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-rw-r--r--src/pipeline/debug_render_pipeline/debug_render_backend.rs13
-rw-r--r--src/pipeline/debug_render_pipeline/debug_render_pipeline.rs135
2 files changed, 90 insertions, 58 deletions
diff --git a/src/pipeline/debug_render_pipeline/debug_render_backend.rs b/src/pipeline/debug_render_pipeline/debug_render_backend.rs
index 4fa86e4..cddf204 100644
--- a/src/pipeline/debug_render_pipeline/debug_render_backend.rs
+++ b/src/pipeline/debug_render_pipeline/debug_render_backend.rs
@@ -1,7 +1,7 @@
use crate::dynamics::{
ImpulseJoint, ImpulseJointHandle, Multibody, MultibodyLink, RigidBody, RigidBodyHandle,
};
-use crate::geometry::Collider;
+use crate::geometry::{Aabb, Collider, ContactPair};
use crate::math::{Isometry, Point, Real, Vector};
use crate::prelude::{ColliderHandle, MultibodyJointHandle};
use na::Scale;
@@ -13,12 +13,14 @@ pub enum DebugRenderObject<'a> {
RigidBody(RigidBodyHandle, &'a RigidBody),
/// A collider is being rendered.
Collider(ColliderHandle, &'a Collider),
+ /// The AABB of a collider is being rendered.
+ ColliderAabb(ColliderHandle, &'a Collider, &'a Aabb),
/// An impulse-joint is being rendered.
ImpulseJoint(ImpulseJointHandle, &'a ImpulseJoint),
/// A multibody joint is being rendered.
MultibodyJoint(MultibodyJointHandle, &'a Multibody, &'a MultibodyLink),
- /// Another element is being rendered.
- Other,
+ /// The contacts of a contact-pair are being rendered.
+ ContactPair(&'a ContactPair, &'a Collider, &'a Collider),
}
/// Trait implemented by graphics backends responsible for rendering the physics scene.
@@ -28,6 +30,11 @@ pub enum DebugRenderObject<'a> {
/// `DebugRenderStyle`. The backend is free to apply its own style, for example based on
/// the `object` being rendered.
pub trait DebugRenderBackend {
+ /// Predicate to filter-out some objects from the debug-rendering.
+ fn filter_object(&self, _object: DebugRenderObject) -> bool {
+ true
+ }
+
/// Draws a colored line.
///
/// Note that this method can be called multiple time for the same `object`.
diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
index bb9fd78..8d2c9c3 100644
--- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
+++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
@@ -105,22 +105,26 @@ impl DebugRenderPipeline {
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,
- );
+ let object = DebugRenderObject::ContactPair(pair, co1, co2);
+
+ if backend.filter_object(object) {
+ for manifold in &pair.manifolds {
+ for contact in manifold.contacts() {
+ backend.draw_line(
+ object,
+ co1.position() * contact.local_p1,
+ co2.position() * contact.local_p2,
+ self.style.contact_depth_color,
+ );
+ backend.draw_line(
+ object,
+ co1.position() * contact.local_p1,
+ co1.position()
+ * (contact.local_p1
+ + manifold.local_n1 * self.style.contact_normal_length),
+ self.style.contact_normal_color,
+ );
+ }
}
}
}
@@ -129,14 +133,23 @@ impl DebugRenderPipeline {
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,
- );
+ if let (Some(co1), Some(co2)) =
+ (colliders.get(pair.collider1), colliders.get(pair.collider2))
+ {
+ let object = DebugRenderObject::ContactPair(pair, co1, co2);
+
+ if backend.filter_object(object) {
+ for manifold in &pair.manifolds {
+ for contact in &manifold.data.solver_contacts {
+ backend.draw_line(
+ object,
+ contact.point,
+ contact.point
+ + manifold.data.normal * self.style.contact_normal_length,
+ self.style.contact_normal_color,
+ );
+ }
+ }
}
}
}
@@ -157,6 +170,10 @@ impl DebugRenderPipeline {
mut anchor_color: [f32; 4],
mut separation_color: [f32; 4],
object| {
+ if backend.filter_object(object) {
+ return;
+ }
+
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())
@@ -230,6 +247,7 @@ impl DebugRenderPipeline {
if self.style.rigid_body_axes_length != 0.0
&& self.mode.contains(DebugRenderMode::RIGID_BODY_AXES)
+ && backend.filter_object(object)
{
let basis = rb.rotation().to_rotation_matrix().into_inner();
let coeff = if rb.is_sleeping() {
@@ -262,46 +280,53 @@ impl DebugRenderPipeline {
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
+
+ if backend.filter_object(object) {
+ 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 {
- [1.0; 4]
+ self.style.collider_parentless_color
};
- 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)
+ self.render_shape(object, backend, co.shape(), co.position(), color)
+ }
}
}
if self.mode.contains(DebugRenderMode::COLLIDER_AABBS) {
- for (_, co) in colliders.iter() {
+ for (h, 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,
- );
+ let object = DebugRenderObject::ColliderAabb(h, co, &aabb);
+
+ if backend.filter_object(object) {
+ self.render_shape(
+ object,
+ backend,
+ &cuboid,
+ &aabb.center().into(),
+ self.style.collider_aabb_color,
+ );
+ }
}
}
}
generated by cgit (git 2.34.1) at 2026-01-16 18:38:18 +0000