diff options
| -rw-r--r-- | crates/rapier2d-f64/Cargo.toml | 1 | ||||
| -rw-r--r-- | crates/rapier2d/Cargo.toml | 3 | ||||
| -rw-r--r-- | crates/rapier3d-f64/Cargo.toml | 1 | ||||
| -rw-r--r-- | crates/rapier3d/Cargo.toml | 1 | ||||
| -rw-r--r-- | crates/rapier_testbed2d-f64/Cargo.toml | 3 | ||||
| -rw-r--r-- | crates/rapier_testbed2d/Cargo.toml | 3 | ||||
| -rw-r--r-- | crates/rapier_testbed3d-f64/Cargo.toml | 3 | ||||
| -rw-r--r-- | crates/rapier_testbed3d/Cargo.toml | 3 | ||||
| -rw-r--r-- | examples3d/joints3.rs | 156 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_backend.rs | 66 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_pipeline.rs | 450 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_style.rs | 37 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/mod.rs | 8 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/outlines.rs | 36 | ||||
| -rw-r--r-- | src/pipeline/mod.rs | 9 | ||||
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 11 | ||||
| -rw-r--r-- | src_testbed/debug_render.rs | 81 | ||||
| -rw-r--r-- | src_testbed/lib.rs | 1 | ||||
| -rw-r--r-- | src_testbed/testbed.rs | 7 |
19 files changed, 795 insertions, 85 deletions
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml index 44a86bd..f0a85d9 100644 --- a/crates/rapier2d-f64/Cargo.toml +++ b/crates/rapier2d-f64/Cargo.toml @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ] wasm-bindgen = [ "instant/wasm-bindgen" ] serde-serialize = [ "nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ] enhanced-determinism = [ "simba/libm_force", "parry2d-f64/enhanced-determinism", "indexmap" ] +debug-render = [ ] # Feature used for debugging only. debug-disable-legitimate-fe-exceptions = [ ] diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml index ad79f12..8ae4fd4 100644 --- a/crates/rapier2d/Cargo.toml +++ b/crates/rapier2d/Cargo.toml @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ] wasm-bindgen = [ "instant/wasm-bindgen" ] serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ] enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism", "indexmap" ] +debug-render = [ "oorandom" ] # Feature used for debugging only. debug-disable-legitimate-fe-exceptions = [ ] @@ -61,6 +62,8 @@ downcast-rs = "1.2" num-derive = "0.3" bitflags = "1" +oorandom = { version = "11", optional = true } + [dev-dependencies] bincode = "1" serde = { version = "1", features = [ "derive" ] } diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml index 1b8c1dc..6cdf20f 100644 --- a/crates/rapier3d-f64/Cargo.toml +++ b/crates/rapier3d-f64/Cargo.toml @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ] wasm-bindgen = [ "instant/wasm-bindgen" ] serde-serialize = [ "nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde" ] enhanced-determinism = [ "simba/libm_force", "parry3d-f64/enhanced-determinism" ] +debug-render = [] # Feature used for debugging only. debug-disable-legitimate-fe-exceptions = [ ] diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml index 4aae73a..7f4896d 100644 --- a/crates/rapier3d/Cargo.toml +++ b/crates/rapier3d/Cargo.toml @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ] wasm-bindgen = [ "instant/wasm-bindgen" ] serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ] enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ] +debug-render = [ ] # Feature used for debugging only. debug-disable-legitimate-fe-exceptions = [ ] diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml index cfa0f42..495ccd9 100644 --- a/crates/rapier_testbed2d-f64/Cargo.toml +++ b/crates/rapier_testbed2d-f64/Cargo.toml @@ -40,6 +40,7 @@ md5 = "0.7" bevy_egui = "0.10" bevy_ecs = "0.6" +bevy_prototype_debug_lines = "0.6" # Dependencies for native only. [target.'cfg(not(target_arch = "wasm32"))'.dependencies] @@ -54,4 +55,4 @@ bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "re package = "rapier2d-f64" path = "../rapier2d-f64" version = "0.12.0-alpha.1" -features = [ "serde-serialize" ] +features = [ "serde-serialize", "debug-render" ] diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml index 6b0430a..a985fdd 100644 --- a/crates/rapier_testbed2d/Cargo.toml +++ b/crates/rapier_testbed2d/Cargo.toml @@ -40,6 +40,7 @@ md5 = "0.7" bevy_egui = "0.10" bevy_ecs = "0.6" +bevy_prototype_debug_lines = "0.6" # Dependencies for native only. [target.'cfg(not(target_arch = "wasm32"))'.dependencies] @@ -54,4 +55,4 @@ bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "re package = "rapier2d" path = "../rapier2d" version = "0.12.0-alpha.1" -features = [ "serde-serialize" ] +features = [ "serde-serialize", "debug-render" ] diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml index dfd0fbd..b77635f 100644 --- a/crates/rapier_testbed3d-f64/Cargo.toml +++ b/crates/rapier_testbed3d-f64/Cargo.toml @@ -38,6 +38,7 @@ serde = { version = "1", features = [ "derive" ] } bevy_egui = "0.10" bevy_ecs = "0.6" +bevy_prototype_debug_lines = { version = "0.6", features = [ "3d" ] } # Dependencies for native only. [target.'cfg(not(target_arch = "wasm32"))'.dependencies] @@ -52,4 +53,4 @@ bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "re package = "rapier3d-f64" path = "../rapier3d-f64" version = "0.12.0-alpha.1" -features = [ "serde-serialize" ]
\ No newline at end of file +features = [ "serde-serialize", "debug-render" ]
\ No newline at end of file diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml index 89a050f..5f3e6cb 100644 --- a/crates/rapier_testbed3d/Cargo.toml +++ b/crates/rapier_testbed3d/Cargo.toml @@ -42,6 +42,7 @@ serde = { version = "1", features = [ "derive" ] } bevy_egui = "0.10" bevy_ecs = "0.6" +bevy_prototype_debug_lines = { version = "0.6", features = [ "3d" ] } # Dependencies for native only. [target.'cfg(not(target_arch = "wasm32"))'.dependencies] @@ -56,4 +57,4 @@ bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "re package = "rapier3d" path = "../rapier3d" version = "0.12.0-alpha.1" -features = [ "serde-serialize" ]
\ No newline at end of file +features = [ "serde-serialize", "debug-render" ]
\ No newline at end of file diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index b5dc984..f7c6cb3 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -578,33 +578,33 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) { let mut impulse_joints = ImpulseJointSet::new(); let mut multibody_joints = MultibodyJointSet::new(); - // create_prismatic_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![20.0, 5.0, 0.0], - // 4, - // use_articulations, - // ); - // create_actuated_prismatic_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![25.0, 5.0, 0.0], - // 4, - // use_articulations, - // ); - // create_revolute_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![20.0, 0.0, 0.0], - // 3, - // use_articulations, - // ); + create_prismatic_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![20.0, 5.0, 0.0], + 4, + use_articulations, + ); + create_actuated_prismatic_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![25.0, 5.0, 0.0], + 4, + use_articulations, + ); + create_revolute_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![20.0, 0.0, 0.0], + 3, + use_articulations, + ); create_revolute_joints_with_limits( &mut bodies, &mut colliders, @@ -613,57 +613,57 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) { point![34.0, 0.0, 0.0], use_articulations, ); - // create_fixed_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![0.0, 10.0, 0.0], - // 10, - // use_articulations, - // ); - // create_actuated_revolute_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![20.0, 10.0, 0.0], - // 6, - // use_articulations, - // ); - // create_actuated_spherical_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![13.0, 10.0, 0.0], - // 