Add a basic lines-based debug-renderer

src_testbed/debug_render.rs

@@ -0,0 +1,81 @@
+use crate::harness::Harness;
+use bevy::prelude::*;
+use bevy_prototype_debug_lines::DebugLines;
+use rapier::math::{Point, Real, DIM};
+use rapier::pipeline::{
+    DebugRenderBackend, DebugRenderMode, DebugRenderObject, DebugRenderPipeline,
+};
+use std::fmt::Debug;
+
+pub struct RapierDebugRenderPlugin {
+    depth_test: bool,
+}
+
+impl Default for RapierDebugRenderPlugin {
+    fn default() -> Self {
+        Self {
+            depth_test: cfg!(feature = "dim3"),
+        }
+    }
+}
+
+impl RapierDebugRenderPlugin {
+    pub fn with_depth_test(enabled: bool) -> Self {
+        Self {
+            depth_test: enabled,
+        }
+    }
+}
+
+impl Plugin for RapierDebugRenderPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugin(
+            bevy_prototype_debug_lines::DebugLinesPlugin::with_depth_test(self.depth_test),
+        )
+        .insert_resource(DebugRenderPipeline::new(
+            Default::default(),
+            !DebugRenderMode::RIGID_BODY_AXES,
+        ))
+        .add_system_to_stage(CoreStage::Update, debug_render_scene);
+    }
+}
+
+struct BevyLinesRenderBackend<'a> {
+    lines: &'a mut DebugLines,
+}
+
+impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
+    #[cfg(feature = "dim2")]
+    fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
+        self.lines.line_colored(
+            [a.x, a.y, 1.0e-8].into(),
+            [b.x, b.y, 1.0e-8].into(),
+            0.0,
+            Color::hsla(color[0], color[1], color[2], color[3]),
+        )
+    }
+    #[cfg(feature = "dim3")]
+    fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
+        self.lines.line_colored(
+            [a.x, a.y, a.z].into(),
+            [b.x, b.y, b.z].into(),
+            0.0,
+            Color::hsla(color[0], color[1], color[2], color[3]),
+        )
+    }
+}
+
+fn debug_render_scene(
+    mut pipeline: ResMut<DebugRenderPipeline>,
+    harness: NonSend<Harness>,
+    mut lines: ResMut<DebugLines>,
+) {
+    let mut backend = BevyLinesRenderBackend { lines: &mut *lines };
+    pipeline.render(
+        &mut backend,
+        &harness.physics.bodies,
+        &harness.physics.colliders,
+        &harness.physics.impulse_joints,
+        &harness.physics.multibody_joints,
+    );
+}