- Adding an implemetation of btIDrawDebug

- Fixing a bug in the build system (genmakefile.py)
- Renaming src/Physics/PhyConversions.h to src/Physics/BtAndAnkiConversions.h
- Other minor changes

build/debug/Makefile

@@ -4,8 +4,8 @@ PHFLAGS = -DDEBUG_ENABLED -DPLATFORM_LINUX -DREVISION=\"`svnversion -c ../..`\"
 LFLAGS = -rdynamic -L../../../SDL/build/.libs -L../../../SDL_image/.libs -L../../../glew/lib -L../../../bullet/src/BulletSoftBody -L../../../bullet/src/BulletDynamics -L../../../bullet/src/BulletCollision -L../../../bullet/src/LinearMath -Wl,-Bstatic -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath -lGLEW -lSDL_image -lGLU -lSDL -lboost_system -lboost_filesystem -Wl,-Bdynamic -lGL -ljpeg -lpng -ltiff -pg
 EXECUTABLE = anki
 INCPATH = -I./ -I../../src/Math/ -I../../src/Util/Tokenizer/ -I../../src/Misc/ -I../../src/ -I../../src/Renderer/ -I../../src/Scene/ -I../../src/Ui/ -I../../src/Resources/ -I../../src/Util/ -I../../src/Scene/Controllers/ -I../../src/Physics/ -I../../src/Renderer/BufferObjects/ -I../../src/Resources/Helpers/ -I../../src/Resources/Core/ -I../../../bullet/src/ -I../../../SDL/include -I../../../glew/include -I../../../SDL_image 
-SOURCES = ../../src/Util/Tokenizer//Scanner.cpp ../../src/Misc//skybox.cpp ../../src/Misc//memory.cpp ../../src/Misc//collision.cpp ../../src/Misc//map.cpp ../../src//Main.cpp ../../src/Renderer//Smo.cpp ../../src/Renderer//Ez.cpp ../../src/Renderer//Ms.cpp ../../src/Renderer//Sm.cpp ../../src/Renderer//Pps.cpp ../../src/Renderer//Ssao.cpp ../../src/Renderer//Renderer.cpp ../../src/Renderer//Is.cpp ../../src/Renderer//MainRenderer.cpp ../../src/Renderer//Dbg.cpp ../../src/Renderer//Hdr.cpp ../../src/Renderer//Bs.cpp ../../src/Scene//MeshNode.cpp ../../src/Scene//SceneNode.cpp ../../src/Scene//SkelNode.cpp ../../src/Scene//Light.cpp ../../src/Scene//SkelModelNode.cpp ../../src/Scene//Camera.cpp ../../src/Scene//ParticleEmitter.cpp ../../src/Scene//Scene.cpp ../../src/Ui//Ui.cpp ../../src/Resources//ShaderProg.cpp ../../src/Resources//Material.cpp ../../src/Resources//Texture.cpp ../../src/Resources//SkelAnim.cpp ../../src/Resources//Extension.cpp ../../src/Resources//Skeleton.cpp ../../src/Resources//LightProps.cpp ../../src/Resources//Mesh.cpp ../../src/Util//Input.cpp ../../src/Util//App.cpp ../../src/Util//Common.cpp ../../src/Util//Util.cpp ../../src/Scene/Controllers//Controller.cpp ../../src/Scene/Controllers//SkelAnimCtrl.cpp ../../src/Physics//PhyWorld.cpp ../../src/Resources/Helpers//Image.cpp ../../src/Resources/Helpers//ShaderPrePreprocessor.cpp ../../src/Resources/Core//RsrcPtr.cpp ../../src/Resources/Core//RsrcContainers.cpp 
