466 lines
15 KiB
C++
466 lines
15 KiB
C++
// Filename: bulletDebugNode.cxx
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// Created by: enn0x (23Jan10)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "bulletDebugNode.h"
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#include "geomLines.h"
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#include "geomVertexData.h"
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#include "geomTriangles.h"
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#include "geomVertexFormat.h"
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#include "geomVertexWriter.h"
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#include "omniBoundingVolume.h"
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TypeHandle BulletDebugNode::_type_handle;
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::Constructor
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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BulletDebugNode::
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BulletDebugNode(const char *name) : GeomNode(name) {
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_wireframe = true;
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_constraints = true;
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_bounds = false;
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_drawer._normals = true;
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CPT (BoundingVolume) bounds = new OmniBoundingVolume();
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set_bounds(bounds);
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set_final(true);
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set_overall_hidden(true);
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// Lines
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{
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PT(GeomVertexData) vdata;
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PT(Geom) geom;
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PT(GeomLines) prim;
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vdata = new GeomVertexData("", GeomVertexFormat::get_v3c4(), Geom::UH_stream);
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prim = new GeomLines(Geom::UH_stream);
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prim->set_shade_model(Geom::SM_uniform);
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geom = new Geom(vdata);
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geom->add_primitive(prim);
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add_geom(geom);
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}
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// Triangles
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{
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PT(GeomVertexData) vdata;
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PT(Geom) geom;
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PT(GeomTriangles) prim;
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vdata = new GeomVertexData("", GeomVertexFormat::get_v3c4(), Geom::UH_stream);
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prim = new GeomTriangles(Geom::UH_stream);
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prim->set_shade_model(Geom::SM_uniform);
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geom = new Geom(vdata);
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geom->add_primitive(prim);
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add_geom(geom);
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}
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::safe_to_flatten
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// Access: Public, Virtual
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// Description: Returns true if it is generally safe to flatten out
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// this particular kind of Node by duplicating
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// instances, false otherwise (for instance, a Camera
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// cannot be safely flattened, because the Camera
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// pointer itself is meaningful).
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////////////////////////////////////////////////////////////////////
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bool BulletDebugNode::
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safe_to_flatten() const {
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return false;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::safe_to_transform
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// Access: Public, Virtual
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// Description: Returns true if it is generally safe to transform
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// this particular kind of Node by calling the xform()
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// method, false otherwise. For instance, it's usually
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// a bad idea to attempt to xform a Character.
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////////////////////////////////////////////////////////////////////
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bool BulletDebugNode::
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safe_to_transform() const {
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return false;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::safe_to_modify_transform
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// Access: Public, Virtual
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// Description: Returns true if it is safe to automatically adjust
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// the transform on this kind of node. Usually, this is
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// only a bad idea if the user expects to find a
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// particular transform on the node.
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//
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// ModelNodes with the preserve_transform flag set are
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// presently the only kinds of nodes that should not
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// have their transform even adjusted.
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////////////////////////////////////////////////////////////////////
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bool BulletDebugNode::
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safe_to_modify_transform() const {
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return false;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::safe_to_combine
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// Access: Public, Virtual
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// Description: Returns true if it is generally safe to combine this
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// particular kind of PandaNode with other kinds of
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// PandaNodes of compatible type, adding children or
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// whatever. For instance, an LODNode should not be
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// combined with any other PandaNode, because its set of
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// children is meaningful.
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////////////////////////////////////////////////////////////////////
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bool BulletDebugNode::
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safe_to_combine() const {
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return false;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::safe_to_combine_children
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// Access: Public, Virtual
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// Description: Returns true if it is generally safe to combine the
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// children of this PandaNode with each other. For
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// instance, an LODNode's children should not be
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// combined with each other, because the set of children
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// is meaningful.
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////////////////////////////////////////////////////////////////////
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bool BulletDebugNode::
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safe_to_combine_children() const {
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return false;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::safe_to_flatten_below
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// Access: Public, Virtual
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// Description: Returns true if a flatten operation may safely
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// continue past this node, or false if nodes below this
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// node may not be molested.
