Merge pull request #474 from dimforge/debug-render-filtering
Add a predicate to the DebugRenderBackend to filter out objects that are being rendered
This commit is contained in:
Sébastien Crozet
GitHub
@@ -1,7 +1,7 @@
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use crate::dynamics::{
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ImpulseJoint, ImpulseJointHandle, Multibody, MultibodyLink, RigidBody, RigidBodyHandle,
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};
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use crate::geometry::Collider;
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use crate::geometry::{Aabb, Collider, ContactPair};
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use crate::math::{Isometry, Point, Real, Vector};
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use crate::prelude::{ColliderHandle, MultibodyJointHandle};
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use na::Scale;
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@@ -13,12 +13,14 @@ pub enum DebugRenderObject<'a> {
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RigidBody(RigidBodyHandle, &'a RigidBody),
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/// A collider is being rendered.
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Collider(ColliderHandle, &'a Collider),
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/// The AABB of a collider is being rendered.
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ColliderAabb(ColliderHandle, &'a Collider, &'a Aabb),
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/// An impulse-joint is being rendered.
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ImpulseJoint(ImpulseJointHandle, &'a ImpulseJoint),
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/// A multibody joint is being rendered.
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MultibodyJoint(MultibodyJointHandle, &'a Multibody, &'a MultibodyLink),
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/// Another element is being rendered.
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Other,
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/// The contacts of a contact-pair are being rendered.
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ContactPair(&'a ContactPair, &'a Collider, &'a Collider),
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}
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/// Trait implemented by graphics backends responsible for rendering the physics scene.
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@@ -28,6 +30,11 @@ pub enum DebugRenderObject<'a> {
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/// `DebugRenderStyle`. The backend is free to apply its own style, for example based on
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/// the `object` being rendered.
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pub trait DebugRenderBackend {
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/// Predicate to filter-out some objects from the debug-rendering.
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fn filter_object(&self, _object: DebugRenderObject) -> bool {
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true
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}
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/// Draws a colored line.
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///
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/// Note that this method can be called multiple time for the same `object`.
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@@ -105,22 +105,26 @@ impl DebugRenderPipeline {
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if let (Some(co1), Some(co2)) =
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(colliders.get(pair.collider1), colliders.get(pair.collider2))
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{
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for manifold in &pair.manifolds {
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for contact in manifold.contacts() {
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backend.draw_line(
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DebugRenderObject::Other,
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co1.position() * contact.local_p1,
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co2.position() * contact.local_p2,
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self.style.contact_depth_color,
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);
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backend.draw_line(
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DebugRenderObject::Other,
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co1.position() * contact.local_p1,
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co1.position()
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* (contact.local_p1
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+ manifold.local_n1 * self.style.contact_normal_length),
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self.style.contact_normal_color,
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);
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let object = DebugRenderObject::ContactPair(pair, co1, co2);
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if backend.filter_object(object) {
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for manifold in &pair.manifolds {
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for contact in manifold.contacts() {
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backend.draw_line(
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object,
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co1.position() * contact.local_p1,
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co2.position() * contact.local_p2,
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self.style.contact_depth_color,
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);
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backend.draw_line(
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object,
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co1.position() * contact.local_p1,
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co1.position()
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* (contact.local_p1
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+ manifold.local_n1 * self.style.contact_normal_length),
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self.style.contact_normal_color,
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);
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}
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}
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}
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}
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@@ -129,14 +133,23 @@ impl DebugRenderPipeline {
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if self.mode.contains(DebugRenderMode::SOLVER_CONTACTS) {
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for pair in narrow_phase.contact_pairs() {
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for manifold in &pair.manifolds {
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for contact in &manifold.data.solver_contacts {
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backend.draw_line(
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DebugRenderObject::Other,
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contact.point,
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contact.point + manifold.data.normal * self.style.contact_normal_length,
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self.style.contact_normal_color,
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);
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if let (Some(co1), Some(co2)) =
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(colliders.get(pair.collider1), colliders.get(pair.collider2))
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{
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let object = DebugRenderObject::ContactPair(pair, co1, co2);
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if backend.filter_object(object) {
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for manifold in &pair.manifolds {
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for contact in &manifold.data.solver_contacts {
