bulletdebugdraw.h

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/*
* Copyright 2016 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/

#pragma once

#include "btBulletCollisionCommon.h"
#include "gwnavruntime/math/vec3f.h"
#include "gwnavruntime/visualsystem/displaylist.h"

inline Kaim::Vec3f btVectorToVec3f(const btVector3& btVec) { return Kaim::Vec3f(btVec[0], btVec[1], btVec[2]); }

inline btVector3 Vec3fTobtVector(const Kaim::Vec3f& vec3f) { return btVector3(vec3f[0], vec3f[1], vec3f[2]); }

Kaim::Color btColorToNavColor(const btVector3& btColor) { return Kaim::Color((KyUInt8)btColor[0], (KyUInt8)btColor[1], (KyUInt8)btColor[2]); }

class CollisionInterfaceDebugDraw : public btIDebugDraw
{
public:
    CollisionInterfaceDebugDraw() : m_displayList(nullptr), m_debugMode(0) {}

    virtual ~CollisionInterfaceDebugDraw() {}

    virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& color)
    {
        m_displayList->PushLine(btVectorToVec3f(from), btVectorToVec3f(to), btColorToNavColor(color));
    }

    virtual void drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& /*toColor*/) { drawLine(from, to, fromColor); }

    virtual void drawTriangle(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& color, btScalar /*alpha*/)
    {
        m_displayList->PushTriangle(btVectorToVec3f(a), btVectorToVec3f(b), btVectorToVec3f(c), Kaim::ShapeColor::FillOnly(btColorToNavColor(color)));
    }

    virtual void drawTriangle(const btVector3& v0, const btVector3& v1, const btVector3& v2, const btVector3& /*n0*/, const btVector3& /*n1*/, const btVector3& /*n2*/,
                              const btVector3& color, btScalar alpha)
    {
        drawTriangle(v0, v1, v2, color, alpha);
    }

    virtual void drawContactPoint(const btVector3& /*PointOnB*/, const btVector3& /*normalOnB*/, btScalar /*distance*/, int /*lifeTime*/, const btVector3& /*color*/) {}

    virtual void reportErrorWarning(const char* /*warningString*/) {}

    virtual void draw3dText(const btVector3& location, const char* textString)
    {
        const Kaim::Vec3f loc = btVectorToVec3f(location);
        m_displayList->PushText(loc, Kaim::Color::Salmon, textString);
    }

    virtual void setDebugMode(int debugMode) { m_debugMode = debugMode; }

    virtual int getDebugMode() const { return btIDebugDraw::DBG_DrawWireframe; }

    void BeginFrame(Kaim::DisplayList* displayList) { m_displayList = displayList; }

    void EndFrame() { m_displayList = nullptr; }

private:
    Kaim::DisplayList* m_displayList;
    int m_debugMode;
};