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merge upstream

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LeenkxTeam 2025-04-11 22:06:01 +00:00
commit db6d786ee4
7 changed files with 92 additions and 31 deletions
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31
leenkx/Sources/leenkx/trait/physics/bullet/DebugDrawHelper.hx
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@ -49,9 +49,10 @@ class DebugDrawHelper {
final fromScreenSpace = worldToScreenFast(new Vec4(from.x(), from.y(), from.z(), 1.0));
final toScreenSpace = worldToScreenFast(new Vec4(to.x(), to.y(), to.z(), 1.0));
// For now don't draw lines if any point is outside of clip space z,
// investigate how to clamp lines to clip space borders
if (fromScreenSpace.w == 1 && toScreenSpace.w == 1) {
// If at least one point is within the Z clip space (w==1), attempt to draw.
// Note: This is not full clipping, line may still go off screen sides.
if (fromScreenSpace.w == 1 || toScreenSpace.w == 1) {
lines.push({
fromX: fromScreenSpace.x,
fromY: fromScreenSpace.y,
@ -62,6 +63,25 @@ 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);
@ -106,7 +126,7 @@ class DebugDrawHelper {
x: contactPointScreenSpace.x,
y: contactPointScreenSpace.y,
color: color,
text: Std.string(lifeTime), // lifeTime: number of frames the contact point existed
text: Std.string(lifeTime),
});
}
}
@ -150,7 +170,7 @@ class DebugDrawHelper {
}
function onRender(g: kha.graphics2.Graphics) {
if (getDebugMode() == NoDebug) {
if (getDebugMode() == NoDebug && !physicsWorld.drawRaycasts) {
return;
}
@ -159,8 +179,7 @@ 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... Ideally we would ensure that debugDrawWorld()
// is called when all other (late) update callbacks are already executed...
// one-frame drawing delay...
physicsWorld.world.debugDrawWorld();
g.opacity = 1.0;

37
leenkx/Sources/leenkx/trait/physics/bullet/PhysicsWorld.hx
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@ -71,6 +71,7 @@ class PhysicsWorld extends Trait {
public var convexHitPointWorld = new Vec4();
public var convexHitNormalWorld = new Vec4();
var pairCache: Bool = false;
public var drawRaycasts: Bool = false;
static var nullvec = true;
static var vec1: bullet.Bt.Vector3 = null;
@ -101,7 +102,7 @@ class PhysicsWorld extends Trait {
public function new(timeScale = 1.0, maxSteps = 10, solverIterations = 10, debugDrawMode: DebugDrawMode = NoDebug) {
public function new(timeScale = 1.0, maxSteps = 10, solverIterations = 10, debugDrawMode: DebugDrawMode = NoDebug, drawRaycasts: Bool = false) {
super();
if (nullvec) {
@ -120,6 +121,7 @@ class PhysicsWorld extends Trait {
this.timeScale = timeScale;
this.maxSteps = maxSteps;
this.solverIterations = solverIterations;
this.drawRaycasts = drawRaycasts;
// First scene
if (active == null) {
@ -180,8 +182,8 @@ class PhysicsWorld extends Trait {
#else
world = new bullet.Bt.DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
#end
// Set the solver iterations from Blender's rigid body world
setSolverIterations(world, solverIterations);
// TO DO: Set the solver iterations from Blender's rigid body world
// setSolverIterations(world, solverIterations);
setGravity(gravity);
}
@ -395,6 +397,7 @@ class PhysicsWorld extends Trait {
rayTo.setValue(to.x, to.y, to.z);
var rayCallback = new bullet.Bt.ClosestRayResultCallback(rayFrom, rayTo);
#if js
rayCallback.set_m_collisionFilterGroup(group);
rayCallback.set_m_collisionFilterMask(mask);
@ -404,6 +407,15 @@ class PhysicsWorld extends Trait {
#end
var worldDyn: bullet.Bt.DynamicsWorld = world;
var worldCol: bullet.Bt.CollisionWorld = worldDyn;
if (this.drawRaycasts && this.debugDrawHelper != null) {
this.debugDrawHelper.drawRayCast(
rayFrom.x(), rayFrom.y(), rayFrom.z(),
rayTo.x(), rayTo.y(), rayTo.z(),
0.73, 0.341, 1.0
);
}
worldCol.rayTest(rayFrom, rayTo, rayCallback);
var rb: RigidBody = null;
var hitInfo: Hit = null;
@ -507,14 +519,22 @@ class PhysicsWorld extends Trait {
public function setDebugDrawMode(debugDrawMode: DebugDrawMode) {
if (debugDrawHelper == null) {
if (debugDrawMode == NoDebug) {
// Initialize if helper is null AND (standard debug mode is requested OR our custom raycast drawing is requested)
if (debugDrawMode != NoDebug || this.drawRaycasts) {
initDebugDrawing();
}
else {
// Helper is null and no debug drawing needed, so exit
return;
}
initDebugDrawing();
}
// If we reached here, the helper is initialized (or was already)
// Now set the standard Bullet debug mode on the actual drawer
#if js
world.getDebugDrawer().setDebugMode(debugDrawMode);
// Ensure drawer exists before setting mode (might have just been initialized)
var drawer = world.getDebugDrawer();
if (drawer != null) drawer.setDebugMode(debugDrawMode);
#elseif hl
hlDebugDrawer_setDebugMode(debugDrawMode);
#end
@ -661,10 +681,7 @@ enum abstract DebugDrawMode(Int) from Int to Int {
// We could use it in the future to toggle depth testing for lines, i.e. draw actual 3D lines if not set and Kha's g2 lines if set.
var FastWireframe = 1 << 13;
/**
Draw the normal vectors of the triangles of the physics collider meshes.
This only works for `Mesh` collision shapes.
**/
/** Draw the normal vectors of the triangles of the physics collider meshes. **/
// Outside of Leenkx this works for a few more collision shapes
var DrawNormals = 1 << 14;

