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#![allow(clippy::unnecessary_cast)] // Casts are needed for switching between f32/f64.
use crate::harness::Harness;
use bevy::gizmos::gizmos::Gizmos;
use bevy::prelude::*;
use rapier::math::{Point, Real};
use rapier::pipeline::{
DebugRenderBackend, DebugRenderMode, DebugRenderObject, DebugRenderPipeline,
};
#[derive(Resource)]
pub struct DebugRenderPipelineResource {
pub pipeline: DebugRenderPipeline,
pub enabled: bool,
}
#[derive(Default)]
pub struct RapierDebugRenderPlugin {}
impl Plugin for RapierDebugRenderPlugin {
fn build(&self, app: &mut App) {
app.insert_resource(DebugRenderPipelineResource {
pipeline: DebugRenderPipeline::new(
Default::default(),
!DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
),
enabled: false,
})
.add_systems(Update, debug_render_scene);
}
}
struct BevyLinesRenderBackend<'w, 's> {
gizmos: Gizmos<'w, 's>,
}
impl<'w, 's> DebugRenderBackend for BevyLinesRenderBackend<'w, 's> {
#[cfg(feature = "dim2")]
fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
self.gizmos.line(
[a.x as f32, a.y as f32, 1.0e-8].into(),
[b.x as f32, b.y as f32, 1.0e-8].into(),
Color::hsla(color[0], color[1], color[2], color[3]),
)
}
#[cfg(feature = "dim3")]
fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
self.gizmos.line(
[a.x as f32, a.y as f32, a.z as f32].into(),
[b.x as f32, b.y as f32, b.z as f32].into(),
Color::hsla(color[0], color[1], color[2], color[3]),
)
}
}
fn debug_render_scene(
mut debug_render: ResMut<DebugRenderPipelineResource>,
harness: NonSend<Harness>,
gizmos: Gizmos,
) {
if debug_render.enabled {
let mut backend = BevyLinesRenderBackend { gizmos };
debug_render.pipeline.render(
&mut backend,
&harness.physics.bodies,
&harness.physics.colliders,
&harness.physics.impulse_joints,
&harness.physics.multibody_joints,
&harness.physics.narrow_phase,
);
}
}
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