Jolt Physics
A multi core friendly Game Physics Engine
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DebugRenderer.h
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1// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
2// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
3// SPDX-License-Identifier: MIT
4
5#pragma once
6
7#ifndef JPH_DEBUG_RENDERER
8 #error This file should only be included when JPH_DEBUG_RENDERER is defined
9#endif // !JPH_DEBUG_RENDERER
10
11#ifndef JPH_DEBUG_RENDERER_EXPORT
12 // By default export the debug renderer
13 #define JPH_DEBUG_RENDERER_EXPORT JPH_EXPORT
14#endif // !JPH_DEBUG_RENDERER_EXPORT
15
16#include <Jolt/Core/Color.h>
17#include <Jolt/Core/Reference.h>
21#include <Jolt/Math/Float2.h>
23#include <Jolt/Geometry/AABox.h>
24
26
27class OrientedBox;
28
47{
48public:
50
53 virtual ~DebugRenderer();
54
56 void NextFrame();
57
59 virtual void DrawLine(RVec3Arg inFrom, RVec3Arg inTo, ColorArg inColor) = 0;
60
62 void DrawWireBox(const AABox &inBox, ColorArg inColor);
63 void DrawWireBox(const OrientedBox &inBox, ColorArg inColor);
64 void DrawWireBox(RMat44Arg inMatrix, const AABox &inBox, ColorArg inColor);
65
67 void DrawMarker(RVec3Arg inPosition, ColorArg inColor, float inSize);
68
70 void DrawArrow(RVec3Arg inFrom, RVec3Arg inTo, ColorArg inColor, float inSize);
71
73 void DrawCoordinateSystem(RMat44Arg inTransform, float inSize = 1.0f);
74
76 void DrawPlane(RVec3Arg inPoint, Vec3Arg inNormal, ColorArg inColor, float inSize);
77
79 void DrawWireTriangle(RVec3Arg inV1, RVec3Arg inV2, RVec3Arg inV3, ColorArg inColor);
80
82 template <class VERTEX_ARRAY>
83 void DrawWirePolygon(RMat44Arg inTransform, const VERTEX_ARRAY &inVertices, ColorArg inColor, float inArrowSize = 0.0f) { for (typename VERTEX_ARRAY::size_type i = 0; i < inVertices.size(); ++i) DrawArrow(inTransform * inVertices[i], inTransform * inVertices[(i + 1) % inVertices.size()], inColor, inArrowSize); }
84
86 void DrawWireSphere(RVec3Arg inCenter, float inRadius, ColorArg inColor, int inLevel = 3);
87 void DrawWireUnitSphere(RMat44Arg inMatrix, ColorArg inColor, int inLevel = 3);
88
90 enum class ECastShadow
91 {
92 On, // This shape should cast a shadow
93 Off // This shape should not cast a shadow
94 };
95
97 enum class EDrawMode
98 {
99 Solid,
100 Wireframe,
101 };
102
104 virtual void DrawTriangle(RVec3Arg inV1, RVec3Arg inV2, RVec3Arg inV3, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::Off) = 0;
105
107 void DrawBox(const AABox &inBox, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
108 void DrawBox(RMat44Arg inMatrix, const AABox &inBox, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
109
111 void DrawSphere(RVec3Arg inCenter, float inRadius, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
112 void DrawUnitSphere(RMat44Arg inMatrix, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
113
116 void DrawCapsule(RMat44Arg inMatrix, float inHalfHeightOfCylinder, float inRadius, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
117
120 void DrawCylinder(RMat44Arg inMatrix, float inHalfHeight, float inRadius, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
121
131 void DrawOpenCone(RVec3Arg inTop, Vec3Arg inAxis, Vec3Arg inPerpendicular, float inHalfAngle, float inLength, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
132
141 void DrawSwingConeLimits(RMat44Arg inMatrix, float inSwingYHalfAngle, float inSwingZHalfAngle, float inEdgeLength, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
142
153 void DrawSwingPyramidLimits(RMat44Arg inMatrix, float inMinSwingYAngle, float inMaxSwingYAngle, float inMinSwingZAngle, float inMaxSwingZAngle, float inEdgeLength, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
