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Debug-renderer: add rendering of contacts, solver contacts, and collider AABBs

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This commit is contained in:
Sébastien Crozet
2022-05-30 18:27:52 +02:00
parent ab8833f275
commit 0d05536ab6
6 changed files with 106 additions and 14 deletions
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77
src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
View File

@@ -2,10 +2,12 @@ use super::{outlines, DebugRenderBackend};
use crate::dynamics::{
GenericJoint, ImpulseJointSet, MultibodyJointSet, RigidBodySet, RigidBodyType,
};
use crate::geometry::{Ball, ColliderSet, Cuboid, Shape, TypedShape};
use crate::geometry::{
Ball, ColliderSet, Cuboid, NarrowPhase, OctantPattern, Shape, TypedShape, VoxelType, AABB,
};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder};
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::math::{Isometry, Point, Real, Translation, Vector, DIM};
use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject;
use crate::pipeline::debug_render_pipeline::DebugRenderStyle;
use crate::utils::WBasis;
@@ -24,6 +26,12 @@ bitflags::bitflags! {
const MULTIBODY_JOINTS = 1 << 2;
/// If this flag is set, the impulse joints will be rendered.
const IMPULSE_JOINTS = 1 << 3;
/// If this flag is set, the solver contacts will be rendered.
const SOLVER_CONTACTS = 1 << 4;
/// If this flag is set, the geometric contacts will be rendered.
const CONTACTS = 1 << 5;
/// If this flag is set, the AABBs of colliders will be rendered.
const COLLIDER_AABBS = 1 << 6;
}
}
@@ -71,10 +79,61 @@ impl DebugRenderPipeline {
colliders: &ColliderSet,
impulse_joints: &ImpulseJointSet,
multibody_joints: &MultibodyJointSet,
narrow_phase: &NarrowPhase,
) {
self.render_rigid_bodies(backend, bodies);
self.render_colliders(backend, bodies, colliders);
self.render_joints(backend, bodies, impulse_joints, multibody_joints);
self.render_contacts(backend, colliders, narrow_phase);
}
pub fn render_contacts(
&mut self,
backend: &mut impl DebugRenderBackend,
colliders: &ColliderSet,
narrow_phase: &NarrowPhase,
) {
if self.mode.contains(DebugRenderMode::CONTACTS) {
for pair in narrow_phase.contact_pairs() {
if let (Some(co1), Some(co2)) =
(colliders.get(pair.collider1), colliders.get(pair.collider2))
{
for manifold in &pair.manifolds {
for contact in manifold.contacts() {
backend.draw_line(
DebugRenderObject::Other,
co1.position() * contact.local_p1,
co2.position() * contact.local_p2,
self.style.contact_depth_color,
);
backend.draw_line(
DebugRenderObject::Other,
co1.position() * contact.local_p1,
co1.position()
* (contact.local_p1
+ manifold.local_n1 * self.style.contact_normal_length),
self.style.contact_normal_color,
);
}
}
}
}
}
if self.mode.contains(DebugRenderMode::SOLVER_CONTACTS) {
for pair in narrow_phase.contact_pairs() {
for manifold in &pair.manifolds {
for contact in &manifold.data.solver_contacts {
backend.draw_line(
DebugRenderObject::Other,
contact.point,
contact.point + manifold.data.normal * self.style.contact_normal_length,
self.style.contact_normal_color,
);
}
}
}
}
}
/// Render only the joints from the scene.
@@ -224,6 +283,20 @@ impl DebugRenderPipeline {
self.render_shape(object, backend, co.shape(), co.position(), color)
}
}
if self.mode.contains(DebugRenderMode::COLLIDER_AABBS) {
for (_, co) in colliders.iter() {
let aabb = co.compute_aabb();
let cuboid = Cuboid::new(aabb.half_extents());
self.render_shape(
DebugRenderObject::Other,
backend,
&cuboid,
&aabb.center().into(),
self.style.collider_aabb_color,
);
}
}
}
#[cfg(feature = "dim2")]

12
src/pipeline/debug_render_pipeline/debug_render_style.rs
View File

@@ -38,6 +38,14 @@ pub struct DebugRenderStyle {
pub sleep_color_multiplier: [f32; 4],
/// The length of the local coordinate axes rendered for a rigid-body.
pub rigid_body_axes_length: Real,
/// The collor for the segments joining the two contact points.
pub contact_depth_color: DebugColor,
/// The color of the contact normals.
pub contact_normal_color: DebugColor,
/// The length of the contact normals.
pub contact_normal_length: Real,
/// The color of the colliders AABBs.
pub collider_aabb_color: DebugColor,
}
impl Default for DebugRenderStyle {
@@ -55,6 +63,10 @@ impl Default for DebugRenderStyle {
multibody_joint_separation_color: [0.0, 1.0, 0.4, 1.0],
sleep_color_multiplier: [1.0, 1.0, 0.2, 1.0],
rigid_body_axes_length: 0.5,
contact_depth_color: [120.0, 1.0, 0.4, 1.0],
contact_normal_color: [0.0, 1.0, 1.0, 1.0],
contact_normal_length: 0.3,
collider_aabb_color: [124.0, 1.0, 0.4, 1.0],
}
}
}

