diff options
3 files changed, 35 insertions, 14 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs index 748530f..06dff5d 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs @@ -299,10 +299,20 @@ impl MultibodyJointSet { } /// Gets a mutable reference to the multibody identified by its `handle`. + pub fn get_mut(&mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)> { + let link = self.rb2mb.get(handle.0)?; + let multibody = self.multibodies.get_mut(link.multibody.0)?; + Some((multibody, link.id)) + } + + /// Gets a mutable reference to the multibody identified by its `handle`. + /// + /// This method will bypass any modification-detection automatically done by the MultibodyJointSet. pub fn get_mut_internal( &mut self, handle: MultibodyJointHandle, ) -> Option<(&mut Multibody, usize)> { + // TODO: modification tracking? let link = self.rb2mb.get(handle.0)?; let multibody = self.multibodies.get_mut(link.multibody.0)?; Some((multibody, link.id)) diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs index 36593ce..1c929c2 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs @@ -285,17 +285,20 @@ impl DebugRenderPipeline { * Round shapes. */ TypedShape::RoundCuboid(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + let vtx = s.to_polyline(self.style.border_subdivisions); + backend.draw_line_strip(object, &vtx, pos, &Vector::repeat(1.0), color, true) } TypedShape::RoundTriangle(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + // TODO: take roundness into account. + self.render_shape(object, backend, &s.inner_shape, pos, color) } - // TypedShape::RoundTriMesh(s) => self.render_shape(backend, &s.base_shape, pos, color), + // TypedShape::RoundTriMesh(s) => self.render_shape(backend, &s.inner_shape, pos, color), // TypedShape::RoundHeightField(s) => { - // self.render_shape(backend, &s.base_shape, pos, color) + // self.render_shape(backend, &s.inner_shape, pos, color) // } TypedShape::RoundConvexPolygon(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + let vtx = s.to_polyline(self.style.border_subdivisions); + backend.draw_line_strip(object, &vtx, pos, &Vector::repeat(1.0), color, true) } TypedShape::Custom(_) => {} } @@ -326,7 +329,6 @@ impl DebugRenderPipeline { let (vtx, idx) = &self.instances[&TypeId::of::<Cuboid>()]; backend.draw_polyline(object, vtx, idx, pos, &(s.half_extents * 2.0), color) } - #[cfg(feature = "dim3")] TypedShape::Capsule(s) => { let (vtx, idx) = s.to_outline(self.style.subdivisions); backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color) @@ -426,23 +428,30 @@ impl DebugRenderPipeline { * Round shapes. */ TypedShape::RoundCuboid(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + let (vtx, idx) = s.to_outline(self.style.border_subdivisions); + backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color) } TypedShape::RoundTriangle(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + // TODO: take roundness into account. + self.render_shape(object, backend, &s.inner_shape, pos, color) } - // TypedShape::RoundTriMesh(s) => self.render_shape(object, backend, &s.base_shape, pos, color), + // TypedShape::RoundTriMesh(s) => self.render_shape(object, backend, &s.inner_shape, pos, color), // TypedShape::RoundHeightField(s) => { - // self.render_shape(object, backend, &s.base_shape, pos, color) + // self.render_shape(object, backend, &s.inner_shape, pos, color) // } TypedShape::RoundCylinder(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + let (vtx, idx) = + s.to_outline(self.style.subdivisions, self.style.border_subdivisions); + backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color) } TypedShape::RoundCone(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + let (vtx, idx) = + s.to_outline(self.style.subdivisions, self.style.border_subdivisions); + backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color) } TypedShape::RoundConvexPolyhedron(s) => { - self.render_shape(object, backend, &s.base_shape, pos, color) + let (vtx, idx) = s.to_outline(self.style.border_subdivisions); + backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color) } TypedShape::Custom(_) => {} } diff --git a/src/pipeline/debug_render_pipeline/debug_render_style.rs b/src/pipeline/debug_render_pipeline/debug_render_style.rs index 9d4b6cc..5401596 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_style.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_style.rs @@ -3,9 +3,10 @@ /// The default colors are provided in HSLA (Hue Saturation Lightness Alpha) format. pub type DebugColor = [f32; 4]; -#[derive(Clone, Debug, PartialEq)] +#[derive(Copy, Clone, Debug, PartialEq)] pub struct DebugRenderStyle { pub subdivisions: u32, + pub border_subdivisions: u32, pub collider_dynamic_color: DebugColor, pub collider_fixed_color: DebugColor, pub collider_kinematic_color: DebugColor, @@ -22,6 +23,7 @@ impl Default for DebugRenderStyle { fn default() -> Self { Self { subdivisions: 20, + border_subdivisions: 5, collider_dynamic_color: [340.0, 1.0, 0.3, 1.0], collider_kinematic_color: [20.0, 1.0, 0.3, 1.0], collider_fixed_color: [30.0, 1.0, 0.4, 1.0], |