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BulletSharpDebugDrawer

Cookbook » Snippets » Physics Snippets » BulletSharpDebugDrawer

This is basically a C#-ified version of BulletDebugDrawer, but a bit more fleshed out.

The LKernel is basically my own way of getting various singletons. Replace it with whatever your own program uses.

Background:
Bullet is a physics engine, which is usable by Mogre with help of the BulletSharp wrapper.

For questions use this forum topic.

Source code

Note:
The interface class IDebugDraw you find in the repository of BulletSharp. (direct link)

using BulletSharp;
using Mogre;
 
namespace YourNamespace {
	public class BulletDebugDrawer : IDebugDraw, IDisposable {
		SceneManager sceneMgr;
		ManualObject lines;
		ManualObject triangles;
		public DebugDrawModes DebugMode { get; set; }
 
		bool begin = false;
 
		public BulletDebugDrawer() {
			sceneMgr = LKernel.Get<SceneManager>();
 
			lines = new ManualObject("physics lines");
			triangles = new ManualObject("physics triangles");
			lines.Dynamic = true;
			triangles.Dynamic = true;
 
			sceneMgr.RootSceneNode.AttachObject(lines);
			sceneMgr.RootSceneNode.AttachObject(triangles);
 
			string matName = "OgreBulletCollisionsDebugDefault";
			MaterialPtr mtl = MaterialManager.Singleton.GetDefaultSettings().Clone(matName);
			mtl.ReceiveShadows = false;
			mtl.SetSceneBlending(SceneBlendType.SBT_TRANSPARENT_ALPHA);
			mtl.SetDepthBias(0.1f, 0);
 
			TextureUnitState tu = mtl.GetTechnique(0).GetPass(0).CreateTextureUnitState();
			tu.SetColourOperationEx(LayerBlendOperationEx.LBX_SOURCE1, LayerBlendSource.LBS_DIFFUSE);
			mtl.GetTechnique(0).SetLightingEnabled(false);
 
			lines.Begin(matName, RenderOperation.OperationTypes.OT_LINE_LIST);
			begin = true;
			lines.Position(Vector3.ZERO);
			lines.Colour(ColourValue.Blue);
			lines.Position(Vector3.ZERO);
			lines.Colour(ColourValue.Blue);
			lines.End();
 
			triangles.Begin(matName, RenderOperation.OperationTypes.OT_TRIANGLE_LIST);
			triangles.Position(Vector3.ZERO);
			triangles.Colour(ColourValue.Blue);
			triangles.Position(Vector3.ZERO);
			triangles.Colour(ColourValue.Blue);
			triangles.Position(Vector3.ZERO);
			triangles.Colour(ColourValue.Blue);
			triangles.End();
			begin = false;
 
			DebugMode = DebugDrawModes.DrawWireframe | DebugDrawModes.DrawAabb | DebugDrawModes.DrawContactPoints;
 
			// I have two events, one that fires right before we call bullet's simulate method, and one that runs right afterwards. That's what these are. You could probably replace these with FrameStarted and FrameEnded if you wanted to
			LKernel.Get<PhysicsMain>().PreSimulate += PreSimulate;
			LKernel.Get<PhysicsMain>().PostSimulate += PostSimulate;
 
			// tell the physics world to use this as the debug drawer
			LKernel.Get<Physics.PhysicsMain>().World.DebugDrawer = this;
		}
 
		void PostSimulate(DiscreteDynamicsWorld world, FrameEvent evt) {
			// this "begin" variable is to make sure that we do things in the right order
			if (!begin) {
				lines.BeginUpdate(0);
				triangles.BeginUpdate(0);
				begin = true;
			}
		}
 
		void PreSimulate(DiscreteDynamicsWorld world, FrameEvent evt) {
			if (begin) {
				lines.End();
				triangles.End();
				begin = false;
			}
		}
 
		public void Dispose() {
			// unhook from these events
			LKernel.Get<PhysicsMain>().PreSimulate -= PreSimulate;
			LKernel.Get<PhysicsMain>().PostSimulate -= PostSimulate;
			lines.Dispose();
			triangles.Dispose();
		}
 
 
 
		/// <summary>
		/// How many "steps" when we draw circles
		/// </summary>
		private const int numIter = 12;
		/// <summary>
		/// radian amount to increase the angle by when drawing circles
		/// </summary>
		private const float increaseAmount = (360f / numIter) * (Math.TWO_PI / 360f);
		/// <summary>
		/// maximum angle to draw circles with
		/// </summary>
		private const float limit = Math.TWO_PI + increaseAmount;
 
