////  PhysicsDebugDraw.cpp//  libraries/physics/src////  Created by Anthony Thibault 2018-4-18//  Copyright 2018 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "PhysicsDebugDraw.h"#include "BulletUtil.h"#include "PhysicsLogging.h" #include <DebugDraw.h>#include <GLMHelpers.h> void PhysicsDebugDraw::drawLine(const btVector3& from, const btVector3& to, const btVector3& color) {    DebugDraw::getInstance().drawRay(bulletToGLM(from), bulletToGLM(to), glm::vec4(color.getX(), color.getY(), color.getZ(), 1.0f));} void PhysicsDebugDraw::drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance,                                        int lifeTime, const btVector3& color) {     glm::vec3 normal, tangent, biNormal;    generateBasisVectors(bulletToGLM(normalOnB), Vectors::UNIT_X, normal, tangent, biNormal);    btVector3 u = glmToBullet(normal);    btVector3 v = glmToBullet(tangent);    btVector3 w = glmToBullet(biNormal);     // x marks the spot, green is along the normal.    const float CONTACT_POINT_RADIUS = 0.1f;    const btVector3 GREEN(0.0f, 1.0f, 0.0f);    const btVector3 WHITE(1.0f, 1.0f, 1.0f);    drawLine(PointOnB - u * CONTACT_POINT_RADIUS, PointOnB + u * CONTACT_POINT_RADIUS, GREEN);    drawLine(PointOnB - v * CONTACT_POINT_RADIUS, PointOnB + v * CONTACT_POINT_RADIUS, WHITE);    drawLine(PointOnB - w * CONTACT_POINT_RADIUS, PointOnB + w * CONTACT_POINT_RADIUS, WHITE);} void PhysicsDebugDraw::reportErrorWarning(const char* warningString) {    qCWarning(physics) << "BULLET:" << warningString;} void PhysicsDebugDraw::draw3dText(const btVector3& location, const char* textString) {} void PhysicsDebugDraw::setDebugMode(int debugMode) {    _debugDrawMode = debugMode;} int PhysicsDebugDraw::getDebugMode() const {    return _debugDrawMode;}