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|
use crate::harness::Harness;
use crate::lines::DebugLines;
use bevy::prelude::*;
use rapier::math::{Point, Real};
use rapier::pipeline::{
DebugRenderBackend, DebugRenderMode, DebugRenderObject, DebugRenderPipeline,
};
pub struct RapierDebugRenderPlugin {
depth_test: bool,
}
impl Default for RapierDebugRenderPlugin {
fn default() -> Self {
Self {
depth_test: cfg!(feature = "dim3"),
}
}
}
impl Plugin for RapierDebugRenderPlugin {
fn build(&self, app: &mut App) {
app.add_plugin(crate::lines::DebugLinesPlugin::with_depth_test(
self.depth_test,
))
.insert_resource(DebugRenderPipeline::new(
Default::default(),
!DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
))
.add_system_to_stage(CoreStage::Update, debug_render_scene);
}
}
struct BevyLinesRenderBackend<'a> {
lines: &'a mut DebugLines,
}
impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
#[cfg(feature = "dim2")]
fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
self.lines.line_colored(
[a.x as f32, a.y as f32, 1.0e-8 as f32].into(),
[b.x as f32, b.y as f32, 1.0e-8 as f32].into(),
0.0,
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.lines.line_colored(
[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(),
0.0,
Color::hsla(color[0], color[1], color[2], color[3]),
)
}
}
fn debug_render_scene(
mut pipeline: ResMut<DebugRenderPipeline>,
harness: NonSend<Harness>,
mut lines: ResMut<DebugLines>,
) {
let mut backend = BevyLinesRenderBackend { lines: &mut *lines };
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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