154
165 void DrawPie(RVec3Arg inCenter, float inRadius, Vec3Arg inNormal, Vec3Arg inAxis, float inMinAngle, float inMaxAngle, ColorArg inColor, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid);
166
169
171 class Vertex
172 {
173 public:
178 };
179
182 {
183 public:
184 Triangle() = default;
185 Triangle(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, ColorArg inColor);
186 Triangle(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, ColorArg inColor, Vec3Arg inUVOrigin, Vec3Arg inUVDirection);
187
188 Vertex mV[3];
189 };
190
193
195 class LOD
196 {
197 public:
200 };
201
203 class Geometry : public RefTarget<Geometry>
204 {
205 public:
207
209 Geometry(const AABox &inBounds) : mBounds(inBounds) { }
210 Geometry(const Batch &inBatch, const AABox &inBounds) : mBounds(inBounds) { mLODs.push_back({ inBatch, FLT_MAX }); }
211
217 const LOD & GetLOD(Vec3Arg inCameraPosition, const AABox &inWorldSpaceBounds, float inLODScaleSq) const
218 {
219 float dist_sq = inWorldSpaceBounds.GetSqDistanceTo(inCameraPosition);
220 for (const LOD &lod : mLODs)
221 if (dist_sq <= inLODScaleSq * Square(lod.mDistance))
222 return lod;
223
224 return mLODs.back();
225 }
226
229
232 };
233
236
238 static AABox sCalculateBounds(const Vertex *inVertices, int inVertexCount);
239
241 virtual Batch CreateTriangleBatch(const Triangle *inTriangles, int inTriangleCount) = 0;
242 virtual Batch CreateTriangleBatch(const Vertex *inVertices, int inVertexCount, const uint32 *inIndices, int inIndexCount) = 0;
243 Batch CreateTriangleBatch(const Array<Triangle> &inTriangles) { return CreateTriangleBatch(inTriangles.empty()? nullptr : &inTriangles[0], int(inTriangles.size())); }
244 Batch CreateTriangleBatch(const Array<Vertex> &inVertices, const Array<uint32> &inIndices) { return CreateTriangleBatch(inVertices.empty()? nullptr : &inVertices[0], int(inVertices.size()), inIndices.empty()? nullptr : &inIndices[0], int(inIndices.size())); }
245 Batch CreateTriangleBatch(const VertexList &inVertices, const IndexedTriangleNoMaterialList &inTriangles);
246
248 using SupportFunction = function<Vec3 (Vec3Arg inDirection)>;
249 Batch CreateTriangleBatchForConvex(SupportFunction inGetSupport, int inLevel, AABox *outBounds = nullptr);
250 GeometryRef CreateTriangleGeometryForConvex(SupportFunction inGetSupport);
251
253 enum class ECullMode
254 {
255 CullBackFace,
256 CullFrontFace,
257 Off
258 };
259
269 virtual void DrawGeometry(RMat44Arg inModelMatrix, const AABox &inWorldSpaceBounds, float inLODScaleSq, ColorArg inModelColor, const GeometryRef &inGeometry, ECullMode inCullMode = ECullMode::CullBackFace, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid) = 0;
270 void DrawGeometry(RMat44Arg inModelMatrix, ColorArg inModelColor, const GeometryRef &inGeometry, ECullMode inCullMode = ECullMode::CullBackFace, ECastShadow inCastShadow = ECastShadow::On, EDrawMode inDrawMode = EDrawMode::Solid) { DrawGeometry(inModelMatrix, inGeometry->mBounds.Transformed(inModelMatrix), max(max(inModelMatrix.GetAxisX().LengthSq(), inModelMatrix.GetAxisY().LengthSq()), inModelMatrix.GetAxisZ().LengthSq()), inModelColor, inGeometry, inCullMode, inCastShadow, inDrawMode); }
271
273 virtual void DrawText3D(RVec3Arg inPosition, const string_view &inString, ColorArg inColor = Color::sWhite, float inHeight = 0.5f) = 0;
274
275protected:
277 void Initialize();
278
279private:
281 void DrawWireUnitSphereRecursive(RMat44Arg inMatrix, ColorArg inColor, Vec3Arg inDir1, Vec3Arg inDir2, Vec3Arg inDir3, int inLevel);
282
