Optimizing the bullet debug drawer

src/Physics/DebugDrawer.h

@@ -14,18 +14,14 @@ 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 drawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
-
+		void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color);
+		void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color);
 		void reportErrorWarning(const char* warningString);
-
 		void draw3dText(const btVector3& location, const char* textString);
-
 		void setDebugMode(int debugMode_);
-
 		int getDebugMode() const;
 
 	private:
@@ -37,15 +33,47 @@ class DebugDrawer: public btIDebugDraw
 // 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::drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
 {
 	Renderer::Dbg::drawSphere(radius, Transform(toAnki(transform)), Vec4(toAnki(color), 1.0));
 }
 
 
-inline void DebugDrawer::drawLine(const btVector3& from, const btVector3& to, const btVector3& color)
+inline void DebugDrawer::drawBox(const btVector3& min, const btVector3& max, const btVector3& color)
 {
-	Renderer::Dbg::drawLine(toAnki(from), toAnki(to), Vec4(toAnki(color), 1.0));
+	Mat4 trf(Mat4::getIdentity());
+	trf(0, 0) = max.getX() - min.getX();
+	trf(1, 1) = max.getY() - min.getY();
+	trf(2, 2) = max.getZ() - min.getZ();
+	trf(0, 3) = (max.getX() + min.getX()) / 2.0;
+	trf(1, 3) = (max.getY() + min.getY()) / 2.0;
+	trf(2, 3) = (max.getZ() + min.getZ()) / 2.0;
+	Renderer::Dbg::setModelMat(trf);
+	Renderer::Dbg::setColor(Vec4(toAnki(color), 1.0));
+	Renderer::Dbg::drawCube(1.0);
+}
+
+
+inline void DebugDrawer::drawBox(const btVector3& min, const btVector3& max, const btTransform& trans,
+                                 const btVector3& color)
+{
+	Mat4 trf(Mat4::getIdentity());
+	trf(0, 0) = max.getX() - min.getX();
+	trf(1, 1) = max.getY() - min.getY();
+	trf(2, 2) = max.getZ() - min.getZ();
+	trf(0, 3) = (max.getX() + min.getX()) / 2.0;
+	trf(1, 3) = (max.getY() + min.getY()) / 2.0;
+	trf(2, 3) = (max.getZ() + min.getZ()) / 2.0;
+	trf = Mat4::combineTransformations(Mat4(toAnki(trans)), trf);
+	Renderer::Dbg::setModelMat(trf);
+	Renderer::Dbg::setColor(Vec4(toAnki(color), 1.0));
+	Renderer::Dbg::drawCube(1.0);
 }
 
 

src/Renderer/Dbg.cpp

@@ -173,7 +173,7 @@ void Renderer::Dbg::drawSphere(float radius, const Transform& trf, const Vec4& c
 //======================================================================================================================
 // renderCube                                                                                                          =
 //======================================================================================================================
-void Renderer::Dbg::renderCube(float size)
+void Renderer::Dbg::drawCube(float size)
 {
 	Vec3 maxPos = Vec3(0.5 * size);
 	Vec3 minPos = Vec3(-0.5 * size);

src/Renderer/Renderer.h

@@ -374,7 +374,7 @@ class Renderer
 				Dbg(Renderer& r_);
 				void renderGrid();
 				static void drawSphere(float radius, const Transform& trf, const Vec4& col, int complexity = 8);
-				static void renderCube(float size = 1.0);
+				static void drawCube(float size = 1.0);
 
 				static void setColor(const Vec4& color);
 				static void setModelMat(const Mat4& modelMat);

src/Scene/ParticleEmitter.cpp

@@ -203,6 +203,6 @@ void ParticleEmitter::render()
 	glPolygonMode(GL_FRONT, GL_LINE);
 	Renderer::Dbg::setColor(Vec4(1.0));
 	Renderer::Dbg::setModelMat(Mat4(getWorldTransform()));
-	Renderer::Dbg::renderCube();
+	Renderer::Dbg::drawCube();
 	glPolygonMode(GL_FRONT, GL_FILL);
 }