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shape3d_wireframe.rs
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#![allow(clippy::cast_precision_loss)]
use std::f32::consts::{FRAC_PI_2, PI};
use bevy::{
math::{Quat, Vec2, Vec3},
render::color::Color,
};
use bevy_prototype_debug_lines::DebugLines;
use heron_rapier::convert::{IntoBevy, IntoRapier};
use heron_rapier::rapier3d::parry::transformation::convex_hull;
/// Vertex of a cuboid centered on origin
fn cuboid_vertex(half_length: Vec3) -> [Vec3; 8] {
let x = half_length.x;
let y = half_length.y;
let z = half_length.z;
let v3 = Vec3::new;
[
v3(x, y, z),
v3(-x, y, z),
v3(-x, y, -z),
v3(x, y, -z),
v3(x, -y, -z),
v3(x, -y, z),
v3(-x, -y, z),
v3(-x, -y, -z),
]
}
const CUBOID_EDGES: [(usize, usize); 12] = [
(0, 1),
(1, 2),
(2, 3),
(3, 0),
(4, 5),
(5, 6),
(6, 7),
(7, 4),
(0, 5),
(1, 6),
(2, 7),
(3, 4),
];
// For the rounded corners: the direction in which you need to move
// an edge so that it is located where the edge really is after adding the
// radius to the cuboid
fn cuboid_edge_bevel_mods(index: usize) -> (Vec3, Vec3) {
let x = Vec3::X;
let y = Vec3::Y;
let z = Vec3::Z;
let dirs = [
(z, y),
(-x, y),
(-z, y),
(x, y),
(x, -y),
(z, -y),
(-x, -y),
(-z, -y),
(x, z),
(-x, z),
(-x, -z),
(x, -z),
];
dirs[index]
}
// Picture picking a rounded corner and fitting it to a corner of a cube. You
// then rotate it to fit the next corner, each one after the other. The
// sequence of corners is specified by `cuboid_vertex()`, this returns the
// rotations you need to execute at each step.
fn cuboid_corner_bevel_rotation() -> [Quat; 7] {
let y_rot = Quat::from_rotation_y;
let z_rot = Quat::from_rotation_z;
let x_rot = Quat::from_rotation_x;
[
y_rot(-FRAC_PI_2),
y_rot(-FRAC_PI_2),
y_rot(-FRAC_PI_2),
z_rot(-FRAC_PI_2),
x_rot(FRAC_PI_2),
x_rot(FRAC_PI_2),
x_rot(FRAC_PI_2),
]
}
fn add_rounded_corner(
origin: Vec3,
orient: Quat,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let x_spin = Quat::from_rotation_x(FRAC_PI_2);
let y_spin = Quat::from_rotation_y(-FRAC_PI_2);
add_quartercircle(origin, orient * y_spin, radius, color, lines);
add_quartercircle(origin, orient * x_spin, radius, color, lines);
add_quartercircle(origin, orient, radius, color, lines);
}
pub(crate) fn add_rounded_cuboid(
origin: Vec3,
orient: Quat,
half_length: Vec3,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let verts = cuboid_vertex(half_length);
let change_dir = cuboid_corner_bevel_rotation();
let mut dir = Quat::IDENTITY;
for i in 0..verts.len() {
let corner_origin = origin + orient.mul_vec3(verts[i]);
add_rounded_corner(corner_origin, orient * dir, radius, color, lines);
dir *= change_dir[i % change_dir.len()];
}
let bevel_edges_points = |index, p| {
let (p0, p1) = cuboid_edge_bevel_mods(index);
let p0 = origin + orient.mul_vec3(p + p0 * radius);
let p1 = origin + orient.mul_vec3(p + p1 * radius);
(p0, p1)
};
for (i, &(p0, p1)) in CUBOID_EDGES.iter().enumerate() {
let (p00, p01) = bevel_edges_points(i, verts[p0]);
let (p10, p11) = bevel_edges_points(i, verts[p1]);
lines.line_colored(p00, p10, 0.0, color);
lines.line_colored(p01, p11, 0.0, color);
