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Update leenkx/Sources/leenkx/trait/physics/bullet/DebugDrawHelper.hx

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Onek8
2025-05-12 04:08:17 +00:00
parent 290289f413
commit 3d8bd77c59
1 changed files with 99 additions and 28 deletions
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127
leenkx/Sources/leenkx/trait/physics/bullet/DebugDrawHelper.hx
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@ -1,5 +1,8 @@
package leenkx.trait.physics.bullet;
#if lnx_bullet
import leenkx.trait.physics.bullet.PhysicsWorld.DebugDrawMode;
import bullet.Bt.Vector3;
import kha.FastFloat;
@ -18,14 +21,19 @@ class DebugDrawHelper {
static inline var contactPointNormalColor = 0xffffffff;
static inline var contactPointDrawLifetime = true;
final rayCastColor: Vec4 = new Vec4(0.0, 1.0, 0.0);
final rayCastHitColor: Vec4 = new Vec4(1.0, 0.0, 0.0);
final rayCastHitPointColor: Vec4 = new Vec4(1.0, 1.0, 0.0);
final physicsWorld: PhysicsWorld;
final lines: Array<LineData> = [];
final texts: Array<TextData> = [];
var font: kha.Font = null;
var debugMode: PhysicsWorld.DebugDrawMode = NoDebug;
var rayCasts:Array<TRayCastData> = [];
var debugDrawMode: DebugDrawMode = NoDebug;
public function new(physicsWorld: PhysicsWorld) {
public function new(physicsWorld: PhysicsWorld, debugDrawMode: DebugDrawMode)
this.physicsWorld = physicsWorld;
#if lnx_ui
@ -35,6 +43,11 @@ class DebugDrawHelper {
#end
iron.App.notifyOnRender2D(onRender);
if (debugDrawMode & DrawRayCast != 0) {
iron.App.notifyOnUpdate(function () {
rayCasts.resize(0);
});
}
}
public function drawLine(from: bullet.Bt.Vector3, to: bullet.Bt.Vector3, color: bullet.Bt.Vector3) {
@ -63,25 +76,6 @@ class DebugDrawHelper {
}
}
// Draws raycast in its own function because
// something is conflicting with the btVector3 and JS pointer wrapping
public function drawRayCast(fx:FastFloat, fy:FastFloat, fz:FastFloat, tx:FastFloat, ty:FastFloat, tz:FastFloat, r:FastFloat, g:FastFloat, b:FastFloat) {
final fromScreenSpace = worldToScreenFast(new Vec4(fx, fy, fz, 1.0));
final toScreenSpace = worldToScreenFast(new Vec4(tx, ty, tz, 1.0));
// TO DO: May still go off screen sides.
if (fromScreenSpace.w == 1 || toScreenSpace.w == 1) {
final color = kha.Color.fromFloats(r, g, b, 1.0);
lines.push({
fromX: fromScreenSpace.x,
fromY: fromScreenSpace.y,
toX: toScreenSpace.x,
toY: toScreenSpace.y,
color: color
});
}
}
public function drawContactPoint(pointOnB: Vector3, normalOnB: Vector3, distance: kha.FastFloat, lifeTime: Int, color: Vector3) {
#if js
pointOnB = js.Syntax.code("Ammo.wrapPointer({0}, Ammo.btVector3)", pointOnB);
@ -126,7 +120,62 @@ class DebugDrawHelper {
x: contactPointScreenSpace.x,
y: contactPointScreenSpace.y,
color: color,
text: Std.string(lifeTime),
text: Std.string(lifeTime), // lifeTime: number of frames the contact point existed
});
}
}
}
public function rayCast(rayCastData:TRayCastData) {
rayCasts.push(rayCastData);
}
function drawRayCast(f: Vec4, t: Vec4, hit: Bool) {
final from = worldToScreenFast(f.clone());
final to = worldToScreenFast(t.clone());
var c: kha.Color;
if (from.w == 1 && to.w == 1) {
if (hit) c = kha.Color.fromFloats(rayCastHitColor.x, rayCastHitColor.y, rayCastHitColor.z);
else c = kha.Color.fromFloats(rayCastColor.x, rayCastColor.y, rayCastColor.z);
lines.push({
fromX: from.x,
fromY: from.y,
toX: to.x,
toY: to.y,
color: c
});
}
}
function drawHitPoint(hp: Vec4) {
final hitPoint = worldToScreenFast(hp.clone());
final c = kha.Color.fromFloats(rayCastHitPointColor.x, rayCastHitPointColor.y, rayCastHitPointColor.z);
if (hitPoint.w == 1) {
lines.push({
fromX: hitPoint.x - contactPointSizePx,
fromY: hitPoint.y - contactPointSizePx,
toX: hitPoint.x + contactPointSizePx,
toY: hitPoint.y + contactPointSizePx,
color: c
});
lines.push({
fromX: hitPoint.x - contactPointSizePx,
fromY: hitPoint.y + contactPointSizePx,
toX: hitPoint.x + contactPointSizePx,
toY: hitPoint.y - contactPointSizePx,
color: c
});
if (font != null) {
texts.push({
x: hitPoint.x,
y: hitPoint.y,
color: c,
text: 'RAYCAST HIT'
});
}
}
@ -155,13 +204,13 @@ class DebugDrawHelper {
});
}
public function setDebugMode(debugMode: PhysicsWorld.DebugDrawMode) {
this.debugMode = debugMode;
public function setDebugMode(debugDrawMode: DebugDrawMode) {
this.debugDrawMode = debugDrawMode;
}
public function getDebugMode(): PhysicsWorld.DebugDrawMode {
public function getDebugMode(): DebugDrawMode {
#if js
return debugMode;
return DebugDrawMode;
#elseif hl
return physicsWorld.getDebugDrawMode();
#else
@ -170,7 +219,7 @@ class DebugDrawHelper {
}
function onRender(g: kha.graphics2.Graphics) {
if (getDebugMode() == NoDebug && !physicsWorld.drawRaycasts) {
if (getDebugMode() == NoDebug) {
return;
}
@ -179,7 +228,9 @@ class DebugDrawHelper {
// will cause Bullet to call the btIDebugDraw callbacks), but this way
// we can ensure that--within a frame--the function will not be called
// before some user-specific physics update, which would result in a
// one-frame drawing delay...
// one-frame drawing delay... Ideally we would ensure that debugDrawWorld()
// is called when all other (late) update callbacks are already executed...
physicsWorld.world.debugDrawWorld();
g.opacity = 1.0;
@ -199,6 +250,17 @@ class DebugDrawHelper {
}
texts.resize(0);
}
if (debugDrawMode & DrawRayCast != 0) {
for (rayCastData in rayCasts) {
if (rayCastData.hasHit) {
drawRayCast(rayCastData.from, rayCastData.hitPoint, true);
drawHitPoint(rayCastData.hitPoint);
} else {
drawRayCast(rayCastData.from, rayCastData.to, false);
}
}
}
}
/**
@ -241,3 +303,12 @@ class TextData {
public var color: kha.Color;
public var text: String;
}
@:structInit
typedef TRayCastData = {
var from: Vec4;
var to: Vec4;
var hasHit: Bool;
@:optional var hitPoint: Vec4;
@:optional var hitNormal: Vec4;
}