From 364b5b7c37c30af745ad77555d56b6c47ce7de8e Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Fri, 2 Aug 2024 11:49:45 +0200
Subject: [PATCH] Color visualization for grounded character controller (#705)

---
 examples2d/character_controller2.rs |  1 +
 examples3d/character_controller3.rs |  1 +
 src_testbed/testbed.rs              | 15 +++++++++++++++
 3 files changed, 17 insertions(+)

diff --git a/examples2d/character_controller2.rs b/examples2d/character_controller2.rs
index 2325101..2acf50f 100644
--- a/examples2d/character_controller2.rs
+++ b/examples2d/character_controller2.rs
@@ -29,6 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let character_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
+    testbed.set_initial_body_color(character_handle, [0.8, 0.1, 0.1]);
 
     /*
      * Create the cubes
diff --git a/examples3d/character_controller3.rs b/examples3d/character_controller3.rs
index f031f0a..f668439 100644
--- a/examples3d/character_controller3.rs
+++ b/examples3d/character_controller3.rs
@@ -45,6 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let character_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.3 * scale, 0.15 * scale); // 0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
+    testbed.set_initial_body_color(character_handle, [0.8, 0.1, 0.1]);
 
     /*
      * Create the cubes
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 9a2df3e..4986059 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -845,6 +845,21 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                 QueryFilter::new().exclude_rigid_body(character_handle),
                 |c| collisions.push(c),
             );
+            if let Some(graphics) = &mut self.graphics {
+                if mvt.grounded {
+                    graphics.graphics.set_body_color(
+                        graphics.materials,
+                        character_handle,
+                        [0.1, 0.8, 0.1],
+                    );
+                } else {
+                    graphics.graphics.set_body_color(
+                        graphics.materials,
+                        character_handle,
+                        [0.8, 0.1, 0.1],
+                    );
+                }
+            }
             controller.solve_character_collision_impulses(
                 phx.integration_parameters.dt,
                 &mut phx.bodies,