-OBJECTS = Scanner.o skybox.o memory.o collision.o map.o Main.o Smo.o Ez.o Ms.o Sm.o Pps.o Ssao.o Renderer.o Is.o MainRenderer.o Dbg.o Hdr.o Bs.o MeshNode.o SceneNode.o SkelNode.o Light.o SkelModelNode.o Camera.o ParticleEmitter.o Scene.o Ui.o ShaderProg.o Material.o Texture.o SkelAnim.o Extension.o Skeleton.o LightProps.o Mesh.o Input.o App.o Common.o Util.o Controller.o SkelAnimCtrl.o PhyWorld.o Image.o ShaderPrePreprocessor.o RsrcPtr.o RsrcContainers.o 
+SOURCES = ../../src/Util/Tokenizer//Scanner.cpp ../../src/Misc//skybox.cpp ../../src/Misc//memory.cpp ../../src/Misc//collision.cpp ../../src/Misc//map.cpp ../../src/Misc//TestHeader.cpp ../../src//Main.cpp ../../src/Renderer//Smo.cpp ../../src/Renderer//Ez.cpp ../../src/Renderer//Ms.cpp ../../src/Renderer//Sm.cpp ../../src/Renderer//Pps.cpp ../../src/Renderer//Ssao.cpp ../../src/Renderer//Renderer.cpp ../../src/Renderer//Is.cpp ../../src/Renderer//MainRenderer.cpp ../../src/Renderer//Dbg.cpp ../../src/Renderer//Hdr.cpp ../../src/Renderer//Bs.cpp ../../src/Scene//MeshNode.cpp ../../src/Scene//SceneNode.cpp ../../src/Scene//SkelNode.cpp ../../src/Scene//Light.cpp ../../src/Scene//SkelModelNode.cpp ../../src/Scene//Camera.cpp ../../src/Scene//ParticleEmitter.cpp ../../src/Scene//Scene.cpp ../../src/Ui//Ui.cpp ../../src/Resources//ShaderProg.cpp ../../src/Resources//Material.cpp ../../src/Resources//Texture.cpp ../../src/Resources//SkelAnim.cpp ../../src/Resources//Extension.cpp ../../src/Resources//Skeleton.cpp ../../src/Resources//LightProps.cpp ../../src/Resources//Mesh.cpp ../../src/Util//Input.cpp ../../src/Util//App.cpp ../../src/Util//Common.cpp ../../src/Util//Util.cpp ../../src/Scene/Controllers//Controller.cpp ../../src/Scene/Controllers//SkelAnimCtrl.cpp ../../src/Physics//PhyWorld.cpp ../../src/Resources/Helpers//Image.cpp ../../src/Resources/Helpers//ShaderPrePreprocessor.cpp ../../src/Resources/Core//RsrcPtr.cpp ../../src/Resources/Core//RsrcContainers.cpp 
+OBJECTS = Scanner.o skybox.o memory.o collision.o map.o TestHeader.o Main.o Smo.o Ez.o Ms.o Sm.o Pps.o Ssao.o Renderer.o Is.o MainRenderer.o Dbg.o Hdr.o Bs.o MeshNode.o SceneNode.o SkelNode.o Light.o SkelModelNode.o Camera.o ParticleEmitter.o Scene.o Ui.o ShaderProg.o Material.o Texture.o SkelAnim.o Extension.o Skeleton.o LightProps.o Mesh.o Input.o App.o Common.o Util.o Controller.o SkelAnimCtrl.o PhyWorld.o Image.o ShaderPrePreprocessor.o RsrcPtr.o RsrcContainers.o 
 PRECOMPILED_HEADERS = 
 
