Fix testbed rendering of colliders without parent

src_testbed/graphics.rs

@@ -179,7 +179,7 @@ impl GraphicsManager {
         color
     }
 
-    pub fn add(
+    pub fn add_body_colliders(
         &mut self,
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
@@ -197,12 +197,12 @@ impl GraphicsManager {
             .cloned()
             .unwrap_or_else(|| self.alloc_color(materials, handle, !body.is_dynamic()));
 
-        let _ = self.add_with_color(
+        let _ = self.add_body_colliders_with_color(
             commands, meshes, materials, components, handle, bodies, colliders, color,
         );
     }
 
-    pub fn add_with_color(
+    pub fn add_body_colliders_with_color(
         &mut self,
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
@@ -263,9 +263,16 @@ impl GraphicsManager {
     ) {
         let collider = &colliders[handle];
         let collider_parent = collider.parent().unwrap_or(RigidBodyHandle::invalid());
-        let color = *self.b2color.get(&collider_parent).unwrap();
+        let color = self
+            .b2color
+            .get(&collider_parent)
+            .copied()
+            .unwrap_or(self.ground_color);
         let color = self.c2color.get(&handle).copied().unwrap_or(color);
-        let mut nodes = std::mem::replace(self.b2sn.get_mut(&collider_parent).unwrap(), Vec::new());
+        let mut nodes = std::mem::replace(
+            self.b2sn.entry(collider_parent).or_insert(vec![]),
+            Vec::new(),
+        );
         self.add_shape(
             commands,
             meshes,
@@ -294,6 +301,7 @@ impl GraphicsManager {
         color: Point3<f32>,
         out: &mut Vec<EntityWithGraphics>,
     ) {
+        println!("Shape type: {:?}", shape.shape_type());
         if let Some(compound) = shape.as_compound() {
             for (shape_pos, shape) in compound.shapes() {
                 self.add_shape(

src_testbed/testbed.rs

@@ -133,7 +133,7 @@ struct OtherBackends {
 struct Plugins(Vec<Box<dyn TestbedPlugin>>);
 
 pub struct TestbedGraphics<'a, 'b, 'c, 'd> {
-    manager: &'a mut GraphicsManager,
+    graphics: &'a mut GraphicsManager,
     commands: &'a mut Commands<'d>,
     meshes: &'a mut Assets<Mesh>,
     materials: &'a mut Assets<StandardMaterial>,
@@ -434,7 +434,7 @@ impl TestbedApp {
 
 impl<'a, 'b, 'c, 'd> TestbedGraphics<'a, 'b, 'c, 'd> {
     pub fn set_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
-        self.manager
+        self.graphics
             .set_body_color(&mut self.materials, body, color);
     }
 
@@ -444,7 +444,7 @@ impl<'a, 'b, 'c, 'd> TestbedGraphics<'a, 'b, 'c, 'd> {
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
     ) {
-        self.manager.add(
+        self.graphics.add_body_colliders(
             &mut *self.commands,
             &mut *self.meshes,
             &mut *self.materials,
@@ -457,17 +457,17 @@ impl<'a, 'b, 'c, 'd> TestbedGraphics<'a, 'b, 'c, 'd> {
 
     pub fn remove_collider(&mut self, handle: ColliderHandle, colliders: &ColliderSet) {
         if let Some(parent_handle) = colliders.get(handle).map(|c| c.parent()) {
-            self.manager
+            self.graphics
                 .remove_collider_nodes(&mut *self.commands, parent_handle, handle)
         }
     }
 
     pub fn remove_body(&mut self, handle: RigidBodyHandle) {
-        self.manager.remove_body_nodes(&mut *self.commands, handle)
+        self.graphics.remove_body_nodes(&mut *self.commands, handle)
     }
 
     pub fn add_collider(&mut self, handle: ColliderHandle, colliders: &ColliderSet) {
-        self.manager.add_collider(
+        self.graphics.add_collider(
             &mut *self.commands,
             &mut *self.meshes,
             &mut *self.materials,
@@ -594,19 +594,23 @@ impl<'a, 'b, 'c, 'd> Testbed<'a, 'b, 'c, 'd> {
 
     pub fn set_initial_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
         if let Some(graphics) = &mut self.graphics {
-            graphics.manager.set_initial_body_color(body, color);
+            graphics.graphics.set_initial_body_color(body, color);
         }
     }
 
     pub fn set_initial_collider_color(&mut self, collider: ColliderHandle, color: [f32; 3]) {
         if let Some(graphics) = &mut self.graphics {
-            graphics.manager.set_initial_collider_color(collider, color);
+            graphics
+                .graphics
+                .set_initial_collider_color(collider, color);
         }
     }
 
     pub fn set_body_wireframe(&mut self, body: RigidBodyHandle, wireframe_enabled: bool) {
         if let Some(graphics) = &mut self.graphics {
-            graphics.manager.set_body_wireframe(body, wireframe_enabled);
+            graphics
+                .graphics
+                .set_body_wireframe(body, wireframe_enabled);
         }
     }
 
@@ -964,13 +968,13 @@ fn update_testbed(
             }
 
             let selected_example = state.selected_example;
-            let manager = &mut *graphics;
+            let graphics = &mut *graphics;
             let meshes = &mut *meshes;
 
             let graphics_context = TestbedGraphics {
                 pipelines: &mut *pipelines,
                 shaders: &mut *shaders,
-                manager: &mut *manager,
+                graphics: &mut *graphics,
                 commands: &mut commands,
                 meshes: &mut *meshes,
                 materials: &mut *materials,
@@ -1045,7 +1049,7 @@ fn update_testbed(
                 .action_flags
                 .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, false);
             for (handle, _) in harness.physics.bodies.iter() {
-                graphics.add(
+                graphics.add_body_colliders(
                     &mut commands,
                     meshes,
                     materials,
@@ -1056,6 +1060,16 @@ fn update_testbed(
                 );
             }
 
+            for (handle, _) in harness.physics.colliders.iter() {
+                graphics.add_collider(
+                    &mut commands,
+                    meshes,
+                    materials,
+                    handle,
+                    &harness.physics.colliders,
+                );
+            }
+
             for plugin in &mut plugins.0 {
                 plugin.init_graphics(
                     &mut graphics,
@@ -1109,7 +1123,7 @@ fn update_testbed(
                 let mut testbed_graphics = TestbedGraphics {
                     pipelines: &mut *pipelines,
                     shaders: &mut *shaders,
-                    manager: &mut *graphics,
+                    graphics: &mut *graphics,
                     commands: &mut commands,
                     meshes: &mut *meshes,
                     materials: &mut *materials,