mirror of
https://github.com/bulletphysics/bullet3
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76 lines
2.0 KiB
C++
76 lines
2.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "GL_Simplex1to4.h"
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#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
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#include "GL_ShapeDrawer.h"
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#ifdef WIN32
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#else
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#include <GL/gl.h>
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#endif
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#include "LinearMath/btTransform.h"
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GL_Simplex1to4::GL_Simplex1to4()
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:m_simplexSolver(0)
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{
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}
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///
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/// Debugging method calcClosest calculates the closest point to the origin, using m_simplexSolver
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///
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void GL_Simplex1to4::calcClosest(float* m)
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{
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btTransform tr;
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tr.setFromOpenGLMatrix(m);
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GL_ShapeDrawer::drawCoordSystem();
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if (m_simplexSolver)
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{
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m_simplexSolver->reset();
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bool res;
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btVector3 v;
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for (int i=0;i<m_numVertices;i++)
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{
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v = tr(m_vertices[i]);
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m_simplexSolver->addVertex(v,v,btPoint3(0.f,0.f,0.f));
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res = m_simplexSolver->closest(v);
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}
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//draw v?
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glDisable(GL_LIGHTING);
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glBegin(GL_LINES);
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glColor3f(1.f, 0.f, 0.f);
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glVertex3f(0.f, 0.f, 0.f);
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glVertex3f(v.x(),v.y(),v.z());
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glEnd();
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glEnable(GL_LIGHTING);
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}
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}
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