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Take round shapes into account in 2D debug render

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This commit is contained in:
Sébastien Crozet
2022-04-28 13:05:00 +02:00
parent fd12d76102
commit 8ffb0d1658
3 changed files with 35 additions and 14 deletions
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10
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
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@@ -299,10 +299,20 @@ impl MultibodyJointSet {
}
/// Gets a mutable reference to the multibody identified by its `handle`.
pub fn get_mut(&mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)> {
let link = self.rb2mb.get(handle.0)?;
let multibody = self.multibodies.get_mut(link.multibody.0)?;
Some((multibody, link.id))
}
/// Gets a mutable reference to the multibody identified by its `handle`.
///
/// This method will bypass any modification-detection automatically done by the MultibodyJointSet.
pub fn get_mut_internal(
&mut self,
handle: MultibodyJointHandle,
) -> Option<(&mut Multibody, usize)> {
// TODO: modification tracking?
let link = self.rb2mb.get(handle.0)?;
let multibody = self.multibodies.get_mut(link.multibody.0)?;
Some((multibody, link.id))

35
src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
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@@ -285,17 +285,20 @@ impl DebugRenderPipeline {
* Round shapes.
*/
TypedShape::RoundCuboid(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
let vtx = s.to_polyline(self.style.border_subdivisions);
backend.draw_line_strip(object, &vtx, pos, &Vector::repeat(1.0), color, true)
}
TypedShape::RoundTriangle(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
// TODO: take roundness into account.
self.render_shape(object, backend, &s.inner_shape, pos, color)
}
// TypedShape::RoundTriMesh(s) => self.render_shape(backend, &s.base_shape, pos, color),
// TypedShape::RoundTriMesh(s) => self.render_shape(backend, &s.inner_shape, pos, color),
// TypedShape::RoundHeightField(s) => {
// self.render_shape(backend, &s.base_shape, pos, color)
// self.render_shape(backend, &s.inner_shape, pos, color)
// }
TypedShape::RoundConvexPolygon(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
let vtx = s.to_polyline(self.style.border_subdivisions);
backend.draw_line_strip(object, &vtx, pos, &Vector::repeat(1.0), color, true)
}
TypedShape::Custom(_) => {}
}
@@ -326,7 +329,6 @@ impl DebugRenderPipeline {
let (vtx, idx) = &self.instances[&TypeId::of::<Cuboid>()];
backend.draw_polyline(object, vtx, idx, pos, &(s.half_extents * 2.0), color)
}
#[cfg(feature = "dim3")]
TypedShape::Capsule(s) => {
let (vtx, idx) = s.to_outline(self.style.subdivisions);
backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color)
@@ -426,23 +428,30 @@ impl DebugRenderPipeline {
* Round shapes.
*/
TypedShape::RoundCuboid(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
let (vtx, idx) = s.to_outline(self.style.border_subdivisions);
backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color)
}
TypedShape::RoundTriangle(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
// TODO: take roundness into account.
self.render_shape(object, backend, &s.inner_shape, pos, color)
}
// TypedShape::RoundTriMesh(s) => self.render_shape(object, backend, &s.base_shape, pos, color),
// TypedShape::RoundTriMesh(s) => self.render_shape(object, backend, &s.inner_shape, pos, color),
// TypedShape::RoundHeightField(s) => {
// self.render_shape(object, backend, &s.base_shape, pos, color)
// self.render_shape(object, backend, &s.inner_shape, pos, color)
// }
TypedShape::RoundCylinder(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
let (vtx, idx) =
s.to_outline(self.style.subdivisions, self.style.border_subdivisions);
backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color)
}
TypedShape::RoundCone(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
let (vtx, idx) =
s.to_outline(self.style.subdivisions, self.style.border_subdivisions);
backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color)
}
TypedShape::RoundConvexPolyhedron(s) => {
self.render_shape(object, backend, &s.base_shape, pos, color)
let (vtx, idx) = s.to_outline(self.style.border_subdivisions);
backend.draw_polyline(object, &vtx, &idx, pos, &Vector::repeat(1.0), color)
}
TypedShape::Custom(_) => {}
}

4
src/pipeline/debug_render_pipeline/debug_render_style.rs
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@@ -3,9 +3,10 @@
/// The default colors are provided in HSLA (Hue Saturation Lightness Alpha) format.
pub type DebugColor = [f32; 4];
#[derive(Clone, Debug, PartialEq)]
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct DebugRenderStyle {
pub subdivisions: u32,
pub border_subdivisions: u32,
pub collider_dynamic_color: DebugColor,
pub collider_fixed_color: DebugColor,
pub collider_kinematic_color: DebugColor,
@@ -22,6 +23,7 @@ impl Default for DebugRenderStyle {
fn default() -> Self {
Self {
subdivisions: 20,
border_subdivisions: 5,
collider_dynamic_color: [340.0, 1.0, 0.3, 1.0],
collider_kinematic_color: [20.0, 1.0, 0.3, 1.0],
collider_fixed_color: [30.0, 1.0, 0.4, 1.0],