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
|
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);
}
}
}
}
|
