diff options
Diffstat (limited to 'src/pipeline/debug_render_pipeline')
3 files changed, 41 insertions, 38 deletions
diff --git a/src/pipeline/debug_render_pipeline/debug_render_backend.rs b/src/pipeline/debug_render_pipeline/debug_render_backend.rs index 664bf46..84aa2cc 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_backend.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_backend.rs @@ -2,9 +2,8 @@ use crate::dynamics::{ ImpulseJoint, ImpulseJointHandle, Multibody, MultibodyLink, RigidBody, RigidBodyHandle, }; use crate::geometry::{Aabb, Collider, ContactPair}; -use crate::math::{Isometry, Point, Real, Vector}; +use crate::math::*; use crate::prelude::{ColliderHandle, MultibodyJointHandle}; -use na::Scale; /// The object currently being rendered by the debug-renderer. #[derive(Copy, Clone)] @@ -38,27 +37,25 @@ pub trait DebugRenderBackend { /// Draws a colored line. /// /// Note that this method can be called multiple time for the same `object`. - fn draw_line( - &mut self, - object: DebugRenderObject, - a: Point<Real>, - b: Point<Real>, - color: [f32; 4], - ); + fn draw_line(&mut self, object: DebugRenderObject, a: Point, b: Point, color: [f32; 4]); /// Draws a set of line. fn draw_polyline( &mut self, object: DebugRenderObject, - vertices: &[Point<Real>], + vertices: &[Point], indices: &[[u32; 2]], - transform: &Isometry<Real>, - scale: &Vector<Real>, + transform: &Isometry, + scale: &Vector, 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]); + let a = transform.transform_point(&Point::from( + vertices[idx[0] as usize].as_vector().component_mul(scale), + )); + let b = transform.transform_point(&Point::from( + vertices[idx[1] as usize].as_vector().component_mul(scale), + )); self.draw_line(object, a, b, color); } } @@ -67,21 +64,26 @@ pub trait DebugRenderBackend { fn draw_line_strip( &mut self, object: DebugRenderObject, - vertices: &[Point<Real>], - transform: &Isometry<Real>, - scale: &Vector<Real>, + vertices: &[Point], + transform: &Isometry, + scale: &Vector, 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]); + let a = + transform.transform_point(&Point::from(vtx[0].as_vector().component_mul(scale))); + let b = + transform.transform_point(&Point::from(vtx[1].as_vector().component_mul(scale))); self.draw_line(object, a, b, color); } if closed && vertices.len() > 2 { - let a = transform * (Scale::from(*scale) * vertices[0]); - let b = transform * (Scale::from(*scale) * vertices.last().unwrap()); + let a = transform + .transform_point(&Point::from(vertices[0].as_vector().component_mul(scale))); + let b = transform.transform_point(&Point::from( + vertices.last().unwrap().as_vector().component_mul(scale), + )); 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 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() { diff --git a/src/pipeline/debug_render_pipeline/outlines.rs b/src/pipeline/debug_render_pipeline/outlines.rs index cd0b6ed..56e26ec 100644 --- a/src/pipeline/debug_render_pipeline/outlines.rs +++ b/src/pipeline/debug_render_pipeline/outlines.rs @@ -1,12 +1,12 @@ use crate::geometry::{Ball, Cuboid}; #[cfg(feature = "dim3")] use crate::geometry::{Cone, Cylinder}; -use crate::math::{Point, Real, Vector}; +use crate::math::*; use std::any::TypeId; use std::collections::HashMap; #[cfg(feature = "dim2")] -pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point<Real>>> { +pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point>> { let mut result = HashMap::new(); result.insert( TypeId::of::<Cuboid>(), @@ -18,7 +18,7 @@ pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point<Real>>> { #[cfg(feature = "dim3")] #[allow(clippy::type_complexity)] -pub fn instances(nsubdivs: u32) -> HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)> { +pub fn instances(nsubdivs: u32) -> HashMap<TypeId, (Vec<Point>, Vec<[u32; 2]>)> { let mut result = HashMap::new(); result.insert( TypeId::of::<Cuboid>(), |