Add bullet debug drawer

apps/openmw/CMakeLists.txt

@@ -22,6 +22,7 @@ source_group(game FILES ${GAME} ${GAME_HEADER})
 add_openmw_dir (mwrender
     actors objects renderingmanager animation sky npcanimation vismask
     creatureanimation effectmanager util renderinginterface debugging rendermode
+    bulletdebugdraw
 #    camera activatoranimation
 #    localmap occlusionquery water shadows
 #    characterpreview globalmap ripplesimulation refraction

apps/openmw/mwrender/bulletdebugdraw.cpp

@@ -0,0 +1,98 @@
+#include "bulletdebugdraw.hpp"
+
+#include <iostream>
+
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osg/Group>
+
+#include "vismask.hpp"
+
+namespace
+{
+    osg::Vec3f toOsg(const btVector3& vec)
+    {
+        return osg::Vec3f(vec.x(), vec.y(), vec.z());
+    }
+}
+
+namespace MWRender
+{
+
+DebugDrawer::DebugDrawer(osg::ref_ptr<osg::Group> parentNode, btDynamicsWorld *world)
+    : mParentNode(parentNode),
+      mWorld(world),
+      mDebugOn(true)
+{
+    mGeode = new osg::Geode;
+    mParentNode->addChild(mGeode);
+    mGeode->setNodeMask(Mask_Debug);
+
+    mGeometry = new osg::Geometry;
+
+    mVertices = new osg::Vec3Array;
+
+    mDrawArrays = new osg::DrawArrays(osg::PrimitiveSet::LINES);
+
+    mGeometry->setUseDisplayList(false);
+    mGeometry->setVertexArray(mVertices);
+    mGeometry->setDataVariance(osg::Object::DYNAMIC);
+    mGeometry->addPrimitiveSet(mDrawArrays);
+
+    mGeode->addDrawable(mGeometry);
+    mParentNode->addChild(mGeode);
+}
+
+DebugDrawer::~DebugDrawer()
+{
+    mParentNode->removeChild(mGeode);
+}
+
+void DebugDrawer::step()
+{
+    if (mDebugOn)
+    {
+        mVertices->clear();
+        mWorld->debugDrawWorld();
+        mDrawArrays->setCount(mVertices->size());
+        mVertices->dirty();
+    }
+}
+
+void DebugDrawer::drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)
+{
+    mVertices->push_back(toOsg(from));
+    mVertices->push_back(toOsg(to));
+}
+
+void DebugDrawer::drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)
+{
+    mVertices->push_back(toOsg(PointOnB));
+    mVertices->push_back(toOsg(PointOnB) + (toOsg(normalOnB) * distance * 20));
+}
+
+void DebugDrawer::reportErrorWarning(const char *warningString)
+{
+    std::cerr << warningString << std::endl;
+}
+
+void DebugDrawer::setDebugMode(int isOn)
+{
+    mDebugOn = (isOn == 0) ? false : true;
+
+    if (!mDebugOn)
+    {
+        mVertices->clear();
+        mVertices->releaseGLObjects(0);
+        mGeometry->releaseGLObjects(0);
+    }
+}
+
+int DebugDrawer::getDebugMode() const
+{
+    return mDebugOn;
+}
+
+
+
+}

apps/openmw/mwrender/bulletdebugdraw.hpp

@@ -0,0 +1,58 @@
+#ifndef OPENMW_MWRENDER_BULLETDEBUGDRAW_H
+#define OPENMW_MWRENDER_BULLETDEBUGDRAW_H
+
+#include "btBulletDynamicsCommon.h"
+
+#include <osg/ref_ptr>
+#include <osg/Array>
+#include <osg/PrimitiveSet>
+
+namespace osg
+{
+    class Group;
+    class Geode;
+    class Geometry;
+}
+
+namespace MWRender
+{
+
+class DebugDrawer : public btIDebugDraw
+{
+protected:
+    osg::ref_ptr<osg::Group> mParentNode;
+    btDynamicsWorld *mWorld;
+    osg::ref_ptr<osg::Geode> mGeode;
+    osg::ref_ptr<osg::Geometry> mGeometry;
+    osg::ref_ptr<osg::Vec3Array> mVertices;
+    osg::ref_ptr<osg::DrawArrays> mDrawArrays;
+
+    bool mDebugOn;
+
+public:
+
+    DebugDrawer(osg::ref_ptr<osg::Group> parentNode, btDynamicsWorld *world);
+    ~DebugDrawer();
+
+    void step();
+
+    void drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
+
+    void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
+
+    void reportErrorWarning(const char* warningString);
+
+    void draw3dText(const btVector3& location,const char* textString) {}
+
+    //0 for off, anything else for on.
+    void setDebugMode(int isOn);
+
+    //0 for off, anything else for on.
+    int getDebugMode() const;
+
+};
+
+
+}
+
+#endif