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backend.draw_line(
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object,
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contact.point,
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contact.point
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+ manifold.data.normal * self.style.contact_normal_length,
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self.style.contact_normal_color,
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);
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}
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}
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}
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}
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}
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@@ -157,6 +170,10 @@ impl DebugRenderPipeline {
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mut anchor_color: [f32; 4],
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mut separation_color: [f32; 4],
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object| {
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if !backend.filter_object(object) {
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return;
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}
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if let (Some(rb1), Some(rb2)) = (bodies.get(body1), bodies.get(body2)) {
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let coeff = if (rb1.is_fixed() || rb1.is_sleeping())
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&& (rb2.is_fixed() || rb2.is_sleeping())
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@@ -230,6 +247,7 @@ impl DebugRenderPipeline {
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if self.style.rigid_body_axes_length != 0.0
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&& self.mode.contains(DebugRenderMode::RIGID_BODY_AXES)
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&& backend.filter_object(object)
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{
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let basis = rb.rotation().to_rotation_matrix().into_inner();
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let coeff = if rb.is_sleeping() {
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@@ -262,46 +280,53 @@ impl DebugRenderPipeline {
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if self.mode.contains(DebugRenderMode::COLLIDER_SHAPES) {
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for (h, co) in colliders.iter() {
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let object = DebugRenderObject::Collider(h, co);
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let color = if let Some(parent) = co.parent().and_then(|p| bodies.get(p)) {
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let coeff = if parent.is_sleeping() {
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self.style.sleep_color_multiplier
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if backend.filter_object(object) {
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let color = if let Some(parent) = co.parent().and_then(|p| bodies.get(p)) {
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let coeff = if parent.is_sleeping() {
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self.style.sleep_color_multiplier
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} else {
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[1.0; 4]
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};
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let c = match parent.body_type {
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RigidBodyType::Fixed => self.style.collider_fixed_color,
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RigidBodyType::Dynamic => self.style.collider_dynamic_color,
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RigidBodyType::KinematicPositionBased
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| RigidBodyType::KinematicVelocityBased => {
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self.style.collider_kinematic_color
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}
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};
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[
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c[0] * coeff[0],
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c[1] * coeff[1],
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c[2] * coeff[2],
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c[3] * coeff[3],
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]
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} else {
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[1.0; 4]
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};
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let c = match parent.body_type {
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RigidBodyType::Fixed => self.style.collider_fixed_color,
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RigidBodyType::Dynamic => self.style.collider_dynamic_color,
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RigidBodyType::KinematicPositionBased
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| RigidBodyType::KinematicVelocityBased => {
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self.style.collider_kinematic_color
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}
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self.style.collider_parentless_color
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};
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[
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c[0] * coeff[0],
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c[1] * coeff[1],
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c[2] * coeff[2],
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c[3] * coeff[3],
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]
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} else {
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self.style.collider_parentless_color
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};
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self.render_shape(object, backend, co.shape(), co.position(), color)
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self.render_shape(object, backend, co.shape(), co.position(), color)
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}
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}
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}
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if self.mode.contains(DebugRenderMode::COLLIDER_AABBS) {
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for (_, co) in colliders.iter() {
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for (h, co) in colliders.iter() {
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let aabb = co.compute_aabb();
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let cuboid = Cuboid::new(aabb.half_extents());
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self.render_shape(
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DebugRenderObject::Other,
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backend,
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&cuboid,
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&aabb.center().into(),
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self.style.collider_aabb_color,
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);
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let object = DebugRenderObject::ColliderAabb(h, co, &aabb);
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if backend.filter_object(object) {
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self.render_shape(
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object,
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backend,
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&cuboid,
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&aabb.center().into(),
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self.style.collider_aabb_color,
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);
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}
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}
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}
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}
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