diff options
Diffstat (limited to 'src/pipeline/debug_render_pipeline/debug_render_pipeline.rs')
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_pipeline.rs | 29 |
1 files changed, 15 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 b429c90..779e220 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs @@ -5,7 +5,7 @@ use crate::dynamics::{ use crate::geometry::{Ball, ColliderSet, Cuboid, NarrowPhase, Shape, TypedShape}; #[cfg(feature = "dim3")] use crate::geometry::{Cone, Cylinder}; -use crate::math::{Isometry, Point, Real, Vector, DIM}; +use crate::math::*; use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject; use crate::pipeline::debug_render_pipeline::DebugRenderStyle; use crate::utils::SimdBasis; @@ -42,9 +42,9 @@ impl Default for DebugRenderMode { } #[cfg(feature = "dim2")] -type InstancesMap = HashMap<TypeId, Vec<Point<Real>>>; +type InstancesMap = HashMap<TypeId, Vec<Point>>; #[cfg(feature = "dim3")] -type InstancesMap = HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)>; +type InstancesMap = HashMap<TypeId, (Vec<Point>, Vec<[u32; 2]>)>; /// Pipeline responsible for rendering the state of the physics engine for debugging purpose. pub struct DebugRenderPipeline { @@ -117,16 +117,17 @@ impl DebugRenderPipeline { for contact in manifold.contacts() { backend.draw_line( object, - co1.position() * contact.local_p1, - co2.position() * contact.local_p2, + co1.position().transform_point(&contact.local_p1), + co2.position().transform_point(&contact.local_p2), self.style.contact_depth_color, ); backend.draw_line( object, - co1.position() * contact.local_p1, - co1.position() - * (contact.local_p1 + co1.position().transform_point(&contact.local_p1), + co1.position().transform_point( + &(contact.local_p1 + manifold.local_n1 * self.style.contact_normal_length), + ), self.style.contact_normal_color, ); } @@ -193,10 +194,10 @@ impl DebugRenderPipeline { 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(); + let a = rb1.translation(); + let b = frame1.translation.into_vector(); + let c = frame2.translation.into_vector(); + let d = rb2.translation(); for k in 0..4 { anchor_color[k] *= coeff[k]; @@ -351,7 +352,7 @@ impl DebugRenderPipeline { object: DebugRenderObject, backend: &mut impl DebugRenderBackend, shape: &dyn Shape, - pos: &Isometry<Real>, + pos: &Isometry, color: [f32; 4], ) { match shape.as_typed_shape() { @@ -451,7 +452,7 @@ impl DebugRenderPipeline { object: DebugRenderObject, backend: &mut impl DebugRenderBackend, shape: &dyn Shape, - pos: &Isometry<Real>, + pos: &Isometry, color: [f32; 4], ) { match shape.as_typed_shape() { |