apps/openmw/mwrender/debugging.cpp

@@ -146,10 +146,6 @@ Debugging::~Debugging()
 bool Debugging::toggleRenderMode (int mode){
     switch (mode)
     {
-        //case Render_CollisionDebug:
-
-            //return mEngine->toggleDebugRendering();
-
         case Render_Pathgrid:
             togglePathgrid();
             return mPathgridEnabled;

apps/openmw/mwworld/physicssystem.cpp

@@ -10,6 +10,8 @@
 #include <OgreTextureManager.h>
 #include <OgreSceneNode.h>
 
+#include <osg/Group>
+
 #include <openengine/bullet/trace.h>
 #include <openengine/bullet/physic.hpp>
 #include <openengine/bullet/BtOgreExtras.h>
@@ -29,6 +31,8 @@
 #include "../mwworld/esmstore.hpp"
 #include "../mwworld/cellstore.hpp"
 
+#include "../mwrender/bulletdebugdraw.hpp"
+
 //#include "../apps/openmw/mwrender/animation.hpp"
 #include "../apps/openmw/mwbase/world.hpp"
 #include "../apps/openmw/mwbase/environment.hpp"
@@ -498,8 +502,8 @@ namespace MWWorld
     };
 
 
-    PhysicsSystem::PhysicsSystem() :
+    PhysicsSystem::PhysicsSystem(osg::ref_ptr<osg::Group> parentNode) :
-        mEngine(0), mTimeAccum(0.0f), mWaterEnabled(false), mWaterHeight(0)
+        mEngine(0), mTimeAccum(0.0f), mWaterEnabled(false), mWaterHeight(0), mDebugDrawEnabled(false), mParentNode(parentNode)
     {
         // Create physics. shapeLoader is deleted by the physic engine
         //NifBullet::ManualBulletShapeLoader* shapeLoader = new NifBullet::ManualBulletShapeLoader();
@@ -514,6 +518,21 @@ namespace MWWorld
         //delete OEngine::Physic::BulletShapeManager::getSingletonPtr();
     }
 
+    bool PhysicsSystem::toggleDebugRendering()
+    {
+        mDebugDrawEnabled = !mDebugDrawEnabled;
+
+        if (mDebugDrawEnabled && !mDebugDrawer.get())
+        {
+            mDebugDrawer.reset(new MWRender::DebugDrawer(mParentNode, mEngine->mDynamicsWorld));
+            mEngine->mDynamicsWorld->setDebugDrawer(mDebugDrawer.get());
+            mDebugDrawer->setDebugMode(mDebugDrawEnabled);
+        }
+        else if (mDebugDrawer.get())
+            mDebugDrawer->setDebugMode(mDebugDrawEnabled);
+        return mDebugDrawEnabled;
+    }
+
     OEngine::Physic::PhysicEngine* PhysicsSystem::getEngine()
     {
         return mEngine;
@@ -799,6 +818,9 @@ namespace MWWorld
         animateCollisionShapes(mEngine->mAnimatedShapes, mEngine->mDynamicsWorld);
 
         mEngine->stepSimulation(dt);
+
+        if (mDebugDrawer.get())
+            mDebugDrawer->step();
     }
 
     bool PhysicsSystem::isActorStandingOn(const Ptr &actor, const Ptr &object) const

apps/openmw/mwworld/physicssystem.hpp

@@ -7,8 +7,14 @@
 
 #include <btBulletCollisionCommon.h>
 
+#include <osg/ref_ptr>
+
 #include "ptr.hpp"
 
+namespace osg
+{
+    class Group;
+}
 
 namespace OEngine
 {
@@ -18,6 +24,11 @@ namespace OEngine
     }
 }
 
+namespace MWRender
+{
+    class DebugDrawer;
+}
+
 namespace MWWorld
 {
     class World;
@@ -27,7 +38,7 @@ namespace MWWorld
     class PhysicsSystem
     {
         public:
-            PhysicsSystem ();
+            PhysicsSystem (osg::ref_ptr<osg::Group> parentNode);
             ~PhysicsSystem ();
 
             void enableWater(float height);
@@ -98,10 +109,14 @@ namespace MWWorld
             /// Get the handle of all actors colliding with \a object in this frame.
             void getActorsCollidingWith(const MWWorld::Ptr& object, std::vector<std::string>& out) const;
 
