diff options
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_pipeline.rs | 77 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_style.rs | 12 | ||||
| -rw-r--r-- | src_testbed/debug_render.rs | 3 | ||||
| -rw-r--r-- | src_testbed/lines/debuglines.wgsl | 8 | ||||
| -rw-r--r-- | src_testbed/lines/debuglines2d.wgsl | 9 | ||||
| -rw-r--r-- | src_testbed/lines/mod.rs | 11 |
6 files changed, 106 insertions, 14 deletions
diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs index 14da40d..017d26f 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs @@ -2,10 +2,12 @@ use super::{outlines, DebugRenderBackend}; use crate::dynamics::{ GenericJoint, ImpulseJointSet, MultibodyJointSet, RigidBodySet, RigidBodyType, }; -use crate::geometry::{Ball, ColliderSet, Cuboid, Shape, TypedShape}; +use crate::geometry::{ + Ball, ColliderSet, Cuboid, NarrowPhase, OctantPattern, Shape, TypedShape, VoxelType, AABB, +}; #[cfg(feature = "dim3")] use crate::geometry::{Cone, Cylinder}; -use crate::math::{Isometry, Point, Real, Vector, DIM}; +use crate::math::{Isometry, Point, Real, Translation, Vector, DIM}; use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject; use crate::pipeline::debug_render_pipeline::DebugRenderStyle; use crate::utils::WBasis; @@ -24,6 +26,12 @@ bitflags::bitflags! { const MULTIBODY_JOINTS = 1 << 2; /// If this flag is set, the impulse joints will be rendered. const IMPULSE_JOINTS = 1 << 3; + /// If this flag is set, the solver contacts will be rendered. + const SOLVER_CONTACTS = 1 << 4; + /// If this flag is set, the geometric contacts will be rendered. + const CONTACTS = 1 << 5; + /// If this flag is set, the AABBs of colliders will be rendered. + const COLLIDER_AABBS = 1 << 6; } } @@ -71,10 +79,61 @@ impl DebugRenderPipeline { colliders: &ColliderSet, impulse_joints: &ImpulseJointSet, multibody_joints: &MultibodyJointSet, + narrow_phase: &NarrowPhase, ) { self.render_rigid_bodies(backend, bodies); self.render_colliders(backend, bodies, colliders); self.render_joints(backend, bodies, impulse_joints, multibody_joints); + self.render_contacts(backend, colliders, narrow_phase); + } + + pub fn render_contacts( + &mut self, + backend: &mut impl DebugRenderBackend, + colliders: &ColliderSet, + narrow_phase: &NarrowPhase, + ) { + if self.mode.contains(DebugRenderMode::CONTACTS) { + for pair in narrow_phase.contact_pairs() { + if let (Some(co1), Some(co2)) = + (colliders.get(pair.collider1), colliders.get(pair.collider2)) + { + for manifold in &pair.manifolds { + for contact in manifold.contacts() { + backend.draw_line( + DebugRenderObject::Other, + co1.position() * contact.local_p1, + co2.position() * contact.local_p2, + self.style.contact_depth_color, + ); + backend.draw_line( + DebugRenderObject::Other, + co1.position() * contact.local_p1, + co1.position() + * (contact.local_p1 + + manifold.local_n1 * self.style.contact_normal_length), + self.style.contact_normal_color, + ); + } + } + } + } + } + + if self.mode.contains(DebugRenderMode::SOLVER_CONTACTS) { + for pair in narrow_phase.contact_pairs() { + for manifold in &pair.manifolds { + for contact in &manifold.data.solver_contacts { + backend.draw_line( + DebugRenderObject::Other, + contact.point, + contact.point + manifold.data.normal * self.style.contact_normal_length, + self.style.contact_normal_color, + ); + } + } + } + } } /// Render only the joints from the scene. @@ -224,6 +283,20 @@ impl DebugRenderPipeline { self.render_shape(object, backend, co.shape(), co.position(), color) } } + + if self.mode.contains(DebugRenderMode::COLLIDER_AABBS) { + for (_, co) in colliders.iter() { + let aabb = co.compute_aabb(); + let cuboid = Cuboid::new(aabb.half_extents()); + self.render_shape( + DebugRenderObject::Other, + backend, + &cuboid, + &aabb.center().into(), + self.style.collider_aabb_color, + ); + } + } } #[cfg(feature = "dim2")] diff --git a/src/pipeline/debug_render_pipeline/debug_render_style.rs b/src/pipeline/debug_render_pipeline/debug_render_style.rs index ac2b3a3..987d95d 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_style.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_style.rs @@ -38,6 +38,14 @@ pub struct DebugRenderStyle { pub sleep_color_multiplier: [f32; 4], /// The length of the local coordinate axes rendered for a rigid-body. pub rigid_body_axes_length: Real, + /// The collor for the segments joining the two contact points. + pub contact_depth_color: DebugColor, + /// The color of the contact normals. + pub contact_normal_color: DebugColor, + /// The length of the contact normals. + pub contact_normal_length: Real, + /// The color of the colliders AABBs. + pub collider_aabb_color: DebugColor, } impl Default for DebugRenderStyle { @@ -55,6 +63,10 @@ impl Default for DebugRenderStyle { multibody_joint_separation_color: [0.0, 1.0, 0.4, 1.0], sleep_color_multiplier: [1.0, 1.0, 0.2, 1.0], rigid_body_axes_length: 0.5, + contact_depth_color: [120.0, 1.0, 0.4, 1.0], + contact_normal_color: [0.0, 1.0, 1.0, 1.0], + contact_normal_length: 0.3, + collider_aabb_color: [124.0, 1.0, 0.4, 1.0], } } } 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; } |