| 231 | inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); } |
| 232 | |
| 233 | void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color, int debugMode, const btVector3& worldBoundsMin, const btVector3& worldBoundsMax) |
| 234 | { |
| 235 | if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) |
| 236 | { |
| 237 | btVector3 org(m[12], m[13], m[14]); |
| 238 | btVector3 dx(m[0], m[1], m[2]); |
| 239 | btVector3 dy(m[4], m[5], m[6]); |
| 240 | // btVector3 dz(m[8], m[9], m[10]); |
| 241 | const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); |
| 242 | btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); |
| 243 | dx *= halfExtent[0]; |
| 244 | dy *= halfExtent[1]; |
| 245 | // dz *= halfExtent[2]; |
| 246 | glColor3f(1, 1, 1); |
| 247 | glDisable(GL_LIGHTING); |
| 248 | glLineWidth(2); |
| 249 | |
| 250 | glBegin(GL_LINE_LOOP); |
| 251 | glDrawVector(org - dx - dy); |
| 252 | glDrawVector(org - dx + dy); |
| 253 | glDrawVector(org + dx + dy); |
| 254 | glDrawVector(org + dx - dy); |
| 255 | glEnd(); |
| 256 | return; |
| 257 | } |
| 258 | else if ((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe)) |
| 259 | { |
| 260 | btVector3 org(m[12], m[13], m[14]); |
| 261 | btVector3 dx(m[0], m[1], m[2]); |
| 262 | btVector3 dy(m[4], m[5], m[6]); |
| 263 | btVector3 dz(m[8], m[9], m[10]); |
| 264 | const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); |
| 265 | btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); |
| 266 | dx *= halfExtent[0]; |
| 267 | dy *= halfExtent[1]; |
| 268 | dz *= halfExtent[2]; |
| 269 | glBegin(GL_LINE_LOOP); |
| 270 | glDrawVector(org - dx - dy - dz); |
| 271 | glDrawVector(org + dx - dy - dz); |
| 272 | glDrawVector(org + dx + dy - dz); |
| 273 | glDrawVector(org - dx + dy - dz); |
| 274 | glDrawVector(org - dx + dy + dz); |
| 275 | glDrawVector(org + dx + dy + dz); |
| 276 | glDrawVector(org + dx - dy + dz); |
| 277 | glDrawVector(org - dx - dy + dz); |
| 278 | glEnd(); |
| 279 | glBegin(GL_LINES); |
| 280 | glDrawVector(org + dx - dy - dz); |
| 281 | glDrawVector(org + dx - dy + dz); |
| 282 | glDrawVector(org + dx + dy - dz); |
| 283 | glDrawVector(org + dx + dy + dz); |
| 284 | glDrawVector(org - dx - dy - dz); |
| 285 | glDrawVector(org - dx + dy - dz); |
| 286 | glDrawVector(org - dx - dy + dz); |
| 287 | glDrawVector(org - dx + dy + dz); |
| 288 | glEnd(); |
| 289 | return; |
| 290 | } |
nothing calls this directly
no test coverage detected