+            bool toggleDebugRendering();
+
         private:
 
             void updateWater();
 
+            bool mDebugDrawEnabled;
+
             OEngine::Physic::PhysicEngine* mEngine;
             std::map<std::string, std::string> handleToMesh;
 
@@ -123,6 +138,10 @@ namespace MWWorld
             std::auto_ptr<btCollisionObject> mWaterCollisionObject;
             std::auto_ptr<btCollisionShape> mWaterCollisionShape;
 
+            std::auto_ptr<MWRender::DebugDrawer> mDebugDrawer;
+
+            osg::ref_ptr<osg::Group> mParentNode;
+
             PhysicsSystem (const PhysicsSystem&);
             PhysicsSystem& operator= (const PhysicsSystem&);
     };

apps/openmw/mwworld/scene.cpp

@@ -18,7 +18,7 @@
 
 #include "../mwrender/renderingmanager.hpp"
 
-//#include "physicssystem.hpp"
+#include "physicssystem.hpp"
 #include "player.hpp"
 #include "localscripts.hpp"
 #include "esmstore.hpp"
@@ -26,8 +26,6 @@
 #include "cellfunctors.hpp"
 #include "cellstore.hpp"
 
-#include <osg/Timer>
-
 namespace
 {
 
@@ -194,26 +192,22 @@ namespace MWWorld
         ListAndResetHandles functor;
 
         (*iter)->forEach<ListAndResetHandles>(functor);
+        for (std::vector<Ogre::SceneNode*>::const_iterator iter2 (functor.mHandles.begin());
+            iter2!=functor.mHandles.end(); ++iter2)
         {
-            // silence annoying g++ warning
+            //Ogre::SceneNode* node = *iter2;
-            for (std::vector<Ogre::SceneNode*>::const_iterator iter2 (functor.mHandles.begin());
+            //mPhysics->removeObject (node->getName());
-                iter2!=functor.mHandles.end(); ++iter2)
-            {
-                //Ogre::SceneNode* node = *iter2;
-                //mPhysics->removeObject (node->getName());
-            }
         }
 
         if ((*iter)->getCell()->isExterior())
         {
-            /*ESM::Land* land =
+            ESM::Land* land =
                 MWBase::Environment::get().getWorld()->getStore().get<ESM::Land>().search(
                     (*iter)->getCell()->getGridX(),
                     (*iter)->getCell()->getGridY()
                 );
             if (land && land->mDataTypes&ESM::Land::DATA_VHGT)
                 mPhysics->removeHeightField ((*iter)->getCell()->getGridX(), (*iter)->getCell()->getGridY());
-                */
         }
 
         mRendering.removeCell(*iter);
@@ -234,10 +228,9 @@ namespace MWWorld
         {
             std::cout << "loading cell " << cell->getCell()->getDescription() << std::endl;
 
-            //float verts = ESM::Land::LAND_SIZE;
+            float verts = ESM::Land::LAND_SIZE;
-            //float worldsize = ESM::Land::REAL_SIZE;
+            float worldsize = ESM::Land::REAL_SIZE;
 
-#if 0
             // Load terrain physics first...
             if (cell->getCell()->isExterior())
             {
@@ -262,7 +255,6 @@ namespace MWWorld
                     ;
                 }
             }
-#endif
 
             cell->respawn();
 
@@ -316,9 +308,7 @@ namespace MWWorld
         {
             int newX, newY;
             MWBase::Environment::get().getWorld()->positionToIndex(pos.x(), pos.y(), newX, newY);
-            osg::Timer timer;
             changeCellGrid(newX, newY);
-            std::cout << "changeCellGrid took " << timer.time_m() << std::endl;
             //mRendering.updateTerrain();
         }
     }

apps/openmw/mwworld/worldimp.cpp

@@ -161,7 +161,7 @@ namespace MWWorld
       mStartCell (startCell), mStartupScript(startupScript),
       mScriptsEnabled(true)
     {
-        mPhysics = new PhysicsSystem();
+        mPhysics = new PhysicsSystem(rootNode);
         //mPhysEngine = mPhysics->getEngine();
 #if 0
         mProjectileManager.reset(new ProjectileManager(renderer.getScene(), *mPhysEngine));
@@ -1409,9 +1409,8 @@ namespace MWWorld
 
     void World::doPhysics(float duration)
     {
+        mPhysics->stepSimulation(duration);
 #if 0
-        //mPhysics->stepSimulation(duration);
-
         processDoors(duration);
 
         mProjectileManager->update(duration);
@@ -1503,7 +1502,13 @@ namespace MWWorld
 
     bool World::toggleRenderMode (MWRender::RenderMode mode)
     {
-        return mRendering->toggleRenderMode (mode);
+        switch (mode)
+        {
+            case MWRender::Render_CollisionDebug:
+                return mPhysics->toggleDebugRendering();
+            default:
+                return mRendering->toggleRenderMode(mode);
+        }
     }
 
     const ESM::Potion *World::createRecord (const ESM::Potion& record)
@@ -1601,8 +1606,8 @@ namespace MWWorld
 
         updateWeather(duration, paused);
 
