C++ 基于OpenGL的Bullet调试抽屉

我一直在摆弄bullet，现在我想画debug。 我有一个opengl的世界，里面有子弹物理和所有东西

我尝试的是： 我创建了一个类，如下所示：

#include "LinearMath/btIDebugDraw.h"

class GLDebugDrawer : public btIDebugDraw
{
   int m_debugMode;

public:

   GLDebugDrawer();
   virtual ~GLDebugDrawer();

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor);

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& color);

   virtual void   drawSphere(const btVector3& p, btScalar radius, const btVector3& color);

   virtual void   drawTriangle(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& color, btScalar alpha);

   virtual void   drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color);

   virtual void   reportErrorWarning(const char* warningString);

   virtual void   draw3dText(const btVector3& location, const char* textString);

   virtual void   setDebugMode(int debugMode);

   virtual int      getDebugMode() const { return m_debugMode; }

};

debugDraw->DBG_DrawWireframe; // this breaks when I run the app
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe); // so does this
debugDraw->setDebugMode(1); // this doesn't

bt_dynamicsWorld->setDebugDrawer(debugDraw);

bt_dynamicsWorld->debugDrawWorld();

GLDebugDrawer MyDrawer;
...
bt_dynamicsWorld->setDebugDrawer(&MyDrawer);

然后在游戏中，我加入这个标题并创建一个实例

在初始化bt world时，我将调试绘图类型设置为：

#include "LinearMath/btIDebugDraw.h"

class GLDebugDrawer : public btIDebugDraw
{
   int m_debugMode;

public:

   GLDebugDrawer();
   virtual ~GLDebugDrawer();

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor);

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& color);

   virtual void   drawSphere(const btVector3& p, btScalar radius, const btVector3& color);

   virtual void   drawTriangle(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& color, btScalar alpha);

   virtual void   drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color);

   virtual void   reportErrorWarning(const char* warningString);

   virtual void   draw3dText(const btVector3& location, const char* textString);

   virtual void   setDebugMode(int debugMode);

   virtual int      getDebugMode() const { return m_debugMode; }

};

debugDraw->DBG_DrawWireframe; // this breaks when I run the app
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe); // so does this
debugDraw->setDebugMode(1); // this doesn't

bt_dynamicsWorld->setDebugDrawer(debugDraw);

bt_dynamicsWorld->debugDrawWorld();

GLDebugDrawer MyDrawer;
...
bt_dynamicsWorld->setDebugDrawer(&MyDrawer);

然后，我将调试设置为bullet世界，如下所示：

#include "LinearMath/btIDebugDraw.h"

class GLDebugDrawer : public btIDebugDraw
{
   int m_debugMode;

public:

   GLDebugDrawer();
   virtual ~GLDebugDrawer();

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor);

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& color);

   virtual void   drawSphere(const btVector3& p, btScalar radius, const btVector3& color);

   virtual void   drawTriangle(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& color, btScalar alpha);

   virtual void   drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color);

   virtual void   reportErrorWarning(const char* warningString);

   virtual void   draw3dText(const btVector3& location, const char* textString);

   virtual void   setDebugMode(int debugMode);

   virtual int      getDebugMode() const { return m_debugMode; }

};

debugDraw->DBG_DrawWireframe; // this breaks when I run the app
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe); // so does this
debugDraw->setDebugMode(1); // this doesn't

bt_dynamicsWorld->setDebugDrawer(debugDraw);

bt_dynamicsWorld->debugDrawWorld();

GLDebugDrawer MyDrawer;
...
bt_dynamicsWorld->setDebugDrawer(&MyDrawer);

最后，我在渲染子弹体后渲染调试图，如下所示：

#include "LinearMath/btIDebugDraw.h"

class GLDebugDrawer : public btIDebugDraw
{
   int m_debugMode;

public:

   GLDebugDrawer();
   virtual ~GLDebugDrawer();

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor);

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& color);

   virtual void   drawSphere(const btVector3& p, btScalar radius, const btVector3& color);

   virtual void   drawTriangle(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& color, btScalar alpha);

   virtual void   drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color);

   virtual void   reportErrorWarning(const char* warningString);

   virtual void   draw3dText(const btVector3& location, const char* textString);

   virtual void   setDebugMode(int debugMode);

   virtual int      getDebugMode() const { return m_debugMode; }

};

debugDraw->DBG_DrawWireframe; // this breaks when I run the app
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe); // so does this
debugDraw->setDebugMode(1); // this doesn't

bt_dynamicsWorld->setDebugDrawer(debugDraw);

bt_dynamicsWorld->debugDrawWorld();

GLDebugDrawer MyDrawer;
...
bt_dynamicsWorld->setDebugDrawer(&MyDrawer);

---

在运行时，我没有得到任何线框或任何东西，因此我一定缺少了一些东西。

有一组简单的代码，可以相对简单地用来修改代码，看起来您可能需要更改

bt\u dynamicsWorld->setDebugDrawer（debugDraw）到
bt_dynamicsWorld->setDebugDrawer（&debugDraw）（不确定，因为我不知道框架是如何设置的。
首先，必须将实例化类的引用传递给
setDebugDrawer
函数，如下所示：

#include "LinearMath/btIDebugDraw.h"

class GLDebugDrawer : public btIDebugDraw
{
   int m_debugMode;

public:

   GLDebugDrawer();
   virtual ~GLDebugDrawer();

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& fromColor, const btVector3& toColor);

   virtual void   drawLine(const btVector3& from, const btVector3& to, const btVector3& color);

   virtual void   drawSphere(const btVector3& p, btScalar radius, const btVector3& color);

   virtual void   drawTriangle(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& color, btScalar alpha);

   virtual void   drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color);

   virtual void   reportErrorWarning(const char* warningString);

   virtual void   draw3dText(const btVector3& location, const char* textString);

   virtual void   setDebugMode(int debugMode);

   virtual int      getDebugMode() const { return m_debugMode; }

};

debugDraw->DBG_DrawWireframe; // this breaks when I run the app
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe); // so does this
debugDraw->setDebugMode(1); // this doesn't

bt_dynamicsWorld->setDebugDrawer(debugDraw);

bt_dynamicsWorld->debugDrawWorld();

GLDebugDrawer MyDrawer;
...
bt_dynamicsWorld->setDebugDrawer(&MyDrawer);

其次，同样重要的是，您必须定义
GLDebugDrawer
类中列出的虚拟函数，这样当bullet调用其中一个函数来绘制调试信息时，您的调试抽屉实际上可以在屏幕上绘制一些内容。
嘿，谢谢您的回复。我已经阅读了那篇文章，并随后阅读了，b但是我仍然没有通过任何程序。如果我通过
bt\u dynamicsWorld->setDebugDrawer（&debugDraw）
我得到了这样的信息：
无法将参数1从“GLDebugDrawer**”转换为“btIDebugDraw*”
。我知道这是一条旧消息，但在我搜索时它突然出现在顶部。您是否在GLDebugDrawer类中实现了这些方法中的任何一个？