Index: /CS/trunk/plugins/physics/dyndebug/dyndebug.cpp =================================================================== --- /CS/trunk/plugins/physics/dyndebug/dyndebug.cpp (revision 33668) +++ /CS/trunk/plugins/physics/dyndebug/dyndebug.cpp (revision 33752) @@ -85,6 +85,13 @@ DynamicsDebugger::DynamicsDebugger (DebuggerManager* manager) - : scfImplementationType (this), manager (manager) - { + : scfImplementationType (this), manager (manager), debugMode (false) + { + // Init debug materials + materials[0] = CS::Material::MaterialBuilder::CreateColorMaterial + (manager->object_reg, "dyndebug_static", csColor (0, 0, 1)); + materials[1] = CS::Material::MaterialBuilder::CreateColorMaterial + (manager->object_reg, "dyndebug_dynamic", csColor (0, 1, 0)); + materials[2] = CS::Material::MaterialBuilder::CreateColorMaterial + (manager->object_reg, "dyndebug_kinematic", csColor (0, 0, 1)); } @@ -100,4 +107,15 @@ void DynamicsDebugger::SetDebugDisplayMode (bool debugMode) + { + // Check display mode has changed + if (debugMode == this->debugMode) + return; + + this->debugMode = debugMode; + + UpdateDisplay (); + } + + void DynamicsDebugger::UpdateDisplay () { // Check dynsys available @@ -109,21 +127,4 @@ } - // Check debug material available - if (!material) - material = CS::Material::MaterialBuilder::CreateColorMaterial - (manager->object_reg, "dynsysdebug", csColor (1, 0, 0)); - - if (!material) - { - manager->Report (CS_REPORTER_SEVERITY_WARNING, - "No debug material defined"); - return; - } - - // Check display mode has changed - if (debugMode == this->debugMode) - return; - this->debugMode = debugMode; - // Find the pointer to the engine plugin csRef engine = csQueryRegistry (manager->object_reg); @@ -135,5 +136,37 @@ } - // TODO: remove all previous debug meshes + // Reset all stored meshes + for (csList::Iterator it (storedMeshes); it.HasNext (); ) + { + MeshData &meshData = it.Next (); + + // Remove the debug mesh + if (meshData.debugMesh) + { + engine->RemoveObject (meshData.debugMesh); + if (meshData.rigidBody) + meshData.rigidBody->AttachMesh (0); + } + + // Put back the original mesh + if (meshData.originalMesh) + { + meshData.originalMesh->GetMovable ()->SetSector (sector); + meshData.rigidBody->AttachMesh (meshData.originalMesh); + } + + // Put back the kinematic callback + if (meshData.callback && meshData.rigidBody) + { + csRef bulletBody = + scfQueryInterface (meshData.rigidBody); + bulletBody->SetKinematicCallback (meshData.callback->callback); + } + } + storedMeshes.DeleteAll (); + + // If not in debug mode then it is over + if (!debugMode) + return; // Iterate through each rigid body @@ -144,51 +177,35 @@ iRigidBody* body = system->GetBody (bodyIndex); + // Search the bullet interface of the rigid body + csRef bulletBody = + scfQueryInterface (body); + + // Find the material to be used for this object + csBulletState state = BULLET_STATE_DYNAMIC; + if (bulletBody) + state = bulletBody->GetDynamicState (); + else if (body->IsStatic ()) + state = BULLET_STATE_STATIC; + + iMaterialWrapper* material = materials[state]; + if (!material) + continue; + + // Create the MeshData object MeshData meshData; - - // If in debug mode, then store the original attached mesh - if (debugMode) + meshData.rigidBody = body; + + // Store the current mesh attached to the rigid body + // TODO: not debug mesh stored twice? + meshData.originalMesh = body->GetAttachedMesh (); + if (meshData.originalMesh) { // TODO: store the sector of the mesh - csRef mesh = body->GetAttachedMesh (); - if (mesh) - { - engine->RemoveObject (mesh); - meshData.mesh = mesh; - } - - storedMeshes.PutUnique (body, meshData); - } - - // Else, go back to normal mode - else - { - if (storedMeshes.Contains (body)) - { - // Remove the debug mesh - engine->RemoveObject (body->GetAttachedMesh ()); - - // Put back the original attached mesh - MeshData nullData; - meshData = storedMeshes.Get (body, nullData); - - if (meshData.mesh) - { - meshData.mesh->GetMovable ()->SetSector (sector); - body->AttachMesh (meshData.mesh); - } - - else - body->AttachMesh (0); - - // Erase body reference - storedMeshes.DeleteAll (body); - } - - continue; + engine->RemoveObject (meshData.originalMesh); } // TODO: display the joints too // TODO: use iDynamicsSystemCollider::FillWithColliderGeometry instead? - // TODO: use specific colors for objects static/dynamic/active/inactive + // TODO: use specific colors for objects active/inactive // TODO: display collisions @@ -202,103 +219,157 @@ body->GetCollider (colliderIndex); - switch (collider->GetGeometryType ()) - { - case BOX_COLLIDER_GEOMETRY: - { - // Get box geometry - csVector3 boxSize; - collider->GetBoxGeometry (boxSize); - boxSize /= 2.0; - const csBox3 box(-boxSize, boxSize); - - // Create box - csRef mesh = - CreateBoxMesh (box, material, collider->GetLocalTransform (), - sector); - body->AttachMesh (mesh); - } - break; - - case SPHERE_COLLIDER_GEOMETRY: - { - // Get sphere geometry - csSphere sphere; - collider->GetSphereGeometry (sphere); - - // Create sphere - csRef mesh = - CreateSphereMesh (sphere, material, sector); - body->AttachMesh (mesh); - } - break; - - case CYLINDER_COLLIDER_GEOMETRY: - { - // Get cylinder geometry - float length, radius; - collider->GetCylinderGeometry (length, radius); - - // Create cylinder - csRef mesh = - CreateCylinderMesh (length, radius, material, + csRef mesh = CreateColliderMesh (collider, material); + + // Register the new debug mesh + if (mesh) + { + body->AttachMesh (mesh); + meshData.debugMesh = mesh; + } + + // If the body is kinematic then create a new kinematic callback + if (mesh && state == BULLET_STATE_KINEMATIC) + { + meshData.callback.AttachNew + (new BoneKinematicCallback (mesh, bulletBody->GetKinematicCallback ())); + bulletBody->SetKinematicCallback (meshData.callback); + } + } + + // Store the MeshData + storedMeshes.PushBack (meshData); + } + + // Iterate through each colliders of the dynamic system + for (unsigned int colliderIndex = 0; + colliderIndex < (unsigned int) system->GetColliderCount (); + colliderIndex++) + { + iDynamicsSystemCollider* collider = system->GetCollider (colliderIndex); + + // Find the material to be used for this object + csBulletState state = BULLET_STATE_DYNAMIC; + if (collider->IsStatic ()) + state = BULLET_STATE_STATIC; + + iMaterialWrapper* material = materials[state]; + if (!material) + continue; + + // Create the MeshData object + MeshData meshData; + meshData.debugMesh = CreateColliderMesh (collider, material); + + // Store the MeshData + storedMeshes.PushBack (meshData); + } + } + + void DynamicsDebugger::SetStaticBodyMaterial (iMaterialWrapper* material) + { + materials[0] = material; + } + + void DynamicsDebugger::SetDynamicBodyMaterial (iMaterialWrapper* material) + { + materials[1] = material; + } + + void DynamicsDebugger::SetBodyStateMaterial (csBulletState state, + iMaterialWrapper* material) + { + materials[state] = material; + } + + csRef DynamicsDebugger::CreateColliderMesh + (iDynamicsSystemCollider* collider, iMaterialWrapper* material) + { + csRef mesh; + + switch (collider->GetGeometryType ()) + { + case BOX_COLLIDER_GEOMETRY: + { + // Get box geometry + csVector3 boxSize; + collider->GetBoxGeometry (boxSize); + boxSize /= 2.0; + const csBox3 box(-boxSize, boxSize); + + // Create box + mesh = CreateBoxMesh (box, material, collider->GetLocalTransform (), + sector); + } + break; + + case SPHERE_COLLIDER_GEOMETRY: + { + // Get sphere geometry + csSphere sphere; + collider->GetSphereGeometry (sphere); + + // Create sphere + mesh = CreateSphereMesh (sphere, material, sector); + } + break; + + case CYLINDER_COLLIDER_GEOMETRY: + { + // Get cylinder geometry + float length, radius; + collider->GetCylinderGeometry (length, radius); + + // Create cylinder + mesh = CreateCylinderMesh (length, radius, material, + collider->GetLocalTransform (), sector); + } + break; + + case CAPSULE_COLLIDER_GEOMETRY: + { + // Get capsule geometry + float length, radius; + collider->GetCapsuleGeometry (length, radius); + + // Create capsule + mesh = CreateCapsuleMesh (length, radius, material, collider->GetLocalTransform (), sector); - body->AttachMesh (mesh); - } - break; - - case CAPSULE_COLLIDER_GEOMETRY: - { - // Get capsule geometry - float length, radius; - collider->GetCapsuleGeometry (length, radius); - - // Create capsule - csRef mesh = - CreateCapsuleMesh (length, radius, material, + } + break; + + case TRIMESH_COLLIDER_GEOMETRY: + { + // Get mesh geometry + csVector3* vertices = 0; + int* indices = 0; + size_t vertexCount, triangleCount; + collider->GetMeshGeometry (vertices, vertexCount, indices, triangleCount); + + // Create mesh + mesh = CreateCustomMesh (vertices, vertexCount, indices, triangleCount, + material, collider->GetLocalTransform (), sector); + } + break; + + case CONVEXMESH_COLLIDER_GEOMETRY: + { + // Get mesh geometry + csVector3* vertices = 0; + int* indices = 0; + size_t vertexCount, triangleCount; + collider->GetConvexMeshGeometry (vertices, vertexCount, indices, triangleCount); + + // Create mesh + mesh = CreateCustomMesh (vertices, vertexCount, indices, triangleCount, material, collider->GetLocalTransform (), sector); - body->AttachMesh (mesh); - } - break; - - case TRIMESH_COLLIDER_GEOMETRY: - { - // Get mesh geometry - csVector3* vertices = 0; - int* indices = 0; - size_t vertexCount, triangleCount; - collider->GetMeshGeometry (vertices, vertexCount, indices, triangleCount); - - // Create mesh - csRef mesh = - CreateCustomMesh (vertices, vertexCount, indices, triangleCount, material, - collider->GetLocalTransform (), sector); - body->AttachMesh (mesh); - } - break; - - case CONVEXMESH_COLLIDER_GEOMETRY: - { - // Get mesh geometry - csVector3* vertices = 0; - int* indices = 0; - size_t vertexCount, triangleCount; - collider->GetConvexMeshGeometry (vertices, vertexCount, indices, triangleCount); - - // Create mesh - csRef mesh = - CreateCustomMesh (vertices, vertexCount, indices, triangleCount, material, - collider->GetLocalTransform (), sector); - body->AttachMesh (mesh); - } - break; - - default: - // TODO: plan meshes - break; - } + } + break; + + default: + // TODO: plan meshes + break; } - } - - // TODO: do the same with the static colliders of the dynamic system + + return mesh; } @@ -510,4 +581,22 @@ } + BoneKinematicCallback::BoneKinematicCallback (iMeshWrapper* mesh, + iBulletKinematicCallback* callback) + : scfImplementationType (this), mesh (mesh), callback (callback) + { + } + + BoneKinematicCallback::~BoneKinematicCallback () + { + } + + void BoneKinematicCallback::GetBodyTransform + (iRigidBody* body, csOrthoTransform& transform) const + { + callback->GetBodyTransform (body, transform); + mesh->GetMovable ()->SetTransform (transform); + mesh->GetMovable ()->UpdateMove (); + } + } CS_PLUGIN_NAMESPACE_END(DebugDynamics) Index: /CS/trunk/plugins/physics/dyndebug/dyndebug.h =================================================================== --- /CS/trunk/plugins/physics/dyndebug/dyndebug.h (revision 33668) +++ /CS/trunk/plugins/physics/dyndebug/dyndebug.h (revision 33752) @@ -26,5 +26,6 @@ #include "csutil/leakguard.h" #include "csutil/weakref.h" -#include "csutil/refarr.h" +#include "csutil/list.h" +#include "ivaria/bullet.h" #include "ivaria/dynamicsdebug.h" @@ -40,4 +41,5 @@ { class DynamicsDebugger; + class BoneKinematicCallback; class DebuggerManager : public scfImplementation2 CreateColliderMesh (iDynamicsSystemCollider* collider, + iMaterialWrapper* material); + csRef CreateBoxMesh (csBox3 box, iMaterialWrapper* material, @@ -108,6 +120,8 @@ struct MeshData { - csRef mesh; - //csOrthoTransform transform; + csWeakRef rigidBody; + csRef originalMesh; + csRef debugMesh; + csRef callback; }; @@ -115,7 +129,25 @@ csRef system; csRef sector; - csRef material; + csRef materials[3]; bool debugMode; - csHash > storedMeshes; + csList storedMeshes; + }; + + + class BoneKinematicCallback : public scfImplementation1 + + { + public: + BoneKinematicCallback (iMeshWrapper* mesh, + iBulletKinematicCallback* callback); + ~BoneKinematicCallback (); + + void GetBodyTransform (iRigidBody* body, csOrthoTransform& transform) const; + + private: + csWeakRef mesh; + csRef callback; + + friend class DynamicsDebugger; }; Index: /CS/trunk/include/ivaria/dynamicsdebug.h =================================================================== --- /CS/trunk/include/ivaria/dynamicsdebug.h (revision 33602) +++ /CS/trunk/include/ivaria/dynamicsdebug.h (revision 33752) @@ -23,5 +23,5 @@ /**\file - * Debugging of dynamics systems + * Debugging of dynamic systems */ @@ -31,4 +31,6 @@ struct iDynamicSystem; struct iSector; +struct iMaterialWrapper; +enum csBulletState; /** @@ -51,5 +53,5 @@ struct iDynamicSystemDebugger : public virtual iBase { - SCF_INTERFACE(iDynamicSystemDebugger, 1, 0, 0); + SCF_INTERFACE(iDynamicSystemDebugger, 1, 0, 1); /** @@ -74,4 +76,35 @@ */ virtual void SetDebugDisplayMode (bool debugMode) = 0; + + /** + * Update the list of colliders that are displayed. Call this when you have + * added or removed some dynamic bodies to/from the dynamic system. + */ + virtual void UpdateDisplay () = 0; + + /** + * Set the material to be used for the colliders of the rigid bodies that are + * in 'static' state. If 0 is passed then the rigid bodies in 'static' state + * won't be displayed. If this method is not used, then a default red colored + * material will be used. + */ + virtual void SetStaticBodyMaterial (iMaterialWrapper* material) = 0; + + /** + * Set the material to be used for the colliders of the rigid bodies that are + * in 'dynamic' state. If 0 is passed then the rigid bodies in 'dynamic' state + * won't be displayed. If this method is not used, then a default green colored + * material will be used. + */ + virtual void SetDynamicBodyMaterial (iMaterialWrapper* material) = 0; + + /** + * Set the material to be used for the colliders of the rigid bodies that are + * in the given state. If 0 is passed then the rigid bodies in the given state + * won't be displayed. If this method is not used, then a default blue colored + * material will be used. + */ + virtual void SetBodyStateMaterial (csBulletState state, + iMaterialWrapper* material) = 0; };