btIDebugDraw Class Reference

#include <btIDebugDraw.h>

List of all members.

Public Types
enum	DebugDrawModes {   DBG_NoDebug = 0, DBG_DrawWireframe = 1, DBG_DrawAabb = 2, DBG_DrawFeaturesText = 4,   DBG_DrawContactPoints = 8, DBG_NoDeactivation = 16, DBG_NoHelpText = 32, DBG_DrawText = 64,   DBG_ProfileTimings = 128, DBG_EnableSatComparison = 256, DBG_DisableBulletLCP = 512, DBG_EnableCCD = 1024,   DBG_DrawConstraints = (1 << 11), DBG_DrawConstraintLimits = (1 << 12), DBG_FastWireframe = (1<<13), DBG_MAX_DEBUG_DRAW_MODE }
Public Member Functions
virtual	~btIDebugDraw ()
virtual void	drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
virtual void	drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &fromColor, const btVector3 &toColor)
virtual void	drawSphere (btScalar radius, const btTransform &transform, const btVector3 &color)
virtual void	drawSphere (const btVector3 &p, btScalar radius, const btVector3 &color)
virtual void	drawTriangle (const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &, const btVector3 &, const btVector3 &, const btVector3 &color, btScalar alpha)
virtual void	drawTriangle (const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &color, btScalar)
virtual void	drawContactPoint (const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual void	reportErrorWarning (const char *warningString)=0
virtual void	draw3dText (const btVector3 &location, const char *textString)=0
virtual void	setDebugMode (int debugMode)=0
virtual int	getDebugMode () const =0
virtual void	drawAabb (const btVector3 &from, const btVector3 &to, const btVector3 &color)
virtual void	drawTransform (const btTransform &transform, btScalar orthoLen)
virtual void	drawArc (const btVector3 &center, const btVector3 &normal, const btVector3 &axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, const btVector3 &color, bool drawSect, btScalar stepDegrees=btScalar(10.f))
virtual void	drawSpherePatch (const btVector3 &center, const btVector3 &up, const btVector3 &axis, btScalar radius, btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3 &color, btScalar stepDegrees=btScalar(10.f))
virtual void	drawBox (const btVector3 &bbMin, const btVector3 &bbMax, const btVector3 &color)
virtual void	drawBox (const btVector3 &bbMin, const btVector3 &bbMax, const btTransform &trans, const btVector3 &color)
virtual void	drawCapsule (btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
virtual void	drawCylinder (btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
virtual void	drawCone (btScalar radius, btScalar height, int upAxis, const btTransform &transform, const btVector3 &color)
virtual void	drawPlane (const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)

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Detailed Description

The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld. A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum. For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]

Definition at line 28 of file btIDebugDraw.h.

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Member Enumeration Documentation

enum btIDebugDraw::DebugDrawModes

Enumerator:

DBG_NoDebug
DBG_DrawWireframe
DBG_DrawAabb
DBG_DrawFeaturesText
DBG_DrawContactPoints
DBG_NoDeactivation
DBG_NoHelpText
DBG_DrawText
DBG_ProfileTimings
DBG_EnableSatComparison
DBG_DisableBulletLCP
DBG_EnableCCD
DBG_DrawConstraints
DBG_DrawConstraintLimits
DBG_FastWireframe
DBG_MAX_DEBUG_DRAW_MODE

Definition at line 32 of file btIDebugDraw.h.

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Constructor & Destructor Documentation

virtual btIDebugDraw::~btIDebugDraw

(

)

[inline, virtual]

Definition at line 52 of file btIDebugDraw.h.

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Member Function Documentation

virtual void btIDebugDraw::draw3dText	(	const btVector3 &	location,
		const char *	textString
	)		[pure virtual]

Referenced by btSoftBodyHelpers::Draw(), and btSoftBodyHelpers::DrawInfos().

virtual void btIDebugDraw::drawAabb	(	const btVector3 &	from,
		const btVector3 &	to,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 118 of file btIDebugDraw.h.

References drawLine(), and i.

Referenced by btCollisionWorld::debugDrawWorld(), btCompoundLeafCallback::Process(), and btCompoundLeafCallback::ProcessChildShape().

virtual void btIDebugDraw::drawArc	(	const btVector3 &	center,
		const btVector3 &	normal,
		const btVector3 &	axis,
		btScalar	radiusA,
		btScalar	radiusB,
		btScalar	minAngle,
		btScalar	maxAngle,
		const btVector3 &	color,
		bool	drawSect,
		btScalar	stepDegrees = btScalar(10.f)
	)		[inline, virtual]

Definition at line 155 of file btIDebugDraw.h.

References angle(), btCos(), btSin(), drawLine(), i, next, SIMD_RADS_PER_DEG, and step().

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint(), drawCone(), and drawCylinder().

virtual void btIDebugDraw::drawBox	(	const btVector3 &	bbMin,
		const btVector3 &	bbMax,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 282 of file btIDebugDraw.h.

References drawLine().

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint(), and btCollisionWorld::debugDrawObject().

virtual void btIDebugDraw::drawBox	(	const btVector3 &	bbMin,
		const btVector3 &	bbMax,
		const btTransform &	trans,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 297 of file btIDebugDraw.h.

References drawLine().

virtual void btIDebugDraw::drawCapsule	(	btScalar	radius,
		btScalar	halfHeight,
		int	upAxis,
		const btTransform &	transform,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 313 of file btIDebugDraw.h.

References MakeCursor::color, drawLine(), drawSphere(), btTransform::getBasis(), btTransform::getOrigin(), and transform().

Referenced by btCollisionWorld::debugDrawObject().

virtual void btIDebugDraw::drawCone	(	btScalar	radius,
		btScalar	height,
		int	upAxis,
		const btTransform &	transform,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 375 of file btIDebugDraw.h.

