Public Types | Public Member Functions
btIDebugDraw Class Reference

#include <btIDebugDraw.h>

List of all members.

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_MAX_DEBUG_DRAW_MODE
}

Public Member Functions

virtual void draw3dText (const btVector3 &location, const char *textString)=0
virtual void drawAabb (const btVector3 &from, const btVector3 &to, const btVector3 &color)
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 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 drawCone (btScalar radius, btScalar height, int upAxis, const btTransform &transform, const btVector3 &color)
virtual void drawContactPoint (const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual void drawCylinder (btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
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 drawPlane (const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)
virtual void drawSphere (btScalar radius, const btTransform &transform, const btVector3 &color)
virtual void drawSphere (const btVector3 &p, btScalar radius, const btVector3 &color)
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))
virtual void drawTransform (const btTransform &transform, btScalar orthoLen)
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 int getDebugMode () const =0
virtual void reportErrorWarning (const char *warningString)=0
virtual void setDebugMode (int debugMode)=0
virtual ~btIDebugDraw ()

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 has to implement the drawLine method 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 28 of file btIDebugDraw.h.


Member Enumeration Documentation

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_MAX_DEBUG_DRAW_MODE 

Definition at line 32 of file btIDebugDraw.h.


Constructor & Destructor Documentation

virtual btIDebugDraw::~btIDebugDraw ( ) [inline, virtual]

Definition at line 52 of file btIDebugDraw.h.


Member Function Documentation

virtual void btIDebugDraw::draw3dText ( const btVector3 &  location,
const char *  textString 
) [pure virtual]
virtual void btIDebugDraw::drawAabb ( const btVector3 &  from,
const btVector3 &  to,
const btVector3 &  color 
) [inline, virtual]

Definition at line 118 of file btIDebugDraw.h.

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) 
) [inline, virtual]

Definition at line 155 of file btIDebugDraw.h.

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

Definition at line 282 of file btIDebugDraw.h.

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

Definition at line 297 of file btIDebugDraw.h.

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

Definition at line 313 of file btIDebugDraw.h.

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

Definition at line 375 of file btIDebugDraw.h.

virtual void btIDebugDraw::drawContactPoint ( const btVector3 &  PointOnB,
const btVector3 &  normalOnB,
btScalar  distance,
int  lifeTime,
const btVector3 &  color 
) [pure virtual]
virtual void btIDebugDraw::drawCylinder ( btScalar  radius,
btScalar  halfHeight,
int  upAxis,
const btTransform transform,
const btVector3 &  color 
) [inline, virtual]

Definition at line 356 of file btIDebugDraw.h.

virtual void btIDebugDraw::drawLine ( const btVector3 &  from,
const btVector3 &  to,
const btVector3 &  color 
) [pure virtual]
virtual void btIDebugDraw::drawLine ( const btVector3 &  from,
const btVector3 &  to,
const btVector3 &  fromColor,
const btVector3 &  toColor 
) [inline, virtual]

Definition at line 56 of file btIDebugDraw.h.

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

Definition at line 400 of file btIDebugDraw.h.

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

Definition at line 62 of file btIDebugDraw.h.

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

Definition at line 89 of file btIDebugDraw.h.

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) 
) [inline, virtual]

Definition at line 180 of file btIDebugDraw.h.

virtual void btIDebugDraw::drawTransform ( const btTransform transform,
btScalar  orthoLen 
) [inline, virtual]

Definition at line 147 of file btIDebugDraw.h.

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

Definition at line 97 of file btIDebugDraw.h.

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

Definition at line 101 of file btIDebugDraw.h.

virtual int btIDebugDraw::getDebugMode ( ) const [pure virtual]
virtual void btIDebugDraw::reportErrorWarning ( const char *  warningString) [pure virtual]
virtual void btIDebugDraw::setDebugMode ( int  debugMode) [pure virtual]

The documentation for this class was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32