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////////////////////////////////////////////////////////////////////
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bool BulletDebugNode::
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safe_to_flatten_below() const {
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return false;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::draw_mask_changed
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// Access: Published
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::
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draw_mask_changed() {
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if (is_overall_hidden()) {
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_drawer.setDebugMode(DebugDraw::DBG_NoDebug);
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}
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else {
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int mode = DebugDraw::DBG_DrawText |
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DebugDraw::DBG_DrawFeaturesText |
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DebugDraw::DBG_DrawContactPoints;
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if (_wireframe) {
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mode |= DebugDraw::DBG_DrawWireframe;
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}
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if (_constraints) {
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mode |= DebugDraw::DBG_DrawConstraints;
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mode |= DebugDraw::DBG_DrawConstraintLimits;
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}
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if (_bounds) {
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mode |= DebugDraw::DBG_DrawAabb;
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}
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_drawer.setDebugMode(mode);
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}
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::sync_b2p
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// Access: Private
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::
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sync_b2p(btDynamicsWorld *world) {
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if (is_overall_hidden()) return;
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nassertv(get_num_geoms() == 2);
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// Collect debug geometry data
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_drawer._lines.clear();
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_drawer._triangles.clear();
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world->debugDrawWorld();
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// Get inverse of this node's net transform
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NodePath np = NodePath::any_path((PandaNode *)this);
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LMatrix4 m = np.get_net_transform()->get_mat();
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m.invert_in_place();
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// Render lines
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{
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PT(GeomVertexData) vdata;
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PT(Geom) geom;
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PT(GeomLines) prim;
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vdata = new GeomVertexData("", GeomVertexFormat::get_v3c4(), Geom::UH_stream);
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prim = new GeomLines(Geom::UH_stream);
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prim->set_shade_model(Geom::SM_uniform);
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GeomVertexWriter vwriter = GeomVertexWriter(vdata, InternalName::get_vertex());
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GeomVertexWriter cwriter = GeomVertexWriter(vdata, InternalName::get_color());
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int v = 0;
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pvector<Line>::const_iterator lit;
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for (lit = _drawer._lines.begin(); lit != _drawer._lines.end(); lit++) {
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Line line = *lit;
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vwriter.add_data3(m.xform_point(line._p0));
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vwriter.add_data3(m.xform_point(line._p1));
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cwriter.add_data4(LVecBase4(line._color));
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cwriter.add_data4(LVecBase4(line._color));
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prim->add_vertex(v++);
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prim->add_vertex(v++);
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prim->close_primitive();
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}
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geom = new Geom(vdata);
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geom->add_primitive(prim);
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set_geom(0, geom);
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}
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// Render triangles
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{
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PT(GeomVertexData) vdata;
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PT(Geom) geom;
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PT(GeomTriangles) prim;
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vdata = new GeomVertexData("", GeomVertexFormat::get_v3c4(), Geom::UH_stream);
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prim = new GeomTriangles(Geom::UH_stream);
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prim->set_shade_model(Geom::SM_uniform);
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GeomVertexWriter vwriter = GeomVertexWriter(vdata, InternalName::get_vertex());
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GeomVertexWriter cwriter = GeomVertexWriter(vdata, InternalName::get_color());
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int v = 0;
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pvector<Triangle>::const_iterator tit;
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for (tit = _drawer._triangles.begin(); tit != _drawer._triangles.end(); tit++) {
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Triangle tri = *tit;
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vwriter.add_data3(m.xform_point(tri._p0));
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vwriter.add_data3(m.xform_point(tri._p1));
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vwriter.add_data3(m.xform_point(tri._p2));
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cwriter.add_data4(LVecBase4(tri._color));
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cwriter.add_data4(LVecBase4(tri._color));
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cwriter.add_data4(LVecBase4(tri._color));
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prim->add_vertex(v++);
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prim->add_vertex(v++);
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prim->add_vertex(v++);
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prim->close_primitive();
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}
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geom = new Geom(vdata);
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geom->add_primitive(prim);
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set_geom(1, geom);
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}
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::setDebugMode
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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setDebugMode(int mode) {
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_mode = mode;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::getDebugMode
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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int BulletDebugNode::DebugDraw::
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getDebugMode() const {
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return _mode;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::reportErrorWarning
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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reportErrorWarning(const char *warning) {
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bullet_cat.error() << warning << endl;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::drawLine
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color) {
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PN_stdfloat r = color.getX();
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PN_stdfloat g = color.getY();
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PN_stdfloat b = color.getZ();
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// Hack to get rid of triangle normals. The hack is based on the
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// assumption that only normals are drawn in yellow.
