64 lines
1.9 KiB
Rust
64 lines
1.9 KiB
Rust
use crate::harness::Harness;
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use bevy::gizmos::gizmos::Gizmos;
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use bevy::prelude::*;
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use rapier::math::{Point, Real};
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use rapier::pipeline::{
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DebugRenderBackend, DebugRenderMode, DebugRenderObject, DebugRenderPipeline,
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};
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#[derive(Resource)]
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pub struct DebugRenderPipelineResource(pub DebugRenderPipeline);
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#[derive(Default)]
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pub struct RapierDebugRenderPlugin {
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}
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impl Plugin for RapierDebugRenderPlugin {
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fn build(&self, app: &mut App) {
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app.insert_resource(DebugRenderPipelineResource(DebugRenderPipeline::new(
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Default::default(),
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!DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
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)))
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.add_systems(Update, debug_render_scene);
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}
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}
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struct BevyLinesRenderBackend<'a> {
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gizmos: Gizmos<'a>,
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}
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impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
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#[cfg(feature = "dim2")]
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fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
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self.gizmos.line(
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[a.x as f32, a.y as f32, 1.0e-8 as f32].into(),
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[b.x as f32, b.y as f32, 1.0e-8 as f32].into(),
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Color::hsla(color[0], color[1], color[2], color[3]),
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)
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}
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#[cfg(feature = "dim3")]
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fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
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self.gizmos.line(
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[a.x as f32, a.y as f32, a.z as f32].into(),
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[b.x as f32, b.y as f32, b.z as f32].into(),
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Color::hsla(color[0], color[1], color[2], color[3]),
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)
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}
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}
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fn debug_render_scene(
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mut pipeline: ResMut<DebugRenderPipelineResource>,
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harness: NonSend<Harness>,
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gizmos: Gizmos,
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) {
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let mut backend = BevyLinesRenderBackend { gizmos };
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pipeline.0.render(
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&mut backend,
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&harness.physics.bodies,
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&harness.physics.colliders,
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&harness.physics.impulse_joints,
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&harness.physics.multibody_joints,
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&harness.physics.narrow_phase,
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);
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}
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