3, - // use_articulations, - // ); - // create_spherical_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // 15, - // use_articulations, - // ); - // create_spherical_joints_with_limits( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![-5.0, 0.0, 0.0], - // use_articulations, - // ); - // create_coupled_joints( - // &mut bodies, - // &mut colliders, - // &mut impulse_joints, - // &mut multibody_joints, - // point![0.0, 20.0, 0.0], - // use_articulations, - // ); + create_fixed_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![0.0, 10.0, 0.0], + 10, + use_articulations, + ); + create_actuated_revolute_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![20.0, 10.0, 0.0], + 6, + use_articulations, + ); + create_actuated_spherical_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![13.0, 10.0, 0.0], + 3, + use_articulations, + ); + create_spherical_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + 15, + use_articulations, + ); + create_spherical_joints_with_limits( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![-5.0, 0.0, 0.0], + use_articulations, + ); + create_coupled_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![0.0, 20.0, 0.0], + use_articulations, + ); /* * Set up the testbed. diff --git a/src/pipeline/debug_render_pipeline/debug_render_backend.rs b/src/pipeline/debug_render_pipeline/debug_render_backend.rs new file mode 100644 index 0000000..27a67e4 --- /dev/null +++ b/src/pipeline/debug_render_pipeline/debug_render_backend.rs @@ -0,0 +1,66 @@ +use crate::dynamics::{ + ImpulseJoint, ImpulseJointHandle, Multibody, MultibodyLink, RigidBody, RigidBodyHandle, +}; +use crate::geometry::Collider; +use crate::math::{Isometry, Point, Real, Vector}; +use crate::prelude::{ColliderHandle, MultibodyJointHandle}; +use na::Scale; + +#[derive(Copy, Clone)] +pub enum DebugRenderObject<'a> { + RigidBody(RigidBodyHandle, &'a RigidBody), + Collider(ColliderHandle, &'a Collider), + ImpulseJoint(ImpulseJointHandle, &'a ImpulseJoint), + MultibodyJoint(MultibodyJointHandle, &'a Multibody, &'a MultibodyLink), + Other, +} + +pub trait DebugRenderBackend { + fn draw_line( + &mut self, + object: DebugRenderObject, + a: Point<Real>, + b: Point<Real>, + color: [f32; 4], + ); + + fn draw_polyline( + &mut self, + object: DebugRenderObject, + vertices: &[Point<Real>], + indices: &[[u32; 2]], + transform: &Isometry<Real>, + scale: &Vector<Real>, + color: [f32; 4], + ) { + for idx in indices { + let a = transform * (Scale::from(*scale) * vertices[idx[0] as usize]); + let b = transform * (Scale::from(*scale) * vertices[idx[1] as usize]); + self.draw_line(object, a, b, color); + } + } + + fn draw_line_strip( + &mut self, + object: DebugRenderObject, + vertices: &[Point<Real>], + transform: &Isometry<Real>, + scale: &Vector<Real>, + color: [f32; 4], + closed: bool, + ) { + for vtx in vertices.windows(2) { + let a = transform * (Scale::from(*scale) * vtx[0]); + let b = transform * (Scale::from(*scale) * vtx[1]); + self.draw_line(object, a, b, color); + } + + if closed { + if vertices.len() > 2 { + let a = transform * (Scale::from(*scale) * vertices[0]); + let b = transform * (Scale::from(*scale) * vertices.last().unwrap()); + self.draw_line(object, a, b, color); + } + } + } +} diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs new file mode 100644 index 0000000..36593ce --- /dev/null +++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs @@ -0,0 +1,450 @@ +use super::{outlines, DebugRenderBackend}; +use crate::dynamics::{ + GenericJoint, ImpulseJointSet, MultibodyJointSet, RigidBodySet, RigidBodyType, +}; +use crate::geometry::{Ball, ColliderSet, Cuboid, Shape, TypedShape}; +#[cfg(feature = "dim3")] +use crate::geometry::{Cone, Cylinder}; +use crate::math::{Isometry, Point, Real, Vector, DIM}; +use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject; +use crate::pipeline::debug_render_pipeline::DebugRenderStyle; +use