 all: $(PRECOMPILED_HEADERS) $(SOURCES) $(EXECUTABLE)
@@ -48,6 +48,7 @@ skybox.o: ../../src/Misc//skybox.cpp ../../src/Misc//skybox.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -61,7 +62,6 @@ skybox.o: ../../src/Misc//skybox.cpp ../../src/Misc//skybox.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -175,7 +175,7 @@ skybox.o: ../../src/Misc//skybox.cpp ../../src/Misc//skybox.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Physics/PhyWorld.h \
  ../../src/Util/App.h ../../../SDL/include/SDL.h \
  ../../../SDL/include/SDL_main.h ../../../SDL/include/SDL_stdinc.h \
@@ -263,6 +263,39 @@ map.o: ../../src/Misc//map.cpp
 	@echo Compiling ../../src/Misc//map.cpp...
 	@$(CXX) $(INCPATH) $(CFLAGS) ../../src/Misc//map.cpp -o map.o
 
+TestHeader.o: ../../src/Misc//TestHeader.cpp \
+ ../../src/Physics/DebugDrawer.h \
+ ../../../bullet/src/LinearMath/btIDebugDraw.h \
+ ../../../bullet/src/LinearMath/btVector3.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
+ ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
+ ../../../bullet/src/LinearMath/btTransform.h \
+ ../../../bullet/src/LinearMath/btMatrix3x3.h \
+ ../../../bullet/src/LinearMath/btQuaternion.h \
+ ../../../bullet/src/LinearMath/btQuadWord.h ../../src/Util/Common.h \
+ ../../src/Renderer/Renderer.h ../../src/Math/Math.h \
+ ../../src/Math/Vec2.h ../../src/Math/MathForwardDecls.h \
+ ../../src/Math/Vec2.inl.h ../../src/Math/MathDfltHeader.h \
+ ../../src/Math/Vec3.h ../../src/Math/Vec3.inl.h ../../src/Math/Vec4.h \
+ ../../src/Math/Vec4.inl.h ../../src/Math/Quat.h \
+ ../../src/Math/Quat.inl.h ../../src/Math/Axisang.h \
+ ../../src/Math/Axisang.inl.h ../../src/Math/Euler.h \
+ ../../src/Math/Euler.inl.h ../../src/Math/Mat3.h \
+ ../../src/Math/Mat3.inl.h ../../src/Math/Mat4.h \
+ ../../src/Math/Mat4.inl.h ../../src/Math/MathFuncs.h \
+ ../../src/Math/MathFuncs.inl.h ../../src/Math/Transform.h \
+ ../../src/Math/Transform.inl.h ../../src/Renderer/BufferObjects/Fbo.h \
+ ../../../glew/include/GL/glew.h ../../src/Resources/Texture.h \
+ ../../src/Resources/Core/Resource.h ../../src/Util/Util.h \
+ ../../src/Util/Common.h ../../src/Util/Vec.h \
+ ../../src/Resources/ShaderProg.h ../../src/Renderer/BufferObjects/Vbo.h \
+ ../../src/Renderer/BufferObjects/BufferObject.h \
+ ../../src/Resources/Core/RsrcPtr.h \
+ ../../src/Physics/BtAndAnkiConversions.h
+	@echo Compiling ../../src/Misc//TestHeader.cpp...
+	@$(CXX) $(INCPATH) $(CFLAGS) ../../src/Misc//TestHeader.cpp -o TestHeader.o
+
 Main.o: ../../src//Main.cpp ../../src/Util/Common.h \
  ../../src/Util/Input.h ../../../SDL/include/SDL_scancode.h \
  ../../../SDL/include/SDL_stdinc.h ../../../SDL/include/SDL_config.h \
@@ -313,6 +346,7 @@ Main.o: ../../src//Main.cpp ../../src/Util/Common.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -326,7 +360,6 @@ Main.o: ../../src//Main.cpp ../../src/Util/Common.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -440,7 +473,7 @@ Main.o: ../../src//Main.cpp ../../src/Util/Common.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Physics/PhyWorld.h \
  ../../src/Util/Tokenizer/Scanner.h ../../src/Misc/map.h \
  ../../src/Scene/MeshNode.h \
@@ -453,7 +486,9 @@ Main.o: ../../src//Main.cpp ../../src/Util/Common.h \
  ../../src/Scene/ParticleEmitter.h ../../src/Scene/GhostNode.h \
  ../../src/Physics/PhyCharacter.h \
  ../../src/Renderer/RendererInitializer.h \
- ../../src/Renderer/MainRenderer.h ../../src/Renderer/Renderer.h
+ ../../src/Renderer/MainRenderer.h ../../src/Renderer/Renderer.h \
+ ../../src/Physics/DebugDrawer.h \
+ ../../../bullet/src/LinearMath/btIDebugDraw.h
 	@echo Compiling ../../src//Main.cpp...
 	@$(CXX) $(INCPATH) $(CFLAGS) ../../src//Main.cpp -o Main.o
 