References MakeCursor::color, drawArc(), drawLine(), btTransform::getBasis(), btTransform::getOrigin(), and SIMD_2_PI.

Referenced by btCollisionWorld::debugDrawObject().

virtual void btIDebugDraw::drawContactPoint	(	const btVector3 &	PointOnB,
		const btVector3 &	normalOnB,
		btScalar	distance,
		int	lifeTime,
		const btVector3 &	color
	)		[pure virtual]

Referenced by btCollisionWorld::debugDrawWorld().

virtual void btIDebugDraw::drawCylinder	(	btScalar	radius,
		btScalar	halfHeight,
		int	upAxis,
		const btTransform &	transform,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 356 of file btIDebugDraw.h.

References MakeCursor::color, drawArc(), drawLine(), btTransform::getBasis(), btTransform::getOrigin(), and SIMD_2_PI.

Referenced by btCollisionWorld::debugDrawObject().

virtual void btIDebugDraw::drawLine	(	const btVector3 &	from,
		const btVector3 &	to,
		const btVector3 &	fromColor,
		const btVector3 &	toColor
	)		[inline, virtual]

Definition at line 56 of file btIDebugDraw.h.

References drawLine().

virtual void btIDebugDraw::drawLine	(	const btVector3 &	from,
		const btVector3 &	to,
		const btVector3 &	color
	)		[pure virtual]

Referenced by btPerturbedContactResult::addContactPoint(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btRaycastVehicle::debugDraw(), btDiscreteDynamicsWorld::debugDrawConstraint(), btCollisionWorld::debugDrawObject(), btSoftBodyHelpers::Draw(), drawAabb(), drawArc(), drawBox(), drawBox(), drawCapsule(), drawCone(), drawCylinder(), btSoftBodyHelpers::DrawFrame(), drawLine(), drawPlane(), drawSphere(), drawSpherePatch(), drawTransform(), drawTriangle(), drawVertex(), DebugDrawcallback::processTriangle(), btSoftBodyTriangleCallback::processTriangle(), and btConvexTriangleCallback::processTriangle().

virtual void btIDebugDraw::drawPlane	(	const btVector3 &	planeNormal,
		btScalar	planeConst,
		const btTransform &	transform,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 400 of file btIDebugDraw.h.

References btPlaneSpace1(), and drawLine().

Referenced by btCollisionWorld::debugDrawObject().

virtual void btIDebugDraw::drawSphere	(	const btVector3 &	p,
		btScalar	radius,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 89 of file btIDebugDraw.h.

References drawSphere(), btTransform::setIdentity(), and btTransform::setOrigin().

virtual void btIDebugDraw::drawSphere	(	btScalar	radius,
		const btTransform &	transform,
		const btVector3 &	color
	)		[inline, virtual]

Definition at line 62 of file btIDebugDraw.h.

References drawLine(), btTransform::getBasis(), and btTransform::getOrigin().

Referenced by btPerturbedContactResult::addContactPoint(), btContinuousConvexCollision::calcTimeOfImpact(), btCollisionWorld::debugDrawObject(), drawCapsule(), and drawSphere().

virtual void btIDebugDraw::drawSpherePatch	(	const btVector3 &	center,
		const btVector3 &	up,
		const btVector3 &	axis,
		btScalar	radius,
		btScalar	minTh,
		btScalar	maxTh,
		btScalar	minPs,
		btScalar	maxPs,
		const btVector3 &	color,
		btScalar	stepDegrees = btScalar(10.f)
	)		[inline, virtual]

Definition at line 180 of file btIDebugDraw.h.

References btCos(), btSin(), drawLine(), i, SIMD_HALF_PI, SIMD_PI, SIMD_RADS_PER_DEG, and step().

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint().

virtual void btIDebugDraw::drawTransform	(	const btTransform &	transform,
		btScalar	orthoLen
	)		[inline, virtual]

Definition at line 147 of file btIDebugDraw.h.

References drawLine(), btTransform::getBasis(), and btTransform::getOrigin().

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint(), btCollisionWorld::debugDrawObject(), and btConvexConvexAlgorithm::processCollision().

virtual void btIDebugDraw::drawTriangle	(	const btVector3 &	v0,
		const btVector3 &	v1,
		const btVector3 &	v2,
		const btVector3 &	,
		const btVector3 &	,
		const btVector3 &	,
		const btVector3 &	color,
		btScalar	alpha
	)		[inline, virtual]

Definition at line 97 of file btIDebugDraw.h.

Referenced by btSoftBodyHelpers::Draw().

virtual void btIDebugDraw::drawTriangle	(	const btVector3 &	v0,
		const btVector3 &	v1,
		const btVector3 &	v2,
		const btVector3 &	color,
		btScalar
	)		[inline, virtual]

Definition at line 101 of file btIDebugDraw.h.

References drawLine().

virtual int btIDebugDraw::getDebugMode

(

)

const [pure virtual]

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint(), btDiscreteDynamicsWorld::debugDrawWorld(), btCollisionWorld::debugDrawWorld(), btSoftRigidDynamicsWorld::debugDrawWorld(), CcdPhysicsEnvironment::debugDrawWorld(), btCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), btSoftBodyTriangleCallback::processTriangle(), btConvexTriangleCallback::processTriangle(), and btDiscreteDynamicsWorld::stepSimulation().

virtual void btIDebugDraw::reportErrorWarning

(

const char *

warningString

)

[pure virtual]

Referenced by btCollisionWorld::updateSingleAabb().

virtual void btIDebugDraw::setDebugMode

(

int

debugMode

)

[pure virtual]

Referenced by CcdPhysicsEnvironment::setDebugMode().

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The documentation for this class was generated from the following file:

• btIDebugDraw.h