crate::utils::WBasis; +use std::any::TypeId; +use std::collections::HashMap; + +bitflags::bitflags! { + pub struct DebugRenderMode: u32 { + const COLLIDER_SHAPES = 1 << 0; + const RIGID_BODY_AXES = 1 << 1; + const MULTIBODY_JOINTS = 1 << 2; + const IMPULSE_JOINTS = 1 << 3; + } +} + +pub struct DebugRenderPipeline { + #[cfg(feature = "dim2")] + instances: HashMap<TypeId, Vec<Point<Real>>>, + #[cfg(feature = "dim3")] + instances: HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)>, + pub style: DebugRenderStyle, + pub mode: DebugRenderMode, +} + +impl Default for DebugRenderPipeline { + fn default() -> Self { + Self::render_all(DebugRenderStyle::default()) + } +} + +impl DebugRenderPipeline { + pub fn new(style: DebugRenderStyle, mode: DebugRenderMode) -> Self { + Self { + instances: outlines::instances(style.subdivisions), + style, + mode, + } + } + + pub fn render_all(style: DebugRenderStyle) -> Self { + Self::new(style, DebugRenderMode::all()) + } + + pub fn render( + &mut self, + backend: &mut impl DebugRenderBackend, + bodies: &RigidBodySet, + colliders: &ColliderSet, + impulse_joints: &ImpulseJointSet, + multibody_joints: &MultibodyJointSet, + ) { + self.render_bodies(backend, bodies); + self.render_colliders(backend, bodies, colliders); + self.render_joints(backend, bodies, impulse_joints, multibody_joints); + } + + pub fn render_joints( + &mut self, + backend: &mut impl DebugRenderBackend, + bodies: &RigidBodySet, + impulse_joints: &ImpulseJointSet, + multibody_joints: &MultibodyJointSet, + ) { + let mut render_joint = |body1, + body2, + data: &GenericJoint, + mut anchor_color: [f32; 4], + mut separation_color: [f32; 4], + object| { + if let (Some(rb1), Some(rb2)) = (bodies.get(body1), bodies.get(body2)) { + let coeff = if (rb1.is_fixed() || rb1.is_sleeping()) + && (rb2.is_fixed() || rb2.is_sleeping()) + { + self.style.sleep_color_multiplier + } else { + [1.0; 4] + }; + + let frame1 = rb1.position() * data.local_frame1; + let frame2 = rb2.position() * data.local_frame2; + + let a = *rb1.translation(); + let b = frame1.translation.vector; + let c = frame2.translation.vector; + let d = *rb2.translation(); + + for k in 0..4 { + anchor_color[k] *= coeff[k]; + separation_color[k] *= coeff[k]; + } + + backend.draw_line(object, a.into(), b.into(), anchor_color); + backend.draw_line(object, b.into(), c.into(), separation_color); + backend.draw_line(object, c.into(), d.into(), anchor_color); + } + }; + + if self.mode.contains(DebugRenderMode::IMPULSE_JOINTS) { + for (handle, joint) in impulse_joints.iter() { + let anc_color = self.style.impulse_joint_anchor_color; + let sep_color = self.style.impulse_joint_separation_color; + let object = DebugRenderObject::ImpulseJoint(handle, joint); + render_joint( + joint.body1, + joint.body2, + &joint.data, + anc_color, + sep_color, + object, + ); + } + } + + if self.mode.contains(DebugRenderMode::MULTIBODY_JOINTS) { + for (handle, multibody, link) in multibody_joints.iter() { + let anc_color = self.style.multibody_joint_anchor_color; + let sep_color = self.style.multibody_joint_separation_color; + let parent = multibody.link(link.parent_id().unwrap()).unwrap(); + let object = DebugRenderObject::MultibodyJoint(handle, multibody, link); + render_joint( + parent.rigid_body_handle(), + link.rigid_body_handle(), + &link.joint.data, + anc_color, + sep_color, + object, + ); + } + } + } + + pub fn render_bodies(&mut self, backend: &mut impl DebugRenderBackend, bodies: &RigidBodySet) { + for (handle, rb) in bodies.iter() { + let object = DebugRenderObject::RigidBody(handle, rb); + + if self.style.rigid_body_axes_length != 0.0 + && self.mode.contains(DebugRenderMode::RIGID_BODY_AXES) + { + let basis = rb.rotation().to_rotation_matrix().into_inner(); + let coeff = if rb.is_sleeping() { + self.style.sleep_color_multiplier + } else { + [1.0; 4] + }; + let