@@ -531,6 +566,7 @@ Ez.o: ../../src/Renderer//Ez.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -544,7 +580,6 @@ Ez.o: ../../src/Renderer//Ez.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -658,7 +693,7 @@ Ez.o: ../../src/Renderer//Ez.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Physics/PhyWorld.h
 	@echo Compiling ../../src/Renderer//Ez.cpp...
 	@$(CXX) $(INCPATH) $(CFLAGS) ../../src/Renderer//Ez.cpp -o Ez.o
@@ -706,6 +741,7 @@ Ms.o: ../../src/Renderer//Ms.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -719,7 +755,6 @@ Ms.o: ../../src/Renderer//Ms.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -833,7 +868,7 @@ Ms.o: ../../src/Renderer//Ms.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Scene/Camera.h \
  ../../src/Misc/collision.h ../../src/Scene/SceneNode.h \
@@ -888,6 +923,7 @@ Sm.o: ../../src/Renderer//Sm.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -901,7 +937,6 @@ Sm.o: ../../src/Renderer//Sm.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -1015,7 +1050,7 @@ Sm.o: ../../src/Renderer//Sm.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Scene/MeshNode.h \
  ../../src/Scene/SceneNode.h ../../src/Resources/Material.h \
@@ -1121,6 +1156,7 @@ Renderer.o: ../../src/Renderer//Renderer.cpp \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -1134,7 +1170,6 @@ Renderer.o: ../../src/Renderer//Renderer.cpp \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -1248,7 +1283,7 @@ Renderer.o: ../../src/Renderer//Renderer.cpp \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Physics/PhyWorld.h
 	@echo Compiling ../../src/Renderer//Renderer.cpp...
 	@$(CXX) $(INCPATH) $(CFLAGS) ../../src/Renderer//Renderer.cpp -o Renderer.o
@@ -1299,6 +1334,7 @@ Is.o: ../../src/Renderer//Is.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -1312,7 +1348,6 @@ Is.o: ../../src/Renderer//Is.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -1426,7 +1461,7 @@ Is.o: ../../src/Renderer//Is.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Physics/PhyWorld.h
 	@echo Compiling ../../src/Renderer//Is.cpp...
 	@$(CXX) $(INCPATH) $(CFLAGS) ../../src/Renderer//Is.cpp -o Is.o
@@ -1515,6 +1550,7 @@ Dbg.o: ../../src/Renderer//Dbg.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -1528,7 +1564,6 @@ Dbg.o: ../../src/Renderer//Dbg.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -1642,7 +1677,7 @@ Dbg.o: ../../src/Renderer//Dbg.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Scene/SkelNode.h \
  ../../src/Scene/SceneNode.h ../../src/Scene/Controllers/SkelAnimCtrl.h \
@@ -1717,6 +1752,7 @@ Bs.o: ../../src/Renderer//Bs.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -1730,7 +1766,6 @@ Bs.o: ../../src/Renderer//Bs.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -1844,7 +1879,7 @@ Bs.o: ../../src/Renderer//Bs.cpp ../../src/Renderer//Renderer.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Scene/MeshNode.h \
  ../../src/Scene/SceneNode.h ../../src/Resources/Material.h \
@@ -1930,6 +1965,7 @@ SceneNode.o: ../../src/Scene//SceneNode.cpp ../../src/Scene//SceneNode.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -1943,7 +1979,6 @@ SceneNode.o: ../../src/Scene//SceneNode.cpp ../../src/Scene//SceneNode.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -2057,7 +2092,7 @@ SceneNode.o: ../../src/Scene//SceneNode.cpp ../../src/Scene//SceneNode.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Physics/PhyWorld.h \
  ../../src/Util/App.h ../../../SDL/include/SDL.h \
  ../../../SDL/include/SDL_main.h ../../../SDL/include/SDL_stdinc.h \