 
 
 
 
		public void Draw3dText(Vector3 location, string textString) { }
 
		/// <summary>
		/// Draws an axis-aligned bounding box
		/// </summary>
		/// <param name="colour">I override this and make it white with 30% opacity</param>
		public void DrawAabb(Vector3 from, Vector3 to, ColourValue colour) {
			if (!begin)
				return;
 
			colour = new ColourValue(1, 1, 1, 0.3f);
 
			// I'm sure there's a better way of doing this
			Vector3 loo = new Vector3(to.x, from.y, from.z);
			Vector3 olo = new Vector3(from.x, to.y, from.z);
			Vector3 ool = new Vector3(from.x, from.y, to.z);
			Vector3 llo = new Vector3(to.x, to.y, from.z);
			Vector3 lol = new Vector3(to.x, from.y, to.z);
			Vector3 oll = new Vector3(from.x, to.y, to.z);
 
			lines.Position(from); lines.Colour(colour);
			lines.Position(loo); lines.Colour(colour);
			lines.Position(from); lines.Colour(colour);
			lines.Position(olo); lines.Colour(colour);
			lines.Position(from); lines.Colour(colour);
			lines.Position(ool); lines.Colour(colour);
 
			lines.Position(to); lines.Colour(colour);
			lines.Position(llo); lines.Colour(colour);
			lines.Position(to); lines.Colour(colour);
			lines.Position(lol); lines.Colour(colour);
			lines.Position(to); lines.Colour(colour);
			lines.Position(oll); lines.Colour(colour);
 
			lines.Position(loo); lines.Colour(colour);
			lines.Position(lol); lines.Colour(colour);
			lines.Position(lol); lines.Colour(colour);
			lines.Position(ool); lines.Colour(colour);
			lines.Position(ool); lines.Colour(colour);
			lines.Position(oll); lines.Colour(colour);
			lines.Position(oll); lines.Colour(colour);
			lines.Position(olo); lines.Colour(colour);
			lines.Position(olo); lines.Colour(colour);
			lines.Position(llo); lines.Colour(colour);
			lines.Position(llo); lines.Colour(colour);
			lines.Position(loo); lines.Colour(colour);
		}
 
		public void DrawArc(Vector3 center, Vector3 normal, Vector3 axis, float radiusA, float radiusB, float minAngle, float maxAngle, ColourValue colour, bool drawSect, float stepDegrees) {
 
		}
 
		public void DrawArc(Vector3 center, Vector3 normal, Vector3 axis, float radiusA, float radiusB, float minAngle, float maxAngle, ColourValue colour, bool drawSect) {
 
		}
 
		public void DrawBox(Vector3 bbMin, Vector3 bbMax, Matrix4 trans, ColourValue colour) {
 
		}
 
		public void DrawBox(Vector3 bbMin, Vector3 bbMax, ColourValue colour) {
 
		}
 
		public void DrawCapsule(float radius, float halfHeight, int upAxis, Matrix4 transform, ColourValue colour) {
			DrawCylinder(radius, halfHeight, upAxis, transform, colour);
 
			Vector3 previousXYPos = transform * new Vector3(radius, halfHeight, 0);
			Vector3 previousYZPos = transform * new Vector3(0, halfHeight, radius);
			Vector3 previousNXYPos = transform * new Vector3(radius, -halfHeight, 0);
			Vector3 previousNYZPos = transform * new Vector3(0, -halfHeight, radius);
 
			float capsuleLimit = limit * 0.5f;
 
			// y-x circle
			for (float a = 0; a <= capsuleLimit; a += increaseAmount) {
				float y = Math.Sin(a) * radius;
				float x = Math.Cos(a) * radius;
 
				// xy
				Vector3 xyPos = transform * new Vector3(x, y + halfHeight, 0);
				lines.Position(previousXYPos);
				lines.Colour(colour);
				lines.Position(xyPos);
				lines.Colour(colour);
				previousXYPos = xyPos;
 
				// yz
				float z = Math.Cos(a) * radius;
 
				Vector3 yzPos = transform * new Vector3(0, y + halfHeight, z);
				lines.Position(previousYZPos);
				lines.Colour(colour);
				lines.Position(yzPos);
				lines.Colour(colour);
				previousYZPos = yzPos;
 