}
}
pub(crate) fn add_cuboid(
origin: Vec3,
orient: Quat,
half_length: Vec3,
color: Color,
lines: &mut DebugLines,
) {
let verts = cuboid_vertex(half_length);
for &(p0, p1) in &CUBOID_EDGES {
let p0 = origin + orient.mul_vec3(verts[p0]);
let p1 = origin + orient.mul_vec3(verts[p1]);
lines.line_colored(p0, p1, 0.0, color);
}
}
fn add_quartercircle(
origin: Vec3,
orient: Quat,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let quarter_circle_segments = 4;
let angle = FRAC_PI_2 / quarter_circle_segments as f32;
let mut current_point = orient.mul_vec3(Vec3::X * radius);
let direction = Quat::from_axis_angle(orient.mul_vec3(Vec3::Z), angle);
for _ in 0..quarter_circle_segments {
let next_point = direction.mul_vec3(current_point);
lines.line_colored(origin + current_point, origin + next_point, 0.0, color);
current_point = next_point;
}
}
fn add_semicircle(origin: Vec3, orient: Quat, radius: f32, color: Color, lines: &mut DebugLines) {
let x_rotate = Quat::from_rotation_y(PI);
add_quartercircle(origin, orient, radius, color, lines);
add_quartercircle(origin, orient * x_rotate, radius, color, lines);
}
fn add_circle(origin: Vec3, orient: Quat, radius: f32, color: Color, lines: &mut DebugLines) {
let x_rotate = Quat::from_rotation_x(PI);
add_semicircle(origin, orient, radius, color, lines);
add_semicircle(origin, orient * x_rotate, radius, color, lines);
}
pub(crate) fn add_cone(
origin: Vec3,
orient: Quat,
half_height: f32,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let cone_base = orient * (Vec3::Y * -half_height) + origin;
let cone_top = orient * (Vec3::Y * half_height) + origin;
let x_rotate = Quat::from_rotation_x(FRAC_PI_2);
let on_base = |rot: Vec3| cone_base + orient * rot * radius;
add_circle(cone_base, orient * x_rotate, radius, color, lines);
let frac_pi_8 = PI / 8.0;
for factor in 0..8 {
let angle = 2.0 * (factor as f32) * frac_pi_8;
let rot = Vec3::new(angle.cos(), 0.0, angle.sin());
lines.line_colored(on_base(rot), cone_top, 0.0, color);
}
}
pub(crate) fn add_cylinder(
origin: Vec3,
orient: Quat,
half_height: f32,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let base = orient * (Vec3::Y * -half_height) + origin;
let top = orient * (Vec3::Y * half_height) + origin;
let x_rotate = Quat::from_rotation_x(FRAC_PI_2);
let on_base = |rot: Vec3| base + orient * rot * radius;
let on_top = |rot: Vec3| top + orient * rot * radius;
add_circle(base, orient * x_rotate, radius, color, lines);
add_circle(top, orient * x_rotate, radius, color, lines);
let frac_pi_8 = PI / 8.0;
for factor in 0..8 {
let angle = 2.0 * (factor as f32) * frac_pi_8;
let rot = Vec3::new(angle.cos(), 0.0, angle.sin());
lines.line_colored(on_base(rot), on_top(rot), 0.0, color);
}
}
pub(crate) fn add_sphere(
origin: Vec3,
orient: Quat,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let x_rotate = Quat::from_rotation_x(FRAC_PI_2);
let y_rotate = Quat::from_rotation_y(FRAC_PI_2);
add_circle(origin, orient, radius, color, lines);
add_circle(origin, orient * x_rotate, radius, color, lines);
add_circle(origin, orient * y_rotate, radius, color, lines);
}
pub(crate) fn add_capsule(
origin: Vec3,
