Debug-renderer: add rendering of contacts, solver contacts, and collider AABBs

4 files changed, 19 insertions, 12 deletions

diff --git a/src_testbed/debug_render.rs b/src_testbed/debug_render.rs
index 913663e..047793d 100644
--- a/src_testbed/debug_render.rs
+++ b/src_testbed/debug_render.rs
@@ -25,7 +25,7 @@ impl Plugin for RapierDebugRenderPlugin {
         ))
         .insert_resource(DebugRenderPipeline::new(
             Default::default(),
-            !DebugRenderMode::RIGID_BODY_AXES,
+            !DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
         ))
         .add_system_to_stage(CoreStage::Update, debug_render_scene);
     }
@@ -68,5 +68,6 @@ fn debug_render_scene(
         &harness.physics.colliders,
         &harness.physics.impulse_joints,
         &harness.physics.multibody_joints,
+        &harness.physics.narrow_phase,
     );
 }
diff --git a/src_testbed/lines/debuglines.wgsl b/src_testbed/lines/debuglines.wgsl
index 0987839..364d9ac 100644
--- a/src_testbed/lines/debuglines.wgsl
+++ b/src_testbed/lines/debuglines.wgsl
@@ -25,9 +25,13 @@ struct FragmentOutput {
 fn vertex(vertex: Vertex) -> VertexOutput {
     var out: VertexOutput;
     out.clip_position = view.view_proj * vec4<f32>(vertex.pos, 1.0);
-    //out.color = vertex.color;
     // https://github.com/bevyengine/bevy/blob/328c26d02c50de0bc77f0d24a376f43ba89517b1/examples/2d/mesh2d_manual.rs#L234
-    out.color = vec4<f32>((vec4<u32>(vertex.color) >> vec4<u32>(8u, 8u, 16u, 24u)) & vec4<u32>(255u)) / 255.0;
+    // ... except the above doesn't seem to work in 3d.  Not sure what's going on there.
+    var r = f32(vertex.color & 255u) / 255.0;
+    var g = f32(vertex.color >> 8u & 255u) / 255.0;
+    var b = f32(vertex.color >> 16u & 255u) / 255.0;
+    var a = f32(vertex.color >> 24u & 255u) / 255.0;
+    out.color = vec4<f32>(r, g, b, a);
 
     return out;
 }
diff --git a/src_testbed/lines/debuglines2d.wgsl b/src_testbed/lines/debuglines2d.wgsl
index 9316531..b722d8a 100644
--- a/src_testbed/lines/debuglines2d.wgsl
+++ b/src_testbed/lines/debuglines2d.wgsl
@@ -17,10 +17,11 @@ struct VertexOutput {
 fn vertex(vertex: Vertex) -> VertexOutput {
     var out: VertexOutput;
     out.clip_position = view.view_proj * vec4<f32>(vertex.place, 1.0);
-    // What is this craziness?
-    out.color = vec4<f32>((vec4<u32>(vertex.color) >> vec4<u32>(0u, 8u, 16u, 24u)) & vec4<u32>(255u)) / 255.0;
-    //out.color = vertex.color;
-    //out.color = vec4<f32>(1.0, 0.0, 0.0, 1.0);
+    var r = f32(vertex.color & 255u) / 255.0;
+    var g = f32(vertex.color >> 8u & 255u) / 255.0;
+    var b = f32(vertex.color >> 16u & 255u) / 255.0;
+    var a = f32(vertex.color >> 24u & 255u) / 255.0;
+    out.color = vec4<f32>(r, g, b, a);
 
     return out;
 }
diff --git a/src_testbed/lines/mod.rs b/src_testbed/lines/mod.rs
index 7e78ee9..a7dd7bb 100644
--- a/src_testbed/lines/mod.rs
+++ b/src_testbed/lines/mod.rs
@@ -1,4 +1,5 @@
 #![allow(warnings)]
+use bevy::render::view::NoFrustumCulling;
 /**
  *
  * NOTE: this module and its submodules are only temporary. It is a copy-paste of the bevy-debug-lines
@@ -33,7 +34,7 @@ mod render_dim;
 // gates-specific code.
 #[cfg(feature = "dim3")]
 mod dim {
-    pub(crate) use crate::lines::render_dim::r3d::{queue, DebugLinePipeline, DrawDebugLines};
+    pub(crate) use super::render_dim::r3d::{queue, DebugLinePipeline, DrawDebugLines};
     pub(crate) use bevy::core_pipeline::Opaque3d as Phase;
     use bevy::{asset::Handle, render::mesh::Mesh};
 
@@ -49,7 +50,7 @@ mod dim {
 }
 #[cfg(feature = "dim2")]
 mod dim {
-    pub(crate) use crate::lines::render_dim::r2d::{queue, DebugLinePipeline, DrawDebugLines};
+    pub(crate) use super::render_dim::r2d::{queue, DebugLinePipeline, DrawDebugLines};
     pub(crate) use bevy::core_pipeline::Transparent2d as Phase;
     use bevy::{asset::Handle, render::mesh::Mesh, sprite::Mesh2dHandle};
 
@@ -172,6 +173,7 @@ fn setup(mut cmds: Commands, mut meshes: ResMut<Assets<Mesh>>) {
             dim::into_handle(meshes.add(mesh)),
             NotShadowCaster,
             NotShadowReceiver,
+            NoFrustumCulling,
             Transform::default(),
             GlobalTransform::default(),
             Visibility::default(),
@@ -190,7 +192,7 @@ fn update(
     // For each debug line mesh, fill its buffers with the relevant positions/colors chunks.
     for (mesh_handle, debug_lines_idx) in debug_line_meshes.iter() {
         let mesh = meshes.get_mut(dim::from_handle(mesh_handle)).unwrap();
-        use VertexAttributeValues::{Float32x3, Float32x4, Uint32};
+        use VertexAttributeValues::{Float32x3, Uint32};
         if let Some(Float32x3(vbuffer)) = mesh.attribute_mut(Mesh::ATTRIBUTE_POSITION) {
             vbuffer.clear();
             if let Some(new_content) = lines
@@ -238,7 +240,7 @@ fn extract(mut commands: Commands, query: Query<Entity, With<DebugLinesMesh>>) {
 }
 
 #[derive(Component)]
-struct DebugLinesMesh(usize);
+pub(crate) struct DebugLinesMesh(usize);
 
 #[derive(Component)]
 pub(crate) struct RenderDebugLinesMesh;
@@ -320,7 +322,6 @@ impl DebugLines {
         end_color: Color,
     ) {
         if self.positions.len() >= MAX_POINTS {
-            warn!("Tried to add a new line when existing number of lines was already at maximum, ignoring.");
             return;
         }