@@ -2265,6 +2300,7 @@ ParticleEmitter.o: ../../src/Scene//ParticleEmitter.cpp \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -2278,7 +2314,6 @@ ParticleEmitter.o: ../../src/Scene//ParticleEmitter.cpp \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -2392,7 +2427,7 @@ ParticleEmitter.o: ../../src/Scene//ParticleEmitter.cpp \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Physics/PhyCommon.h ../../src/Scene/SceneNode.h \
  ../../src/Physics/PhyWorld.h ../../src/Renderer/MainRenderer.h \
  ../../src/Renderer/Renderer.h ../../src/Renderer/BufferObjects/Fbo.h \
@@ -2442,6 +2477,7 @@ Scene.o: ../../src/Scene//Scene.cpp ../../src/Scene//Scene.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -2455,7 +2491,6 @@ Scene.o: ../../src/Scene//Scene.cpp ../../src/Scene//Scene.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -2569,7 +2604,7 @@ Scene.o: ../../src/Scene//Scene.cpp ../../src/Scene//Scene.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Scene//SkelNode.h \
  ../../src/Scene//SceneNode.h ../../src/Scene/Controllers/SkelAnimCtrl.h \
@@ -2906,6 +2941,7 @@ App.o: ../../src/Util//App.cpp ../../../glew/include/GL/glew.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -2919,7 +2955,6 @@ App.o: ../../src/Util//App.cpp ../../../glew/include/GL/glew.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -3033,7 +3068,7 @@ App.o: ../../src/Util//App.cpp ../../../glew/include/GL/glew.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Renderer/MainRenderer.h \
  ../../src/Renderer/Renderer.h ../../src/Renderer/BufferObjects/Fbo.h \
@@ -3094,6 +3129,7 @@ Controller.o: ../../src/Scene/Controllers//Controller.cpp \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -3107,7 +3143,6 @@ Controller.o: ../../src/Scene/Controllers//Controller.cpp \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -3221,7 +3256,7 @@ Controller.o: ../../src/Scene/Controllers//Controller.cpp \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
- ../../src/Physics/PhyConversions.h ../../src/Physics/MotionState.h \
+ ../../src/Physics/BtAndAnkiConversions.h ../../src/Physics/MotionState.h \
  ../../src/Scene/SceneNode.h ../../src/Util/Vec.h \
  ../../src/Physics/PhyWorld.h ../../src/Util/App.h \
  ../../../SDL/include/SDL.h ../../../SDL/include/SDL_main.h \
@@ -3294,6 +3329,7 @@ PhyWorld.o: ../../src/Physics//PhyWorld.cpp ../../src/Physics//PhyWorld.h \
  ../../../bullet/src/LinearMath/btVector3.h \
  ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btMinMax.h \
+ ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/LinearMath/btTransform.h \
  ../../../bullet/src/LinearMath/btMatrix3x3.h \
  ../../../bullet/src/LinearMath/btVector3.h \
@@ -3307,7 +3343,6 @@ PhyWorld.o: ../../src/Physics//PhyWorld.cpp ../../src/Physics//PhyWorld.h \
  ../../../bullet/src/LinearMath/btAlignedAllocator.h \
  ../../../bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
  ../../../bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
- ../../../bullet/src/LinearMath/btScalar.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
  ../../../bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
  ../../../bullet/src/LinearMath/btTransformUtil.h \
@@ -3432,7 +3467,7 @@ PhyWorld.o: ../../src/Physics//PhyWorld.cpp ../../src/Physics//PhyWorld.h \
  ../../src/Math/Mat3.inl.h ../../src/Math/Mat4.h \
  ../../src/Math/Mat4.inl.h ../../src/Math/MathFuncs.h \
  ../../src/Math/MathFuncs.inl.h ../../src/Math/Transform.h \
- ../../src/Math/Transform.inl.h ../../src/Physics//PhyConversions.h \
+ ../../src/Math/Transform.inl.h ../../src/Physics//BtAndAnkiConversions.h \
  ../../src/Physics//MotionState.h ../../src/Scene/SceneNode.h \
  ../../src/Util/Vec.h ../../src/Util/Common.h
 	@echo Compiling ../../src/Physics//PhyWorld.cpp...

