Working on debug renderer

include/reactphysics3d/utils/DebugRenderer.h

@@ -75,7 +75,8 @@ class DebugRenderer : public EventListener {
 			COLLIDER_BROADPHASE_AABB	= 1 << 1,
 			COLLISION_SHAPE				= 1 << 2,
 			CONTACT_POINT				= 1 << 3,
-		};
+            CONTACT_NORMAL				= 1 << 4,
+        };
 
         /// Struture that represents a point of the DebugRenderer
 		struct DebugPoint {
@@ -134,6 +135,9 @@ class DebugRenderer : public EventListener {
         /// Default radius of the sphere displayed to represent contact points
         static constexpr decimal DEFAULT_CONTACT_POINT_SPHERE_RADIUS = decimal(0.1);
 
+        /// Default radius of the sphere displayed to represent contact points
+        static constexpr decimal DEFAULT_CONTACT_NORMAL_LENGTH = decimal(1.0);
+
 		// -------------------- Attributes -------------------- //
 
 		/// Memory allocator
@@ -154,6 +158,9 @@ class DebugRenderer : public EventListener {
         /// Radius of the sphere displayed to represent contact points
         decimal mContactPointSphereRadius;
 
+        /// Lenght of contact normal
+        decimal mContactNormalLength;
+
         // -------------------- Methods -------------------- //
 
 		/// Draw an AABB
@@ -229,7 +236,13 @@ class DebugRenderer : public EventListener {
         /// Set the contact point sphere radius
         void setContactPointSphereRadius(decimal radius);
 
-		/// Generate the rendering primitives (triangles, lines, ...) of a physics world
+        /// Return the length of contact normal
+        decimal getContactNormalLength() const;
+
+        /// Return the length of contact normal
+        void setContactNormalLength(decimal contactNormalLength);
+
+        /// Generate the rendering primitives (triangles, lines, ...) of a physics world
 		void computeDebugRenderingPrimitives(const PhysicsWorld& world);
 
         /// Clear all the debugging primitives (points, lines, triangles, ...)
@@ -295,6 +308,17 @@ inline void DebugRenderer::setContactPointSphereRadius(decimal radius) {
     mContactPointSphereRadius = radius;
 }
 
+
+// Return the length of contact normal
+inline decimal DebugRenderer::getContactNormalLength() const {
+    return mContactNormalLength;
+}
+
+// Return the length of contact normal
+inline void DebugRenderer::setContactNormalLength(decimal contactNormalLength) {
+    mContactNormalLength = contactNormalLength;
+}
+
 }
 
 #endif

src/utils/DebugRenderer.cpp

@@ -42,12 +42,13 @@ using namespace reactphysics3d;
 // Constructor
 DebugRenderer::DebugRenderer(MemoryAllocator& allocator)
               :mAllocator(allocator), mLines(allocator), mTriangles(allocator), mDisplayedDebugItems(0), mMapDebugItemWithColor(allocator),
-               mContactPointSphereRadius(DEFAULT_CONTACT_POINT_SPHERE_RADIUS) {
+               mContactPointSphereRadius(DEFAULT_CONTACT_POINT_SPHERE_RADIUS), mContactNormalLength(DEFAULT_CONTACT_NORMAL_LENGTH) {
 
     mMapDebugItemWithColor.add(Pair<DebugItem, uint32>(DebugItem::COLLIDER_AABB, static_cast<uint32>(DebugColor::MAGENTA)));
 	mMapDebugItemWithColor.add(Pair<DebugItem, uint32>(DebugItem::COLLIDER_BROADPHASE_AABB, static_cast<uint32>(DebugColor::YELLOW)));
 	mMapDebugItemWithColor.add(Pair<DebugItem, uint32>(DebugItem::COLLISION_SHAPE, static_cast<uint32>(DebugColor::GREEN)));
     mMapDebugItemWithColor.add(Pair<DebugItem, uint32>(DebugItem::CONTACT_POINT, static_cast<uint32>(DebugColor::RED)));
+    mMapDebugItemWithColor.add(Pair<DebugItem, uint32>(DebugItem::CONTACT_NORMAL, static_cast<uint32>(DebugColor::WHITE)));
 }
 
 // Destructor
@@ -438,7 +439,7 @@ void DebugRenderer::computeDebugRenderingPrimitives(const PhysicsWorld& world) {
 void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackData) {
 
 	// If we need to draw contact points
-	if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) {
+    if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT) || getIsDebugItemDisplayed(DebugItem::CONTACT_NORMAL)) {
 
 		// For each contact pair
 		for (uint p = 0; p < callbackData.getNbContactPairs(); p++) {
@@ -454,7 +455,17 @@ void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackDat
 
                     Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1();
 
-                    drawSphere(point, DEFAULT_CONTACT_POINT_SPHERE_RADIUS, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]);
+                    if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) {
+
+                        // Contact point
+                        drawSphere(point, DEFAULT_CONTACT_POINT_SPHERE_RADIUS, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]);
+                    }
+
+                    if (getIsDebugItemDisplayed(DebugItem::CONTACT_NORMAL)) {
+
+                        // Contact normal
+                        mLines.add(DebugLine(point,  point + contactPoint.getWorldNormal() * mContactNormalLength, mMapDebugItemWithColor[DebugItem::CONTACT_NORMAL]));
+                    }
                 }
             }
 		}

testbed/scenes/collisionshapes/CollisionShapesScene.cpp

@@ -59,6 +59,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_BROADPHASE_AABB, true);
     mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLISION_SHAPE, true);
     mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true);
+    mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true);
 
     for (int i=0; i<NB_COMPOUND_SHAPES; i++) {