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Working on debug renderer

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This commit is contained in:
Daniel Chappuis 2020-05-06 15:21:25 +02:00
parent 56077bba6b
commit 0321cf4f89
3 changed files with 41 additions and 5 deletions
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24
include/reactphysics3d/utils/DebugRenderer.h
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@ -75,6 +75,7 @@ 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
@ -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
@ -229,6 +236,12 @@ class DebugRenderer : public EventListener {
/// Set the contact point sphere radius
void setContactPointSphereRadius(decimal radius);
/// 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);
@ -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

15
src/utils/DebugRenderer.cpp
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@ -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++) {
@ -454,8 +455,18 @@ void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackDat
Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1();
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]));
}
}
}
}
}

1
testbed/scenes/collisionshapes/CollisionShapesScene.cpp
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@ -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++) {