colors = [ + [0.0 * coeff[0], 1.0 * coeff[1], 0.25 * coeff[2], coeff[3]], + [120.0 * coeff[0], 1.0 * coeff[1], 0.1 * coeff[2], coeff[3]], + [240.0 * coeff[0], 1.0 * coeff[1], 0.2 * coeff[2], coeff[3]], + ]; + let com = rb.mprops.world_com; + + for k in 0..DIM { + let axis = basis.column(k) * self.style.rigid_body_axes_length; + backend.draw_line(object, com, com + axis, colors[k]); + } + } + } + } + + pub fn render_colliders( + &mut self, + backend: &mut impl DebugRenderBackend, + bodies: &RigidBodySet, + colliders: &ColliderSet, + ) { + if self.mode.contains(DebugRenderMode::COLLIDER_SHAPES) { + for (h, co) in colliders.iter() { + let object = DebugRenderObject::Collider(h, co); + let color = if let Some(parent) = co.parent().and_then(|p| bodies.get(p)) { + let coeff = if parent.is_sleeping() { + self.style.sleep_color_multiplier + } else { + [1.0; 4] + }; + let c = match parent.body_type { + RigidBodyType::Fixed => self.style.collider_fixed_color, + RigidBodyType::Dynamic => self.style.collider_dynamic_color, + RigidBodyType::KinematicPositionBased + | RigidBodyType::KinematicVelocityBased => { + self.style.collider_kinematic_color + } + }; + + [ + c[0] * coeff[0], + c[1] * coeff[1], + c[2] * coeff[2], + c[3] * coeff[3], + ] + } else { + self.style.collider_parentless_color + }; + + self.render_shape(object, backend, co.shape(), co.position(), color) + } + } + } + + #[cfg(feature = "dim2")] + fn render_shape( + &mut self, + object: DebugRenderObject, + backend: &mut impl DebugRenderBackend, + shape: &dyn Shape, + pos: &Isometry<Real>, + color: [f32; 4], + ) { + match shape.as_typed_shape() { + TypedShape::Ball(s) => { + let vtx = &self.instances[&TypeId::of::<Ball>()]; + backend.draw_line_strip( + object, + vtx, + pos, + &Vector::repeat(s.radius * 2.0), + color, + true, + ) + } + TypedShape::Cuboid(s) => { + let vtx = &self.instances[&TypeId::of::<Cuboid>()]; + backend.draw_line_strip(object, vtx, pos, &(s.half_extents * 2.0), color, true) + } + TypedShape::Capsule(s) => { + let vtx = s.to_polyline(self.style.subdivisions); + backend.draw_line_strip(object, &vtx, pos, &Vector::repeat(1.0), color, true) + } + TypedShape::Segment(s) => backend.draw_line_strip( + object, + &[s.a, s.b], + pos, + &Vector::repeat(1.0), + color, + false, + ), + TypedShape::Triangle(s) => backend.draw_line_strip( + object, + &[s.a, s.b, s.c], + pos, + &Vector::repeat(1.0), + color, + true, + ), + TypedShape::TriMesh(s) => { + for tri in s.triangles() { + self.render_shape(object, backend, &tri, pos, color) + } + } + TypedShape::Polyline(s) => backend.draw_polyline( + object, + s.vertices(), + s.indices(), + pos, + &Vector::repeat(1.0), + color, + ), + TypedShape::HalfSpace(s) => { + let basis = s.normal.orthonormal_basis()[0]; + let a = Point::from(basis) * 10_000.0; + let b = Point::from(basis) * -10_000.0; + backend.draw_line_strip(object, &[a, b], pos, &Vector::repeat(1.0), color, false) + } + TypedShape::HeightField(s) => { + for seg in s.segments() { + self.render_shape(object, backend, &seg, pos, color) + } + } + TypedShape::Compound(s) => { + for (sub_pos, shape) in s.shapes() { + self.render_shape(object, backend, &**shape, &(pos * sub_pos), color) + } + } + TypedShape::ConvexPolygon(s) => { + backend.draw_line_strip(object, s.points(), pos, &Vector::repeat(1.0), color, true) + } + /* + * Round shapes. + */ + TypedShape::RoundCuboid(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + TypedShape::RoundTriangle(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + // TypedShape::RoundTriMesh(s) => self.render_shape(backend, &s.base_shape, pos, color), + // TypedShape::RoundHeightField(s) => { + // self.render_shape(backend, &s.base_shape, pos, color) + // } + TypedShape::RoundConvexPolygon(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + TypedShape::Custom(_) => {} + } + } + + #[cfg(feature = "dim3")] + fn render_shape( + &mut self, + object: DebugRenderObject, + backend: &mut impl DebugRenderBackend, + shape: &dyn Shape, + pos: &Isometry<Real>, + color: [f32; 4], + ) { + match shape.as_typed_shape() { + TypedShape::Ball(s) => { + let (vtx, idx) = &self.instances[&TypeId::of::<Ball>()]; + backend.draw_polyline( + object, + vtx, + idx, + pos, + &Vector::repeat(s.radius * 2.0), + color, + ) + } + TypedShape::Cuboid(s) => { + 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) + } + TypedShape::Segment(s) => backend.draw_polyline( + object, + &[s.a, s.b], + &[[0, 1]], + pos, + &Vector::repeat(1.0), + color, + ), + TypedShape::Triangle(s) => backend.draw_line_strip( + object, + &[s.a, s.b, s.c], + pos, + &Vector::repeat(1.0), + color, + true, + ), + TypedShape::TriMesh(s) => { + for tri in s.triangles() { + self.render_shape(object, backend, &tri, pos, color) + } + } + TypedShape::Polyline(s) => backend.draw_polyline( + object, + s.vertices(), + s.indices(), + pos, + &Vector::repeat(1.0), + color, + ), + TypedShape::HalfSpace(s) => { + let basis = s.normal.orthonormal_basis(); + let a = Point::from(basis[0]) * 10_000.0; + let b = Point::from(basis[0]) * -10_000.0; + let c = Point::from(basis[1]) * 10_000.0; + let d = Point::from(basis[1]) * -10_000.0; + backend.draw_polyline( + object, + &[a, b, c, d], + &[[0, 1], [2, 3]], + pos, + &Vector::repeat(1.0), + color, + ) + } + TypedShape::HeightField(s) => { + for tri in s.triangles() { + self.render_shape(object, backend, &tri, pos, color) + } + } + TypedShape::Compound(s) => { + for (sub_pos, shape) in s.shapes() { + self.render_shape(object, backend, &**shape, &(pos * sub_pos), color) + } + } + TypedShape::ConvexPolyhedron(s) => { + let indices: Vec<_> = s + .edges() + .iter() + .map(|e| [e.vertices.x, e.vertices.y]) + .collect(); + backend.draw_polyline( + object, + s.points(), + &indices, + pos, + &Vector::repeat(1.0), + color, + ) + } + TypedShape::Cylinder(s) => { + let (vtx, idx) = &self.instances[&TypeId::of::<Cylinder>()]; + backend.draw_polyline( + object, + vtx, + idx, + pos, + &(Vector::new(s.radius, s.half_height, s.radius) * 2.0), + color, + ) + } + TypedShape::Cone(s) => { + let (vtx, idx) = &self.instances[&TypeId::of::<Cone>()]; + backend.draw_polyline( + object, + vtx, + idx, + pos, + &(Vector::new(s.radius, s.half_height, s.radius) * 2.0), + color, + ) + } + /* + * Round shapes. + */ + TypedShape::RoundCuboid(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + TypedShape::RoundTriangle(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + // TypedShape::RoundTriMesh(s) => self.render_shape(object, backend, &s.base_shape, pos, color), + // TypedShape::RoundHeightField(s) => { + // self.render_shape(object, backend, &s.base_shape, pos, color) + // } + TypedShape::RoundCylinder(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + TypedShape::RoundCone(s) => { + self.render_shape(object, backend, &s.base_shape, pos, color) + } + TypedShape::RoundConvexPolyhedron(s) => { + self.render_shape(object, backend, &s.base_shape, pos, 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 new file mode 100644 index 0000000..9d4b6cc --- /dev/null +++ b/src/pipeline/debug_render_pipeline/debug_render_style.rs @@ -0,0 +1,37 @@ +/// A color for debug-rendering. +/// +/// The default colors are provided in HSLA (Hue Saturation Lightness Alpha) format. +pub type DebugColor = [f32; 4]; + +#[derive(Clone, Debug, PartialEq)] +pub struct DebugRenderStyle { + pub subdivisions: u32, + pub collider_dynamic_color: DebugColor, + pub collider_fixed_color: DebugColor, + pub collider_kinematic_color: DebugColor, + pub collider_parentless_color: DebugColor, + pub impulse_joint_anchor_color: DebugColor, + pub impulse_joint_separation_color: DebugColor, + pub multibody_joint_anchor_color: DebugColor, + pub multibody_joint_separation_color: DebugColor, |