build/genmakefile.py

@@ -13,7 +13,7 @@ compiler = ""
 compilerFlags = ""
 precompiledHeadersFlags = ""
 linkerFlags = ""
-sourceFilesRegExpr = r".*\.[c++|cpp|cc|cxx|C|c]"
+sourceFilesRegExpr = r"^.*\.(c\+\+|cpp|cc|cxx|C|c)$"
 includePaths = []
 
 

src/Main.cpp

@@ -34,6 +34,7 @@
 #include "Renderer.h"
 #include "RendererInitializer.h"
 #include "MainRenderer.h"
+#include "DebugDrawer.h"
 
 App* app = NULL; ///< The only global var. App constructor sets it
 

src/Math/Mat3.inl.h

@@ -499,10 +499,13 @@ inline void Mat3::setRotationZ(float rad)
 }
 
 // rotateXAxis
-/* the slow code is in comments and above the comments the optimized one
-If we analize the mat3 we can extract the 3 unit vectors rotated by the mat3. The 3 rotated vectors are in mat's colomns.
-This means that: mat3.colomn[0] == i*mat3. rotateXAxis() rotates rad angle not from i vector (aka x axis) but
-from the vector from colomn 0*/
+/*
+ * the slow code is in comments and above the comments the optimized one
+ * If we analize the mat3 we can extract the 3 unit vectors rotated by the mat3. The 3 rotated vectors are in mat's
+ * columns. This means that: mat3.colomn[0] == i*mat3. rotateXAxis() rotates rad angle not from i vector (aka x axis)
+ * but
+ * from the vector from colomn 0
+ */
 inline void Mat3::rotateXAxis(float rad)
 {
 	float sina, cosa;

src/Misc/TestHeader.cpp

@@ -0,0 +1 @@
+#include "DebugDrawer.h"

src/Physics/PhyConversions.h → src/Physics/BtAndAnkiConversions.h

@@ -1,5 +1,5 @@
-#ifndef _PHYCONVERSIONS_H_
-#define _PHYCONVERSIONS_H_
+#ifndef PHYCONVERSIONS_H
+#define PHYCONVERSIONS_H
 
 
 inline Vec3 toAnki(const btVector3& v)
@@ -7,11 +7,13 @@ inline Vec3 toAnki(const btVector3& v)
 	return Vec3(v.x(), v.y(), v.z());
 }
 
+
 inline Vec4 toAnki(const btVector4& v)
 {
 	return Vec4(v.x(), v.y(), v.z(), v.w());
 }
 
+
 inline Mat3 toAnki(const btMatrix3x3& m)
 {
 	Mat3 m3;
@@ -19,11 +21,13 @@ inline Mat3 toAnki(const btMatrix3x3& m)
 	return m3;
 }
 
+
 inline Quat toAnki(const btQuaternion& q)
 {
 	return Quat(q.x(), q.y(), q.z(), q.w());
 }
 
+
 inline Mat4 toAnki(const btTransform& t)
 {
 	Mat4 m;
@@ -32,16 +36,19 @@ inline Mat4 toAnki(const btTransform& t)
 	return m;
 }
 
+
 inline btVector3 toBt(const Vec3& v)
 {
 	return btVector3(v.x,  v.y, v.z);
 }
 
+
 inline btVector4 toBt(const Vec4& v)
 {
 	return btVector4(v.x,  v.y, v.z, v.w);
 }
 
+
 inline btMatrix3x3 toBt(const Mat3 m)
 {
 	btMatrix3x3 r;
@@ -51,6 +58,7 @@ inline btMatrix3x3 toBt(const Mat3 m)
 	return r;
 }
 
+
 inline btTransform toBt(const Mat4& m)
 {
 	btTransform r;
@@ -58,11 +66,13 @@ inline btTransform toBt(const Mat4& m)
 	return r;
 }
 