orient: Quat,
half_segment: f32,
radius: f32,
color: Color,
lines: &mut DebugLines,
) {
let x_rotate = Quat::from_rotation_x(FRAC_PI_2);
let y_rotate = Quat::from_rotation_y(FRAC_PI_2);
let invert_semi = Quat::from_rotation_z(PI);
let lower = [
origin + orient.mul_vec3(Vec3::from([0.0, half_segment, -radius])),
origin + orient.mul_vec3(Vec3::from([0.0, half_segment, radius])),
origin + orient.mul_vec3(Vec3::from([-radius, half_segment, 0.0])),
origin + orient.mul_vec3(Vec3::from([radius, half_segment, 0.0])),
];
let upper = [
origin + orient.mul_vec3(Vec3::from([0.0, -half_segment, -radius])),
origin + orient.mul_vec3(Vec3::from([0.0, -half_segment, radius])),
origin + orient.mul_vec3(Vec3::from([-radius, -half_segment, 0.0])),
origin + orient.mul_vec3(Vec3::from([radius, -half_segment, 0.0])),
];
for i in 0..4 {
lines.line_colored(lower[i], upper[i], 0.0, color);
}
let lower_center = origin + orient.mul_vec3(-Vec3::Y * half_segment);
let upper_center = origin + orient.mul_vec3(Vec3::Y * half_segment);
add_semicircle(
lower_center,
orient * invert_semi * y_rotate,
radius,
color,
lines,
);
add_semicircle(lower_center, orient * invert_semi, radius, color, lines);
add_circle(lower_center, orient * x_rotate, radius, color, lines);
add_semicircle(upper_center, orient * y_rotate, radius, color, lines);
add_semicircle(upper_center, orient, radius, color, lines);
add_circle(upper_center, orient * x_rotate, radius, color, lines);
}
pub(crate) fn add_height_field(
origin: Vec3,
orient: Quat,
size: Vec2,
heights: &[Vec<f32>],
color: Color,
lines: &mut DebugLines,
) {
let y_step = size.y / (heights.len() - 1) as f32;
let y_org = -size.y / 2.0;
let x_length = heights[0].len() - 1;
let x_step = size.x / x_length as f32;
let x_org = -size.x / 2.0;
for y_i in 0..(heights.len() - 1) {
for x_i in 0..x_length {
let x0 = x_org + x_i as f32 * x_step;
let x1 = x_org + (x_i + 1) as f32 * x_step;
let y0 = y_org + y_i as f32 * y_step;
let y1 = y_org + (y_i + 1) as f32 * y_step;
let p00 = origin + orient.mul_vec3(Vec3::new(x0, heights[x_i][y_i], y0));
let p01 = origin + orient.mul_vec3(Vec3::new(x1, heights[x_i + 1][y_i], y0));
let p10 = origin + orient.mul_vec3(Vec3::new(x0, heights[x_i][y_i + 1], y1));
let p11 = origin + orient.mul_vec3(Vec3::new(x1, heights[x_i + 1][y_i + 1], y1));
// NOTE: We create duplicate lines here
lines.line_colored(p00, p01, 0.0, color);
lines.line_colored(p00, p10, 0.0, color);
lines.line_colored(p10, p11, 0.0, color);
lines.line_colored(p01, p11, 0.0, color);
lines.line_colored(p10, p01, 0.0, color);
}
}
}
pub(crate) fn add_convex_hull(
origin: Vec3,
orient: Quat,
points: &[Vec3],
color: Color,
lines: &mut DebugLines,
) {
let points3d: Vec<_> = points.into_rapier();
let (vertex, edges) = convex_hull(&points3d);
for edge in &edges {
let p0 = origin + orient.mul_vec3(vertex[edge[0] as usize].into_bevy());
let p1 = origin + orient.mul_vec3(vertex[edge[1] as usize].into_bevy());
let p2 = origin + orient.mul_vec3(vertex[edge[2] as usize].into_bevy());
lines.line_colored(p0, p1, 0.0, color);
lines.line_colored(p0, p2, 0.0, color);
lines.line_colored(p1, p2, 0.0, color);
}
}