/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from
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* the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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package com.bulletphysics.linearmath;
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import com.bulletphysics.collision.dispatch.CollisionWorld;
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import com.bulletphysics.dynamics.DynamicsWorld;
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import cz.advel.stack.Stack;
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import javax.vecmath.Vector3f;
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/**
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* IDebugDraw interface class allows hooking up a debug renderer to visually debug
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* simulations.<p>
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*
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* Typical use case: create a debug drawer object, and assign it to a {@link CollisionWorld}
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* or {@link DynamicsWorld} using setDebugDrawer and call debugDrawWorld.<p>
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*
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* A class that implements the IDebugDraw interface has to implement the drawLine
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* method at a minimum.
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*
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* @author jezek2
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*/
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public abstract class IDebugDraw {
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//protected final BulletStack stack = BulletStack.get();
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public abstract void drawLine(Vector3f from, Vector3f to, Vector3f color);
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public void drawTriangle(Vector3f v0, Vector3f v1, Vector3f v2, Vector3f n0, Vector3f n1, Vector3f n2, Vector3f color, float alpha) {
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drawTriangle(v0, v1, v2, color, alpha);
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}
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public void drawTriangle(Vector3f v0, Vector3f v1, Vector3f v2, Vector3f color, float alpha) {
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drawLine(v0, v1, color);
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drawLine(v1, v2, color);
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drawLine(v2, v0, color);
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}
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public abstract void drawContactPoint(Vector3f PointOnB, Vector3f normalOnB, float distance, int lifeTime, Vector3f color);
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public abstract void reportErrorWarning(String warningString);
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public abstract void draw3dText(Vector3f location, String textString);
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public abstract void setDebugMode(int debugMode);
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public abstract int getDebugMode();
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public void drawAabb(Vector3f from, Vector3f to, Vector3f color) {
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Vector3f halfExtents = (Vector3f) Stack.alloc(to);
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halfExtents.sub(from);
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halfExtents.scale(0.5f);
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Vector3f center = (Vector3f) Stack.alloc(to);
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center.add(from);
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center.scale(0.5f);
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int i, j;
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Vector3f edgecoord = Stack.alloc(Vector3f.class);
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edgecoord.set(1f, 1f, 1f);
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Vector3f pa = Stack.alloc(Vector3f.class), pb = Stack.alloc(Vector3f.class);
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for (i = 0; i < 4; i++) {
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for (j = 0; j < 3; j++) {
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pa.set(edgecoord.x * halfExtents.x, edgecoord.y * halfExtents.y, edgecoord.z * halfExtents.z);
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pa.add(center);
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int othercoord = j % 3;
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VectorUtil.mulCoord(edgecoord, othercoord, -1f);
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pb.set(edgecoord.x * halfExtents.x, edgecoord.y * halfExtents.y, edgecoord.z * halfExtents.z);
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pb.add(center);
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drawLine(pa, pb, color);
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}
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edgecoord.set(-1f, -1f, -1f);
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if (i < 3) {
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VectorUtil.mulCoord(edgecoord, i, -1f);
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}
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}
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}
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}
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