+
 inline btQuaternion toBt(const Quat& q)
 {
 	return btQuaternion(q.x, q.y, q.z, q.w);
 }
 
+
 inline btTransform toBt(const Transform& trf)
 {
 	btTransform r;

src/Physics/DebugDrawer.h

@@ -0,0 +1,74 @@
+#ifndef DEBUGDRAWER_H
+#define DEBUGDRAWER_H
+
+#include <LinearMath/btIDebugDraw.h>
+#include "Common.h"
+#include "Renderer.h"
+#include "BtAndAnkiConversions.h"
+
+
+/**
+ * An implementation of btIDebugDraw used for debugging Bullet. See Bullet docs for details
+ */
+class DebugDrawer: public btIDebugDraw
+{
+	public:
+		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);
+
+		void setDebugMode(int debugMode_);
+
+		int getDebugMode() const;
+
+	private:
+		int debugMode;
+};
+
+
+//======================================================================================================================
+// Inlines                                                                                                             =
+//======================================================================================================================
+
+inline void DebugDrawer::drawLine(const btVector3& from, const btVector3& to, const btVector3& color)
+{
+	Renderer::Dbg::drawLine(toAnki(from), toAnki(to), Vec4(toAnki(color), 1.0));
+}
+
+
+inline void DebugDrawer::drawContactPoint(const btVector3& /*pointOnB*/, const btVector3& /*normalOnB*/,
+                                          btScalar /*distance*/, int /*lifeTime*/, const btVector3& /*color*/)
+{
+	WARNING("Unimplemented");
+}
+
+
+inline void DebugDrawer::reportErrorWarning(const char* warningString)
+{
+	ERROR(warningString);
+}
+
+
+inline void DebugDrawer::draw3dText(const btVector3& /*location*/, const char* /*textString*/)
+{
+	WARNING("Unimplemented");
+}
+
+
+inline void DebugDrawer::setDebugMode(int debugMode_)
+{
+	debugMode = debugMode_;
+}
+
+
+inline int DebugDrawer::getDebugMode() const
+{
+	return debugMode;
+}
+
+#endif

src/Physics/PhyCommon.h

@@ -8,7 +8,7 @@
 
 #include "Common.h"
 #include "Math.h"
-#include "PhyConversions.h"
+#include "BtAndAnkiConversions.h"
 #include "MotionState.h"
 #include "PhyWorld.h"
 

src/Renderer/Dbg.cpp

@@ -32,6 +32,23 @@ Renderer::Dbg::Dbg(Renderer& r_):
 }
 
 
+//======================================================================================================================
+// drawLine                                                                                                            =
+//======================================================================================================================
+void Renderer::Dbg::drawLine(const Vec3& from, const Vec3& to, const Vec4& color)
+{
+	float posBuff [] = {from.x, from.y, from.z, to.x, to.y, to.z};
+
+	setColor(color);
+	setModelMat(Mat4::getIdentity());
+
+	glEnableVertexAttribArray(0);
+	glVertexAttribPointer(0, 3, GL_FLOAT, false, 0, posBuff);
+	glDrawArrays(GL_LINES, 0, 2);
+	glDisableVertexAttribArray(0);
+}
+
+
 //======================================================================================================================
 // renderGrid                                                                                                          =
 //======================================================================================================================

src/Renderer/Renderer.h

@@ -378,6 +378,7 @@ class Renderer
 
 				static void setColor(const Vec4& color);
 				static void setModelMat(const Mat4& modelMat);
+				static void drawLine(const Vec3& from, const Vec3& to, const Vec4& color);
 
 			private:
 				Fbo fbo;
@@ -431,7 +432,7 @@ class Renderer
 		 * @param modelViewMat The modelview matrix
 		 * @param projectionMat The projection matrix
 		 * @param view The view vector
-		 * @return The unprojected coords coords
+		 * @return The unprojected coords
 		 */
 		static Vec3 unproject(const Vec3& windowCoords, const Mat4& modelViewMat, const Mat4& projectionMat,
 		                      const int view[4]);