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Code Issues Releases Wiki Activity

only update aabb of active objects, thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )

Browse Source 
move debug aabb rendering from updateAabb to debugDrawWorld
This commit is contained in:
ejcoumans 2007-12-10 02:18:38 +00:00
parent bf5a4a7d39
commit f1be4ab221
15 changed files with 68 additions and 16 deletions
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3
Demos/BspDemo/BspDemo.cpp
View File

@ -217,6 +217,9 @@ void BspDemo::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();

3
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@ -246,6 +246,9 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
int numSimSteps = 0;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
printf("Interpolated transforms\n");

6
Demos/ColladaDemo/ColladaDemo.cpp
View File

@ -212,6 +212,9 @@ void ColladaDemo::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
@ -226,7 +229,8 @@ void ColladaDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();

3
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
View File

@ -377,6 +377,9 @@ void ConcaveConvexcastDemo::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
convexcastBatch.move (dt);
convexcastBatch.cast (m_dynamicsWorld);
renderme();

3
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@ -326,6 +326,9 @@ void ConcaveDemo::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();

3
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
View File

@ -351,6 +351,9 @@ void ConcaveRaycastDemo::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
raycastBar.move (dt);
raycastBar.cast (m_dynamicsWorld);
renderme();

12
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@ -201,13 +201,17 @@ void ConstraintDemo::clientMoveAndDisplay()
m_clock.reset();
//printf("dt = %f: ",dt);
{
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
bool verbose = false;
if (verbose)
{
@ -225,7 +229,7 @@ void ConstraintDemo::clientMoveAndDisplay()
}
}
}
}
}
renderme();
drawLimit();
@ -241,8 +245,8 @@ void ConstraintDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
drawLimit();

6
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
View File

@ -372,6 +372,9 @@ void ConvexDecompositionDemo::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
@ -386,7 +389,8 @@ void ConvexDecompositionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();

6
Demos/GenericJointDemo/GenericJointDemo.cpp
View File

@ -116,7 +116,11 @@ void GenericJointDemo::clientMoveAndDisplay()
ms = minFPS;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
@ -130,7 +134,7 @@ void GenericJointDemo::displayCallback()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->updateAabbs();
m_dynamicsWorld->debugDrawWorld();
renderme();

4
Demos/GimpactTestDemo/GimpactTestDemo.cpp
View File

@ -598,6 +598,10 @@ void GimpactConcaveDemo::clientMoveAndDisplay()
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
m_steps_done++;
//m_dynamicsWorld->stepSimulation(dts);

3
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
View File

@ -1890,6 +1890,9 @@ void ConcaveDemo::clientMoveAndDisplay()
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();

5
Demos/RagdollDemo/RagdollDemo.cpp
View File

@ -369,7 +369,12 @@ void RagdollDemo::clientMoveAndDisplay()
ms = minFPS;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();

3
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
View File

@ -147,6 +147,9 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();

3
Demos/VehicleDemo/VehicleDemo.cpp
View File

@ -453,6 +453,9 @@ void VehicleDemo::clientMoveAndDisplay()
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK

19
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@ -125,7 +125,7 @@ void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
void btDiscreteDynamicsWorld::debugDrawWorld()
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
{
int i;
@ -156,6 +156,14 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btPoint3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
for ( i=0;i<this->m_vehicles.size();i++)
@ -636,8 +644,6 @@ void btDiscreteDynamicsWorld::updateAabbs()
{
PROFILE("updateAabbs");
btVector3 colorvec(1,0,0);
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
@ -646,7 +652,8 @@ void btDiscreteDynamicsWorld::updateAabbs()
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
// if (body->IsActive() && (!body->IsStatic()))
//only update aabb of active objects
if (body->isActive())
{
btPoint3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
@ -674,10 +681,6 @@ void btDiscreteDynamicsWorld::updateAabbs()
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
}
}