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if (_normals==false && r==1.0f && g==1.0f && b==0.0f) return;
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Line line;
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line._p0 = LVecBase3((PN_stdfloat)from.getX(),
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(PN_stdfloat)from.getY(),
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(PN_stdfloat)from.getZ());
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line._p1 = LVecBase3((PN_stdfloat)to.getX(),
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(PN_stdfloat)to.getY(),
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(PN_stdfloat)to.getZ());
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line._color = UnalignedLVecBase4((PN_stdfloat)r,
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(PN_stdfloat)g,
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(PN_stdfloat)b, 1.0f);
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_lines.push_back(line);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::drawTriangle
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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drawTriangle(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &color, btScalar) {
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btScalar r = color.getX();
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btScalar g = color.getY();
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btScalar b = color.getZ();
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Triangle tri;
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tri._p0 = LVecBase3((PN_stdfloat)v0.getX(),
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(PN_stdfloat)v0.getY(),
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(PN_stdfloat)v0.getZ());
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tri._p1 = LVecBase3((PN_stdfloat)v1.getX(),
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(PN_stdfloat)v1.getY(),
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(PN_stdfloat)v1.getZ());
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tri._p2 = LVecBase3((PN_stdfloat)v2.getX(),
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(PN_stdfloat)v2.getY(),
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(PN_stdfloat)v2.getZ());
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tri._color = UnalignedLVecBase4((PN_stdfloat)r,
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(PN_stdfloat)g,
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(PN_stdfloat)b, 1.0f);
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_triangles.push_back(tri);
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// Draw the triangle's normal
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/*
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btVector3 x1 = v1 - v0;
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btVector3 x2 = v2 - v0;
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btVector3 normal = v1.cross(v2).normalize();
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btVector3 from = (v0 + v1 + v2) * 0.3333;
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btVector3 to = from + normal;
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drawLine(from, to, color);
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*/
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::drawTriangle
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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drawTriangle(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &n0, const btVector3 &n1, const btVector3 &n2, const btVector3 &color, btScalar alpha) {
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bullet_cat.debug() << "drawTriangle(2) - not yet implemented!" << endl;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::drawContactPoint
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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drawContactPoint(const btVector3 &point, const btVector3 &normal, btScalar distance, int lifetime, const btVector3 &color) {
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const btVector3 to = point + normal * distance;
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const btVector3 &from = point;
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drawLine(from, to, color);
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::draw3dText
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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draw3dText(const btVector3 &location, const char *text) {
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bullet_cat.debug() << "draw3dText - not yet implemented!" << endl;
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}
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////////////////////////////////////////////////////////////////////
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// Function: BulletDebugNode::DebugDraw::drawSphere
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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void BulletDebugNode::DebugDraw::
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drawSphere(btScalar radius, const btTransform &transform, const btVector3 &color) {
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btVector3 center = transform.getOrigin();
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const btVector3 xoffs = transform.getBasis() * btVector3(1, 0, 0);
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const btVector3 yoffs = transform.getBasis() * btVector3(0, 1, 0);
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const btVector3 zoffs = transform.getBasis() * btVector3(0, 0, 1);
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drawArc(center, xoffs, yoffs, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
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drawArc(center, yoffs, zoffs, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
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drawArc(center, zoffs, xoffs, radius, radius, 0, SIMD_2_PI, color, false, 10.0);
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}
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