-        //if (!paused)
+        if (!paused)
-        //    doPhysics (duration);
+            doPhysics (duration);
 
         mWorldScene->update (duration, paused);
 

libs/openengine/bullet/physic.cpp

@@ -240,9 +240,7 @@ namespace Physic
 
 
 
-    PhysicEngine::PhysicEngine(BulletShapeLoader* shapeLoader) :
+    PhysicEngine::PhysicEngine(BulletShapeLoader* shapeLoader)
-        mDebugActive(0)
-      , mSceneMgr(NULL)
     {
         // Set up the collision configuration and dispatcher
         collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -263,42 +261,6 @@ namespace Physic
         mDynamicsWorld->setGravity(btVector3(0,0,-10));
 
         mShapeLoader = shapeLoader;
-
-        isDebugCreated = false;
-        mDebugDrawer = NULL;
-    }
-
-    void PhysicEngine::createDebugRendering()
-    {
-        if(!isDebugCreated)
-        {
-            Ogre::SceneNode* node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
-            mDebugDrawer = new BtOgre::DebugDrawer(node, mDynamicsWorld);
-            mDynamicsWorld->setDebugDrawer(mDebugDrawer);
-            isDebugCreated = true;
-            mDynamicsWorld->debugDrawWorld();
-        }
-    }
-
-    void PhysicEngine::setDebugRenderingMode(bool isDebug)
-    {
-        if(!isDebugCreated)
-        {
-            createDebugRendering();
-        }
-        mDebugDrawer->setDebugMode(isDebug);
-        mDebugActive = isDebug;
-    }
-
-    bool  PhysicEngine::toggleDebugRendering()
-    {
-        setDebugRenderingMode(!mDebugActive);
-        return mDebugActive;
-    }
-
-    void PhysicEngine::setSceneManager(Ogre::SceneManager* sceneMgr)
-    {
-        mSceneMgr = sceneMgr;
     }
 
     PhysicEngine::~PhysicEngine()
@@ -336,8 +298,6 @@ namespace Physic
             }
         }
 
-        delete mDebugDrawer;
-
         delete mDynamicsWorld;
         delete solver;
         delete collisionConfiguration;
@@ -652,10 +612,6 @@ namespace Physic
     {
         // This seems to be needed for character controller objects
         mDynamicsWorld->stepSimulation(static_cast<btScalar>(deltaT), 10, 1 / 60.0f);
-        if(isDebugCreated)
-        {
-            mDebugDrawer->step();
-        }
     }
 
     void PhysicEngine::addCharacter(const std::string &name, const std::string &mesh,

libs/openengine/bullet/physic.hpp

@@ -271,22 +271,6 @@ namespace Physic
          */
         void stepSimulation(double deltaT);
 
-        /**
-         * Create a debug rendering. It is called by setDebgRenderingMode if it's not created yet.
-         * Important Note: this will crash if the Render is not yet initialise!
-         */
-        void createDebugRendering();
-
-        /**
-         * Set the debug rendering mode. 0 to turn it off.
-         * Important Note: this will crash if the Render is not yet initialise!
-         */
-        void setDebugRenderingMode(bool isDebug);
-
-        bool toggleDebugRendering();
-
-        void setSceneManager(Ogre::SceneManager* sceneMgr);
-
         /**
          * Return the closest object hit by a ray. If there are no objects, it will return ("",-1).
          * If \a normal is non-NULL, the hit normal will be written there (if there is a hit)
@@ -328,13 +312,6 @@ namespace Physic
         typedef std::map<std::string, PhysicActor*>  PhysicActorContainer;
         PhysicActorContainer mActorMap;
 
-        Ogre::SceneManager* mSceneMgr;
-
-        //debug rendering
-        BtOgre::DebugDrawer* mDebugDrawer;
-        bool isDebugCreated;
-        bool mDebugActive;
-
     private:
         PhysicEngine(const PhysicEngine&);
         PhysicEngine& operator=(const PhysicEngine&);