				// -xy
				Vector3 nxyPos = transform * new Vector3(x, -y - halfHeight, 0);
				lines.Position(previousNXYPos);
				lines.Colour(colour);
				lines.Position(nxyPos);
				lines.Colour(colour);
				previousNXYPos = nxyPos;
 
				// -yz
				Vector3 nyzPos = transform * new Vector3(0, -y - halfHeight, z);
				lines.Position(previousNYZPos);
				lines.Colour(colour);
				lines.Position(nyzPos);
				lines.Colour(colour);
				previousNYZPos = nyzPos;
			}
		}
 
		/// <summary>
		/// Draws a cone
		/// </summary>
		/// <param name="upAxis">ignored for now</param>
		public void DrawCone(float radius, float height, int upAxis, Matrix4 transform, ColourValue colour) {
			float halfHeight = height / 2f;
			Vector3 previousPos = transform * new Vector3(0, -halfHeight, radius);
			Vector3 tip = transform * new Vector3(0, halfHeight, 0);
 
			for (float a = 0; a <= limit; a += increaseAmount) {
				float z = Math.Cos(a) * radius;
				float x = Math.Sin(a) * radius;
 
				// the circle
				Vector3 pos = transform * new Vector3(x, -halfHeight, z);
				lines.Position(previousPos);
				lines.Colour(colour);
				lines.Position(pos);
				lines.Colour(colour);
				previousPos = pos;
 
				// the sides
				lines.Position(pos);
				lines.Colour(colour);
				lines.Position(tip);
				lines.Colour(colour);
			}
		}
 
		public void DrawContactPoint(Vector3 pointOnB, Vector3 normalOnB, float distance, int lifeTime, ColourValue colour) {
 
			lines.Position(pointOnB);
			lines.Colour(colour);
			lines.Position(pointOnB + normalOnB * distance);
			lines.Colour(colour);
		}
 
		/// <summary>
		/// Draws a cylinder
		/// </summary>
		/// <param name="upAxis">ignored for now</param>
		public void DrawCylinder(float radius, float halfHeight, int upAxis, Matrix4 transform, ColourValue colour) {
			Vector3 previousPos = transform * new Vector3(0, halfHeight, radius);
			Vector3 previousNPos = transform * new Vector3(0, -halfHeight, radius);
 
			for (float a = 0; a <= limit; a += increaseAmount) {
				float z = Math.Cos(a) * radius;
				float x = Math.Sin(a) * radius;
 
				// positive
				Vector3 pos = transform * new Vector3(x, halfHeight, z);
				lines.Position(previousPos);
				lines.Colour(colour);
				lines.Position(pos);
				lines.Colour(colour);
				previousPos = pos;
 
				// negative
				Vector3 npos = transform * new Vector3(x, -halfHeight, z);
				lines.Position(previousNPos);
				lines.Colour(colour);
				lines.Position(npos);
				lines.Colour(colour);
				previousNPos = npos;
 
				// the sides
				lines.Position(pos);
				lines.Colour(colour);
				lines.Position(npos);
				lines.Colour(colour);
			}
		}
 
		public void DrawLine(Vector3 from, Vector3 to, ColourValue colour) {
			lines.Position(from);
			lines.Colour(colour);
			lines.Position(to);
			lines.Colour(colour);
		}
 
		public void DrawLine(Vector3 from, Vector3 to, ColourValue fromcolour, ColourValue tocolour) {
			lines.Position(from);
			lines.Colour(fromcolour);
			lines.Position(to);
			lines.Colour(tocolour);
		}
 
		public void DrawPlane(Vector3 planeNormal, float planeConst, Matrix4 transform, ColourValue colour) {
 
		}
 
		/// <summary>
		/// Draws a sphere that doesn't rotate
		/// </summary>
		public void DrawSphere(Vector3 p, float radius, ColourValue colour) {
			Vector3 previousXYPos = p + new Vector3(0, radius, 0);
			Vector3 previousYZPos = p + new Vector3(0, radius, 0);
			Vector3 previousXZPos = p + new Vector3(0, 0, radius);
 
			for (float a = 0; a <= limit; a += increaseAmount) {
				float y = Math.Cos(a) * radius;
				float x = Math.Sin(a) * radius;
 
