Bullet Collision Detection & Physics Library: btIDebugDraw Class Reference

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btIDebugDraw Class Referenceabstract

The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. More...

`#include <btIDebugDraw.h>`

## Classes
struct | DefaultColors

## 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_DrawNormals = (1 << 14) , DBG_DrawFrames = (1 << 15) , DBG_MAX_DEBUG_DRAW_MODE }

## Public Member Functions
virtual | ~btIDebugDraw ()
virtual DefaultColors | getDefaultColors () const
virtual void | setDefaultColors (const DefaultColors &)
| the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
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 | drawSphere (btScalar radius, const btTransform &transform, const btVector3 &color)
virtual void | drawSphere (const btVector3 &p, btScalar radius, const btVector3 &color)
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 void | drawContactPoint (const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual void | reportErrorWarning (const char *warningString)=0
virtual void | draw3dText (const btVector3 &location, const char *textString)=0
virtual void | setDebugMode (int debugMode)=0
virtual int | getDebugMode () const =0
virtual void | drawAabb (const btVector3 &from, const btVector3 &to, const btVector3 &color)
virtual void | drawTransform (const btTransform &transform, btScalar orthoLen)
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 | 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), bool drawCenter=true)
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 | drawCylinder (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 | drawPlane (const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)
virtual void | clearLines ()
virtual void | flushLines ()

## 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 will need to provide non-empty implementations of the the drawLine and getDebugMode methods 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 26 of file btIDebugDraw.h.

## Member Enumeration Documentation

## ◆ DebugDrawModes

enum btIDebugDraw::DebugDrawModes

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_DrawNormals |
DBG_DrawFrames |
DBG_MAX_DEBUG_DRAW_MODE |

Definition at line 52 of file btIDebugDraw.h.

## Constructor & Destructor Documentation

## ◆ ~btIDebugDraw()

virtual btIDebugDraw::~btIDebugDraw | ( |  | ) |
| inlinevirtual

Definition at line 74 of file btIDebugDraw.h.

## Member Function Documentation

## ◆ clearLines()

virtual void btIDebugDraw::clearLines | ( |  | ) |
| inlinevirtual

Definition at line 464 of file btIDebugDraw.h.

## ◆ draw3dText()

virtual void btIDebugDraw::draw3dText | ( | const btVector3 & | location,
|  | const char * | textString )
| pure virtual

## ◆ drawAabb()

virtual void btIDebugDraw::drawAabb | ( | const btVector3 & | from,
|  | const btVector3 & | to,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 135 of file btIDebugDraw.h.

## ◆ drawArc()

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) )
| inlinevirtual

Definition at line 171 of file btIDebugDraw.h.

## ◆ drawBox() [1/2]

virtual void btIDebugDraw::drawBox | ( | const btVector3 & | bbMin,
|  | const btVector3 & | bbMax,
|  | const btTransform & | trans,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 319 of file btIDebugDraw.h.

## ◆ drawBox() [2/2]

virtual void btIDebugDraw::drawBox | ( | const btVector3 & | bbMin,
|  | const btVector3 & | bbMax,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 304 of file btIDebugDraw.h.

## ◆ drawCapsule()

virtual void btIDebugDraw::drawCapsule | ( | btScalar | radius,
|  | btScalar | halfHeight,
|  | int | upAxis,
|  | const btTransform & | transform,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 335 of file btIDebugDraw.h.

## ◆ drawCone()

virtual void btIDebugDraw::drawCone | ( | btScalar | radius,
|  | btScalar | height,
|  | int | upAxis,
|  | const btTransform & | transform,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 414 of file btIDebugDraw.h.

## ◆ drawContactPoint()

virtual void btIDebugDraw::drawContactPoint | ( | const btVector3 & | PointOnB,
|  | const btVector3 & | normalOnB,
|  | btScalar | distance,
|  | int | lifeTime,
|  | const btVector3 & | color )
| pure virtual

## ◆ drawCylinder()

virtual void btIDebugDraw::drawCylinder | ( | btScalar | radius,
|  | btScalar | halfHeight,
|  | int | upAxis,
|  | const btTransform & | transform,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 388 of file btIDebugDraw.h.

## ◆ drawLine() [1/2]

virtual void btIDebugDraw::drawLine | ( | const btVector3 & | from,
|  | const btVector3 & | to,
|  | const btVector3 & | color )
| pure virtual

## ◆ drawLine() [2/2]

virtual void btIDebugDraw::drawLine | ( | const btVector3 & | from,
|  | const btVector3 & | to,
|  | const btVector3 & | fromColor,
|  | const btVector3 & | toColor )
| inlinevirtual

Definition at line 86 of file btIDebugDraw.h.

## ◆ drawPlane()

virtual void btIDebugDraw::drawPlane | ( | const btVector3 & | planeNormal,
|  | btScalar | planeConst,
|  | const btTransform & | transform,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 450 of file btIDebugDraw.h.

## ◆ drawSphere() [1/2]

virtual void btIDebugDraw::drawSphere | ( | btScalar | radius,
|  | const btTransform & | transform,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 92 of file btIDebugDraw.h.

## ◆ drawSphere() [2/2]

virtual void btIDebugDraw::drawSphere | ( | const btVector3 & | p,
|  | btScalar | radius,
|  | const btVector3 & | color )
| inlinevirtual

Definition at line 106 of file btIDebugDraw.h.

## ◆ drawSpherePatch()

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),
|  | bool | drawCenter = true )
| inlinevirtual

Definition at line 196 of file btIDebugDraw.h.

## ◆ drawTransform()

virtual void btIDebugDraw::drawTransform | ( | const btTransform & | transform,
|  | btScalar | orthoLen )
| inlinevirtual

Definition at line 163 of file btIDebugDraw.h.

## ◆ drawTriangle() [1/2]

virtual void btIDebugDraw::drawTriangle | ( | const btVector3 & | v0,
|  | const btVector3 & | v1,
|  | const btVector3 & | v2,
|  | const btVector3 & | ,
|  | const btVector3 & | ,
|  | const btVector3 & | ,
|  | const btVector3 & | color,
|  | btScalar | alpha )
| inlinevirtual

Definition at line 114 of file btIDebugDraw.h.

## ◆ drawTriangle() [2/2]

virtual void btIDebugDraw::drawTriangle | ( | const btVector3 & | v0,
|  | const btVector3 & | v1,
|  | const btVector3 & | v2,
|  | const btVector3 & | color,
|  | btScalar | )
| inlinevirtual

Definition at line 118 of file btIDebugDraw.h.

## ◆ flushLines()

virtual void btIDebugDraw::flushLines | ( |  | ) |
| inlinevirtual

Definition at line 468 of file btIDebugDraw.h.

## ◆ getDebugMode()

virtual int btIDebugDraw::getDebugMode | ( |  | ) | const
| pure virtual

## ◆ getDefaultColors()

virtual DefaultColors btIDebugDraw::getDefaultColors | ( |  | ) | const
| inlinevirtual

Definition at line 76 of file btIDebugDraw.h.

## ◆ reportErrorWarning()

virtual void btIDebugDraw::reportErrorWarning | ( | const char * | warningString | ) |
| pure virtual

## ◆ setDebugMode()

virtual void btIDebugDraw::setDebugMode | ( | int | debugMode | ) |
| pure virtual

## ◆ setDefaultColors()

virtual void btIDebugDraw::setDefaultColors | ( | const DefaultColors & |  | ) |
| inlinevirtual

the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.

Definition at line 82 of file btIDebugDraw.h.

The documentation for this class was generated from the following file:

- btIDebugDraw.h