1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
|
use crate::dynamics::{
ImpulseJoint, ImpulseJointHandle, Multibody, MultibodyLink, RigidBody, RigidBodyHandle,
};
use crate::geometry::{Aabb, Collider, ContactPair};
use crate::math::*;
use crate::prelude::{ColliderHandle, MultibodyJointHandle};
/// The object currently being rendered by the debug-renderer.
#[derive(Copy, Clone)]
pub enum DebugRenderObject<'a> {
/// A rigid-body is being rendered.
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),
/// 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.
///
/// The only thing that is required from the graphics backend is to be able to render
/// a colored line. Note that the color is only a suggestion and is computed from the
/// `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`.
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],
indices: &[[u32; 2]],
transform: &Isometry,
scale: &Vector,
color: [f32; 4],
) {
for idx in indices {
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);
}
}
/// Draws a chain of line.
fn draw_line_strip(
&mut self,
object: DebugRenderObject,
vertices: &[Point],
transform: &Isometry,
scale: &Vector,
color: [f32; 4],
closed: bool,
) {
for vtx in vertices.windows(2) {
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
.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);
}
}
}
|