284 void CreateQuad(Array<uint32> &ioIndices, Array<Vertex> &ioVertices, Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, Vec3Arg inV4);
285
287 void Create8thSphereRecursive(Array<uint32> &ioIndices, Array<Vertex> &ioVertices, Vec3Arg inDir1, uint32 &ioIdx1, Vec3Arg inDir2, uint32 &ioIdx2, Vec3Arg inDir3, uint32 &ioIdx3, const Float2 &inUV, SupportFunction inGetSupport, int inLevel);
288 void Create8thSphere(Array<uint32> &ioIndices, Array<Vertex> &ioVertices, Vec3Arg inDir1, Vec3Arg inDir2, Vec3Arg inDir3, const Float2 &inUV, SupportFunction inGetSupport, int inLevel);
289
291 Geometry * CreateSwingLimitGeometry(int inNumSegments, const Vec3 *inVertices);
292
293 // Predefined shapes
294 GeometryRef mBox;
295 GeometryRef mSphere;
296 GeometryRef mCapsuleTop;
297 GeometryRef mCapsuleMid;
298 GeometryRef mCapsuleBottom;
299 GeometryRef mOpenCone;
300 GeometryRef mCylinder;
301
302 struct SwingConeLimits
303 {
304 bool operator == (const SwingConeLimits &inRHS) const
305 {
306 return mSwingYHalfAngle == inRHS.mSwingYHalfAngle
307 && mSwingZHalfAngle == inRHS.mSwingZHalfAngle;
308 }
309
310 float mSwingYHalfAngle;
311 float mSwingZHalfAngle;
312 };
313
314 JPH_MAKE_HASH_STRUCT(SwingConeLimits, SwingConeLimitsHasher, t.mSwingYHalfAngle, t.mSwingZHalfAngle)
315
316 using SwingConeBatches = UnorderedMap<SwingConeLimits, GeometryRef, SwingConeLimitsHasher>;
317 SwingConeBatches mSwingConeLimits;
318 SwingConeBatches mPrevSwingConeLimits;
319
320 struct SwingPyramidLimits
321 {
322 bool operator == (const SwingPyramidLimits &inRHS) const
323 {
324 return mMinSwingYAngle == inRHS.mMinSwingYAngle
325 && mMaxSwingYAngle == inRHS.mMaxSwingYAngle
326 && mMinSwingZAngle == inRHS.mMinSwingZAngle
327 && mMaxSwingZAngle == inRHS.mMaxSwingZAngle;
328 }
329
330 float mMinSwingYAngle;
331 float mMaxSwingYAngle;
332 float mMinSwingZAngle;
333 float mMaxSwingZAngle;
334 };
335
336 JPH_MAKE_HASH_STRUCT(SwingPyramidLimits, SwingPyramidLimitsHasher, t.mMinSwingYAngle, t.mMaxSwingYAngle, t.mMinSwingZAngle, t.mMaxSwingZAngle)
337
338 using SwingPyramidBatches = UnorderedMap<SwingPyramidLimits, GeometryRef, SwingPyramidLimitsHasher>;
339 SwingPyramidBatches mSwingPyramidLimits;
340 SwingPyramidBatches mPrevSwingPyramidLimits;
341
342 using PieBatces = UnorderedMap<float, GeometryRef>;
343 PieBatces mPieLimits;
344 PieBatces mPrevPieLimits;
345};
346
#define JPH_NAMESPACE_END
Definition: Core.h:367
std::uint32_t uint32
Definition: Core.h:442
#define JPH_NAMESPACE_BEGIN
Definition: Core.h:361
#define JPH_DEBUG_RENDERER_EXPORT
Definition: DebugRenderer.h:13
Array< Float3 > VertexList
Definition: Float3.h:43
#define JPH_MAKE_HASH_STRUCT(type, name,...)
Definition: HashCombine.h:76
Array< IndexedTriangleNoMaterial > IndexedTriangleNoMaterialList
Definition: IndexedTriangle.h:108
constexpr T Square(T inV)
Square a value.
Definition: Math.h:52
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:29
@ Off
Motor is off.
std::vector< T, STLAllocator< T > > Array
Definition: STLAllocator.h:81
std::unordered_map< Key, T, Hash, KeyEqual, STLAllocator< pair< const Key, T > > > UnorderedMap
Definition: UnorderedMap.h:13
Axis aligned box.
Definition: AABox.h:16
float GetSqDistanceTo(Vec3Arg inPoint) const
Get the squared distance between inPoint and this box (will be 0 if in Point is inside the box)
Definition: AABox.h:294
Class that holds an RGBA color with 8-bits per component.
Definition: Color.h:16
static const Color sWhite
Definition: Color.h:64
A geometry primitive containing triangle batches for various lods.
Definition: DebugRenderer.h:204
AABox mBounds
Bounding box that encapsulates all LODs.