				// xy
				Vector3 xyPos = p + new Vector3(x, y, 0);
				lines.Position(previousXYPos);
				lines.Colour(colour);
				lines.Position(xyPos);
				lines.Colour(colour);
				previousXYPos = xyPos;
 
				// yz
				float z = Math.Sin(a) * radius;
 
				Vector3 yzPos = p + new Vector3(0, y, z);
				lines.Position(previousYZPos);
				lines.Colour(colour);
				lines.Position(yzPos);
				lines.Colour(colour);
				previousYZPos = yzPos;
 
				// xz
				z = Math.Cos(a) * radius;
 
				Vector3 xzPos = p + new Vector3(x, 0, z);
				lines.Position(previousXZPos);
				lines.Colour(colour);
				lines.Position(xzPos);
				lines.Colour(colour);
				previousXZPos = xzPos;
			}
 
		}
 
		/// <summary>
		/// Draws a sphere that does rotate
		/// </summary>
		public void DrawSphere(float radius, Matrix4 transform, ColourValue colour) {
 
			Vector3 previousXYPos = transform * new Vector3(0, radius, 0);
			Vector3 previousYZPos = transform * new Vector3(0, radius, 0);
			Vector3 previousXZPos = transform * new Vector3(0, 0, radius);
 
			for (float a = 0; a <= limit; a += increaseAmount) {
				float y = Math.Cos(a) * radius;
				float x = Math.Sin(a) * radius;
 
				// xy
				Vector3 xyPos = transform * new Vector3(x, y, 0);
				lines.Position(previousXYPos);
				lines.Colour(colour);
				lines.Position(xyPos);
				lines.Colour(colour);
				previousXYPos = xyPos;
 
				// yz
				float z = Math.Sin(a) * radius;
 
				Vector3 yzPos = transform * new Vector3(0, y, z);
				lines.Position(previousYZPos);
				lines.Colour(colour);
				lines.Position(yzPos);
				lines.Colour(colour);
				previousYZPos = yzPos;
 
				// xz
				z = Math.Cos(a) * radius;
 
				Vector3 xzPos = transform * new Vector3(x, 0, z);
				lines.Position(previousXZPos);
				lines.Colour(colour);
				lines.Position(xzPos);
				lines.Colour(colour);
				previousXZPos = xzPos;
			}
		}
 
		public void DrawSpherePatch(Vector3 center, Vector3 up, Vector3 axis, float radius, float minTh, float maxTh, float minPs, float maxPs, ColourValue colour, float stepDegrees) {
 
		}
 
		public void DrawSpherePatch(Vector3 center, Vector3 up, Vector3 axis, float radius, float minTh, float maxTh, float minPs, float maxPs, ColourValue colour) {
 
		}
 
		public void DrawTransform(Matrix4 transform, float orthoLen) {
 
		}
 
		/// <param name="__unnamed004">alpha?</param>
		public void DrawTriangle(Vector3 v0, Vector3 v1, Vector3 v2, ColourValue colour, float __unnamed004) {
			triangles.Position(v0);
			triangles.Colour(colour);
			triangles.Position(v1);
			triangles.Colour(colour);
			triangles.Position(v2);
			triangles.Colour(colour);
		}
 
		/// <param name="__unnamed003">no idea</param>
		/// <param name="__unnamed004">no idea</param>
		/// <param name="__unnamed005">no idea</param>
		public void DrawTriangle(Vector3 v0, Vector3 v1, Vector3 v2, Vector3 __unnamed003, Vector3 __unnamed004, Vector3 __unnamed005, ColourValue colour, float alpha) {
			DrawTriangle(v0, v1, v2, colour, alpha);
		}
 
		public void ReportErrorWarning(string warningString) {
			// replace this with your own logging thing
			Launch.Log("[WARNING] (BulletDebugManager): " + warningString);
		}
	}
}

Contributors to this page: Beauty , pyritie and edoardo .
Page last modified on Friday 09 of September, 2011 20:31:24 UTC by Beauty .

The content on this page is licensed under the terms of the Creative Commons Attribution-ShareAlike License.
As an exception, any source code contributed within the content is released into the Public Domain.

SourceHistory 1 comment 1 File Attached

List of attached files
	ID	Name		desc	uploaded	Size	Downloads
1	144	bullet sharp debug drawer.PNG			Sun 21 of Aug., 2011 01:05 UTC by pyritie	801.18 Kb	926

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