The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. More...

#include <btIDebugDraw.h>

Classes
struct	DefaultColors

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_DrawNormals = (1 << 14) , DBG_DrawFrames = (1 << 15) , DBG_MAX_DEBUG_DRAW_MODE }

Public Member Functions
virtual	~btIDebugDraw ()

virtual DefaultColors	getDefaultColors () const

virtual void	setDefaultColors (const DefaultColors &)
	the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors. More...

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), bool drawCenter=true)

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)

virtual void	clearLines ()

virtual void	flushLines ()

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 will need to provide non-empty implementations of the the drawLine and getDebugMode methods 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 26 of file btIDebugDraw.h.

Member Enumeration Documentation

◆ DebugDrawModes

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_DrawNormals
DBG_DrawFrames
DBG_MAX_DEBUG_DRAW_MODE

Definition at line 52 of file btIDebugDraw.h.

Constructor & Destructor Documentation

◆ ~btIDebugDraw()

virtual btIDebugDraw::~btIDebugDraw ( )

inlinevirtual

Definition at line 74 of file btIDebugDraw.h.

Member Function Documentation

◆ clearLines()

virtual void btIDebugDraw::clearLines ( )

inlinevirtual

Definition at line 464 of file btIDebugDraw.h.

◆ draw3dText()

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

pure virtual

◆ drawAabb()

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

inlinevirtual

Definition at line 135 of file btIDebugDraw.h.

◆ drawArc()

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)`
	)

inlinevirtual

Definition at line 171 of file btIDebugDraw.h.

◆ drawBox() [1/2]

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

inlinevirtual

Definition at line 319 of file btIDebugDraw.h.

◆ drawBox() [2/2]

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

inlinevirtual

Definition at line 304 of file btIDebugDraw.h.

◆ drawCapsule()

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

inlinevirtual

Definition at line 335 of file btIDebugDraw.h.

◆ drawCone()

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

inlinevirtual

Definition at line 414 of file btIDebugDraw.h.

◆ drawContactPoint()

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

pure virtual

◆ drawCylinder()

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

inlinevirtual

Definition at line 388 of file btIDebugDraw.h.

◆ drawLine() [1/2]

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

pure virtual

◆ drawLine() [2/2]

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

inlinevirtual

Definition at line 86 of file btIDebugDraw.h.

◆ drawPlane()

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

inlinevirtual

Definition at line 450 of file btIDebugDraw.h.

◆ drawSphere() [1/2]

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

inlinevirtual

Definition at line 92 of file btIDebugDraw.h.

◆ drawSphere() [2/2]

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

inlinevirtual

Definition at line 106 of file btIDebugDraw.h.

◆ drawSpherePatch()

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)`,
		bool	drawCenter = `true`
	)

inlinevirtual

Definition at line 196 of file btIDebugDraw.h.

◆ drawTransform()

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

inlinevirtual

Definition at line 163 of file btIDebugDraw.h.

◆ drawTriangle() [1/2]

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

inlinevirtual

Definition at line 114 of file btIDebugDraw.h.

◆ drawTriangle() [2/2]

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

inlinevirtual

Definition at line 118 of file btIDebugDraw.h.

◆ flushLines()

virtual void btIDebugDraw::flushLines ( )

inlinevirtual

Definition at line 468 of file btIDebugDraw.h.

◆ getDebugMode()

virtual int btIDebugDraw::getDebugMode ( ) const

pure virtual

◆ getDefaultColors()

virtual DefaultColors btIDebugDraw::getDefaultColors ( ) const

inlinevirtual

Definition at line 76 of file btIDebugDraw.h.

◆ reportErrorWarning()

virtual void btIDebugDraw::reportErrorWarning ( const char * warningString )

pure virtual

◆ setDebugMode()

virtual void btIDebugDraw::setDebugMode ( int debugMode )

pure virtual

◆ setDefaultColors()

virtual void btIDebugDraw::setDefaultColors ( const DefaultColors & )

inlinevirtual

the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.

Definition at line 82 of file btIDebugDraw.h.

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

btIDebugDraw.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ DebugDrawModes

Constructor & Destructor Documentation

◆ ~btIDebugDraw()

Member Function Documentation

◆ clearLines()

◆ draw3dText()

◆ drawAabb()

◆ drawArc()

◆ drawBox() [1/2]

◆ drawBox() [2/2]

◆ drawCapsule()

◆ drawCone()

◆ drawContactPoint()

◆ drawCylinder()

◆ drawLine() [1/2]

◆ drawLine() [2/2]

◆ drawPlane()

◆ drawSphere() [1/2]

◆ drawSphere() [2/2]

◆ drawSpherePatch()

◆ drawTransform()

◆ drawTriangle() [1/2]

◆ drawTriangle() [2/2]

◆ flushLines()

◆ getDebugMode()

◆ getDefaultColors()

◆ reportErrorWarning()

◆ setDebugMode()

◆ setDefaultColors()