Definition: DebugRenderer.h:231
const LOD & GetLOD(Vec3Arg inCameraPosition, const AABox &inWorldSpaceBounds, float inLODScaleSq) const
Definition: DebugRenderer.h:217
Array< LOD > mLODs
All level of details for this mesh.
Definition: DebugRenderer.h:228
JPH_OVERRIDE_NEW_DELETE Geometry(const AABox &inBounds)
Constructor.
Definition: DebugRenderer.h:209
Geometry(const Batch &inBatch, const AABox &inBounds)
Definition: DebugRenderer.h:210
A single level of detail.
Definition: DebugRenderer.h:196
Batch mTriangleBatch
Definition: DebugRenderer.h:198
float mDistance
Definition: DebugRenderer.h:199
A single triangle.
Definition: DebugRenderer.h:182
Vertex format used by the triangle renderer.
Definition: DebugRenderer.h:172
Float3 mPosition
Definition: DebugRenderer.h:174
Float2 mUV
Definition: DebugRenderer.h:176
Color mColor
Definition: DebugRenderer.h:177
Float3 mNormal
Definition: DebugRenderer.h:175
Definition: DebugRenderer.h:47
virtual void DrawText3D(RVec3Arg inPosition, const string_view &inString, ColorArg inColor=Color::sWhite, float inHeight=0.5f)=0
Draw text.
ECullMode
Determines which polygons are culled.
Definition: DebugRenderer.h:254
virtual Batch CreateTriangleBatch(const Vertex *inVertices, int inVertexCount, const uint32 *inIndices, int inIndexCount)=0
virtual Batch CreateTriangleBatch(const Triangle *inTriangles, int inTriangleCount)=0
Create a batch of triangles that can be drawn efficiently.
virtual void DrawGeometry(RMat44Arg inModelMatrix, const AABox &inWorldSpaceBounds, float inLODScaleSq, ColorArg inModelColor, const GeometryRef &inGeometry, ECullMode inCullMode=ECullMode::CullBackFace, ECastShadow inCastShadow=ECastShadow::On, EDrawMode inDrawMode=EDrawMode::Solid)=0
ECastShadow
Enum that determines if a shadow should be cast or not.
Definition: DebugRenderer.h:91
static DebugRenderer * sInstance
Singleton instance.
Definition: DebugRenderer.h:168
Batch CreateTriangleBatch(const Array< Triangle > &inTriangles)
Definition: DebugRenderer.h:243
EDrawMode
Determines how triangles are drawn.
Definition: DebugRenderer.h:98
Batch CreateTriangleBatch(const Array< Vertex > &inVertices, const Array< uint32 > &inIndices)
Definition: DebugRenderer.h:244
void DrawGeometry(RMat44Arg inModelMatrix, ColorArg inModelColor, const GeometryRef &inGeometry, ECullMode inCullMode=ECullMode::CullBackFace, ECastShadow inCastShadow=ECastShadow::On, EDrawMode inDrawMode=EDrawMode::Solid)
Definition: DebugRenderer.h:270
void DrawWirePolygon(RMat44Arg inTransform, const VERTEX_ARRAY &inVertices, ColorArg inColor, float inArrowSize=0.0f)
Draw a wireframe polygon.
Definition: DebugRenderer.h:83
virtual void DrawLine(RVec3Arg inFrom, RVec3Arg inTo, ColorArg inColor)=0
Draw line.
function< Vec3(Vec3Arg inDirection)> SupportFunction
Create a primitive for a convex shape using its support function.
Definition: DebugRenderer.h:248
virtual void DrawTriangle(RVec3Arg inV1, RVec3Arg inV2, RVec3Arg inV3, ColorArg inColor, ECastShadow inCastShadow=ECastShadow::Off)=0
Draw a single back face culled triangle.
Class that holds 2 floats, used as a storage class mainly.
Definition: Float2.h:11
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition: Float3.h:13
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition: Mat44.h:13
JPH_INLINE Vec3 GetAxisY() const
Definition: Mat44.h:148
JPH_INLINE Vec3 GetAxisZ() const
Definition: Mat44.h:150
JPH_INLINE Vec3 GetAxisX() const
Access to the columns.
Definition: Mat44.h:146
Class that makes another class non-copyable. Usage: Inherit from NonCopyable.
Definition: NonCopyable.h:11
Oriented box.
Definition: OrientedBox.h:18
Definition: Reference.h:35
Definition: Vec3.h:16
JPH_INLINE float LengthSq() const
Squared length of vector.
Definition: Vec3.inl:653