3
src_testbed/debug_render.rs
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@@ -25,7 +25,7 @@ impl Plugin for RapierDebugRenderPlugin {
))
.insert_resource(DebugRenderPipeline::new(
Default::default(),
!DebugRenderMode::RIGID_BODY_AXES,
!DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
))
.add_system_to_stage(CoreStage::Update, debug_render_scene);
}
@@ -68,5 +68,6 @@ fn debug_render_scene(
&harness.physics.colliders,
&harness.physics.impulse_joints,
&harness.physics.multibody_joints,
&harness.physics.narrow_phase,
);
}

8
src_testbed/lines/debuglines.wgsl
View File

@@ -25,9 +25,13 @@ struct FragmentOutput {
fn vertex(vertex: Vertex) -> VertexOutput {
var out: VertexOutput;
out.clip_position = view.view_proj * vec4<f32>(vertex.pos, 1.0);
//out.color = vertex.color;
// https://github.com/bevyengine/bevy/blob/328c26d02c50de0bc77f0d24a376f43ba89517b1/examples/2d/mesh2d_manual.rs#L234
out.color = vec4<f32>((vec4<u32>(vertex.color) >> vec4<u32>(8u, 8u, 16u, 24u)) & vec4<u32>(255u)) / 255.0;
// ... except the above doesn't seem to work in 3d. Not sure what's going on there.
var r = f32(vertex.color & 255u) / 255.0;
var g = f32(vertex.color >> 8u & 255u) / 255.0;
var b = f32(vertex.color >> 16u & 255u) / 255.0;
var a = f32(vertex.color >> 24u & 255u) / 255.0;
out.color = vec4<f32>(r, g, b, a);
return out;
}

9
src_testbed/lines/debuglines2d.wgsl
View File

@@ -17,10 +17,11 @@ struct VertexOutput {
fn vertex(vertex: Vertex) -> VertexOutput {
var out: VertexOutput;
out.clip_position = view.view_proj * vec4<f32>(vertex.place, 1.0);
// What is this craziness?
out.color = vec4<f32>((vec4<u32>(vertex.color) >> vec4<u32>(0u, 8u, 16u, 24u)) & vec4<u32>(255u)) / 255.0;
//out.color = vertex.color;
//out.color = vec4<f32>(1.0, 0.0, 0.0, 1.0);
var r = f32(vertex.color & 255u) / 255.0;
var g = f32(vertex.color >> 8u & 255u) / 255.0;
var b = f32(vertex.color >> 16u & 255u) / 255.0;
var a = f32(vertex.color >> 24u & 255u) / 255.0;
out.color = vec4<f32>(r, g, b, a);
return out;
}

11
src_testbed/lines/mod.rs
View File

@@ -1,4 +1,5 @@
#![allow(warnings)]
use bevy::render::view::NoFrustumCulling;
/**
*
* NOTE: this module and its submodules are only temporary. It is a copy-paste of the bevy-debug-lines
@@ -33,7 +34,7 @@ mod render_dim;
// gates-specific code.
#[cfg(feature = "dim3")]
mod dim {
pub(crate) use crate::lines::render_dim::r3d::{queue, DebugLinePipeline, DrawDebugLines};
pub(crate) use super::render_dim::r3d::{queue, DebugLinePipeline, DrawDebugLines};
pub(crate) use bevy::core_pipeline::Opaque3d as Phase;
use bevy::{asset::Handle, render::mesh::Mesh};
@@ -49,7 +50,7 @@ mod dim {
}
#[cfg(feature = "dim2")]
mod dim {
pub(crate) use crate::lines::render_dim::r2d::{queue, DebugLinePipeline, DrawDebugLines};
pub(crate) use super::render_dim::r2d::{queue, DebugLinePipeline, DrawDebugLines};
pub(crate) use bevy::core_pipeline::Transparent2d as Phase;
use bevy::{asset::Handle, render::mesh::Mesh, sprite::Mesh2dHandle};
@@ -172,6 +173,7 @@ fn setup(mut cmds: Commands, mut meshes: ResMut<Assets<Mesh>>) {
dim::into_handle(meshes.add(mesh)),
NotShadowCaster,
NotShadowReceiver,
NoFrustumCulling,
Transform::default(),
GlobalTransform::default(),
Visibility::default(),
@@ -190,7 +192,7 @@ fn update(
// For each debug line mesh, fill its buffers with the relevant positions/colors chunks.
for (mesh_handle, debug_lines_idx) in debug_line_meshes.iter() {
let mesh = meshes.get_mut(dim::from_handle(mesh_handle)).unwrap();
use VertexAttributeValues::{Float32x3, Float32x4, Uint32};
use VertexAttributeValues::{Float32x3, Uint32};
if let Some(Float32x3(vbuffer)) = mesh.attribute_mut(Mesh::ATTRIBUTE_POSITION) {
vbuffer.clear();
if let Some(new_content) = lines
@@ -238,7 +240,7 @@ fn extract(mut commands: Commands, query: Query<Entity, With<DebugLinesMesh>>) {
}
#[derive(Component)]
struct DebugLinesMesh(usize);
pub(crate) struct DebugLinesMesh(usize);
#[derive(Component)]
pub(crate) struct RenderDebugLinesMesh;
@@ -320,7 +322,6 @@ impl DebugLines {
end_color: Color,
) {
if self.positions.len() >= MAX_POINTS {
warn!("Tried to add a new line when existing number of lines was already at maximum, ignoring.");
return;
}