotation = b3ConvertQuatToMat(m_q);
xf.rotation = b3QuatMat33(m_q);
xf.position = (m_zoom * xf.rotation.z) - m_center;
return b3Inverse(xf);
}
@ -1281,6 +1281,65 @@ void DebugDraw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Co
m_solid->DrawSphere(radius, color, xf);
}
void DebugDraw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& color)
{
float32 height = b3Length(c1 - c2);
{
b3Transform xfc;
xfc.rotation.SetIdentity();
xfc.position = c1;
m_wire->DrawSphere(radius, color, xfc);
}
if (height > 0.0f)
{
DrawSegment(c1, c2, color);
{
b3Transform xfc;
xfc.rotation.SetIdentity();
xfc.position = c2;
m_wire->DrawSphere(radius, color, xfc);
}
}
}
void DebugDraw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& c)
{
float32 height = b3Length(c1 - c2);
{
b3Transform xfc;
xfc.rotation.SetIdentity();
xfc.position = 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 = 0.5f * (c1 + c2);
xfc.rotation = R;
m_solid->DrawCylinder(radius, height, c, xfc);
}
{
b3Transform xfc;
xfc.rotation.SetIdentity();
xfc.position = c2;
m_solid->DrawSphere(radius, c, xfc);
}
}
}
void DebugDraw::DrawTransform(const b3Transform& xf)
{
float32 lenght = 1.0f;