1
leenkx/blender/lnx/exporter.py
View File

@ -3035,6 +3035,7 @@ Make sure the mesh only has tris/quads.""")
debug_draw_mode |= 16384 if wrd.lnx_bullet_dbg_draw_normals else 0
debug_draw_mode |= 32768 if wrd.lnx_bullet_dbg_draw_axis_gizmo else 0
out_trait['parameters'].append(str(debug_draw_mode))
out_trait['parameters'].append(str(wrd.lnx_bullet_dbg_draw_raycast).lower())
self.output['traits'].append(out_trait)

37
leenkx/blender/lnx/handlers.py
View File

@ -132,6 +132,7 @@ def always() -> float:
return 0.5
def poll_threads() -> float:
"""Polls the thread callback queue and if a thread has finished, it
is joined with the main thread and the corresponding callback is
@ -141,21 +142,27 @@ def poll_threads() -> float:
thread, callback = make.thread_callback_queue.get(block=False)
except queue.Empty:
return 0.25
thread.join()
try:
callback()
except Exception as e:
# If there is an exception, we can no longer return the time to
# the next call to this polling function, so to keep it running
# we re-register it and then raise the original exception.
bpy.app.timers.unregister(poll_threads)
bpy.app.timers.register(poll_threads, first_interval=0.01, persistent=True)
raise e
# Quickly check if another thread has finished
return 0.01
if thread.is_alive():
try:
make.thread_callback_queue.put((thread, callback), block=False)
except queue.Full:
return 0.5
return 0.1
else:
try:
thread.join()
callback()
except Exception as e:
# If there is an exception, we can no longer return the time to
# the next call to this polling function, so to keep it running
# we re-register it and then raise the original exception.
try:
bpy.app.timers.unregister(poll_threads)
except ValueError:
pass
bpy.app.timers.register(poll_threads, first_interval=0.01, persistent=True)
# Quickly check if another thread has finished
return 0.01
loaded_py_libraries: dict[str, types.ModuleType] = {}

4
leenkx/blender/lnx/props.py
View File

@ -201,6 +201,10 @@ def init_properties():
name="Collider Wireframes", default=False,
description="Draw wireframes of the physics collider meshes and suspensions of raycast vehicle simulations"
)
bpy.types.World.lnx_bullet_dbg_draw_raycast = BoolProperty(
name="Trace Raycast", default=False,
description="Draw raycasts to trace the results"
)
bpy.types.World.lnx_bullet_dbg_draw_aabb = BoolProperty(
name="Axis-aligned Minimum Bounding Boxes", default=False,
description="Draw axis-aligned minimum bounding boxes (AABBs) of the physics collider meshes"

1
leenkx/blender/lnx/props_ui.py
View File

@ -2756,6 +2756,7 @@ class LNX_PT_BulletDebugDrawingPanel(bpy.types.Panel):
col = layout.column(align=False)
col.prop(wrd, "lnx_bullet_dbg_draw_wireframe")
col.prop(wrd, "lnx_bullet_dbg_draw_raycast")
col.prop(wrd, "lnx_bullet_dbg_draw_aabb")
col.prop(wrd, "lnx_bullet_dbg_draw_contact_points")
col.prop(wrd, "lnx_bullet_dbg_draw_constraints")

12
lib/haxebullet/hl/bullet.cpp
View File

@ -579,6 +579,18 @@ HL_PRIM float HL_NAME(btVector3_length0)(_ref(btVector3)* _this) {
}
DEFINE_PRIM(_F32, btVector3_length0, _IDL);
HL_PRIM float* HL_NAME(btFloatArray_set_raw)( _ref(btFloatArray)* _this, float* value ) {
_unref(_this)->raw = (value);
return value;
}
DEFINE_PRIM(_BYTES,btFloatArray_set_raw,_IDL _BYTES);
HL_PRIM int* HL_NAME(btIntArray_set_raw)( _ref(btIntArray)* _this, int* value ) {
_unref(_this)->raw = (value);
return value;
}
DEFINE_PRIM(_BYTES,btIntArray_get_raw,_IDL);
HL_PRIM float HL_NAME(btVector3_x0)(_ref(btVector3)* _this) {
return _unref(_this)->x();
}