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@@ -9,6 +9,7 @@
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#include <Jolt/Physics/SoftBody/SoftBodyContactListener.h>
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#include <Jolt/Physics/SoftBody/SoftBodyManifold.h>
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#include <Jolt/Physics/PhysicsSystem.h>
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+#include <Jolt/Physics/Body/BodyManager.h>
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#ifdef JPH_DEBUG_RENDERER
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#include <Jolt/Renderer/DebugRenderer.h>
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#endif // JPH_DEBUG_RENDERER
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@@ -990,43 +991,51 @@ void SoftBodyMotionProperties::DrawVertexVelocities(DebugRenderer *inRenderer, R
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inRenderer->DrawArrow(inCenterOfMassTransform * v.mPosition, inCenterOfMassTransform * (v.mPosition + v.mVelocity), Color::sYellow, 0.01f);
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}
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-void SoftBodyMotionProperties::DrawEdgeConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, bool inDrawConstraintGroupColor) const
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+template <typename GetEndIndex, typename DrawConstraint>
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+inline void SoftBodyMotionProperties::DrawConstraints(ESoftBodyConstraintColor inConstraintColor, const GetEndIndex &inGetEndIndex, const DrawConstraint &inDrawConstraint, ColorArg inBaseColor) const
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{
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- uint idx = 0;
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+ uint start = 0;
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for (uint i = 0; i < (uint)mSettings->mUpdateGroups.size(); ++i)
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{
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- uint end = mSettings->mUpdateGroups[i].mEdgeEndIndex;
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+ uint end = inGetEndIndex(mSettings->mUpdateGroups[i]);
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- Color color;
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- if (inDrawConstraintGroupColor)
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- color = Color::sGetDistinctColor((uint)mSettings->mUpdateGroups.size() - i - 1); // Ensure that color 0 is always the last group
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+ Color base_color;
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+ if (inConstraintColor != ESoftBodyConstraintColor::ConstraintType)
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+ base_color = Color::sGetDistinctColor((uint)mSettings->mUpdateGroups.size() - i - 1); // Ensure that color 0 is always the last group
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else
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- color = Color::sWhite;
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+ base_color = inBaseColor;
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- for (; idx < end; ++idx)
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+ for (uint idx = start; idx < end; ++idx)
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{
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- const Edge &e = mSettings->mEdgeConstraints[idx];
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- inRenderer->DrawLine(inCenterOfMassTransform * mVertices[e.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[e.mVertex[1]].mPosition, color);
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+ Color color = inConstraintColor == ESoftBodyConstraintColor::ConstraintOrder? base_color * (float(idx - start) / (end - start)) : base_color;
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+ inDrawConstraint(idx, color);
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}
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+
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+ start = end;
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}
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}
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-void SoftBodyMotionProperties::DrawBendConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, bool inDrawConstraintGroupColor) const
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+void SoftBodyMotionProperties::DrawEdgeConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
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{
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- uint idx = 0;
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- for (uint i = 0; i < (uint)mSettings->mUpdateGroups.size(); ++i)
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- {
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- uint end = mSettings->mUpdateGroups[i].mDihedralBendEndIndex;
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-
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- Color color;
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- if (inDrawConstraintGroupColor)
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- color = Color::sGetDistinctColor((uint)mSettings->mUpdateGroups.size() - i - 1); // Ensure that color 0 is always the last group
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- else
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- color = Color::sGreen;
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+ DrawConstraints(inConstraintColor,
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+ [](const SoftBodySharedSettings::UpdateGroup &inGroup) {
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+ return inGroup.mEdgeEndIndex;
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+ },
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+ [this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
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+ const Edge &e = mSettings->mEdgeConstraints[inIndex];
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+ inRenderer->DrawLine(inCenterOfMassTransform * mVertices[e.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[e.mVertex[1]].mPosition, inColor);
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+ },
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+ Color::sWhite);
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+}
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- for (; idx < end; ++idx)
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- {
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- const DihedralBend &b = mSettings->mDihedralBendConstraints[idx];
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+void SoftBodyMotionProperties::DrawBendConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
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+{
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+ DrawConstraints(inConstraintColor,
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+ [](const SoftBodySharedSettings::UpdateGroup &inGroup) {
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+ return inGroup.mDihedralBendEndIndex;
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+ },
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+ [this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
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+ const DihedralBend &b = mSettings->mDihedralBendConstraints[inIndex];
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RVec3 x0 = inCenterOfMassTransform * mVertices[b.mVertex[0]].mPosition;
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RVec3 x1 = inCenterOfMassTransform * mVertices[b.mVertex[1]].mPosition;
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@@ -1036,41 +1045,33 @@ void SoftBodyMotionProperties::DrawBendConstraints(DebugRenderer *inRenderer, RM
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RVec3 c0 = (x0 + x1 + x2) / 3.0_r;
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RVec3 c1 = (x0 + x1 + x3) / 3.0_r;
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- inRenderer->DrawArrow(0.9_r * x0 + 0.1_r * x1, 0.1_r * x0 + 0.9_r * x1, color, 0.01f);
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- inRenderer->DrawLine(c_edge, 0.1_r * c_edge + 0.9_r * c0, color);
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- inRenderer->DrawLine(c_edge, 0.1_r * c_edge + 0.9_r * c1, color);
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- }
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- }
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+ inRenderer->DrawArrow(0.9_r * x0 + 0.1_r * x1, 0.1_r * x0 + 0.9_r * x1, inColor, 0.01f);
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+ inRenderer->DrawLine(c_edge, 0.1_r * c_edge + 0.9_r * c0, inColor);
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+ inRenderer->DrawLine(c_edge, 0.1_r * c_edge + 0.9_r * c1, inColor);
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+ },
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+ Color::sGreen);
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}
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-void SoftBodyMotionProperties::DrawVolumeConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, bool inDrawConstraintGroupColor) const
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+void SoftBodyMotionProperties::DrawVolumeConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
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{
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- uint idx = 0;
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- for (uint i = 0; i < (uint)mSettings->mUpdateGroups.size(); ++i)
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- {
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- uint end = mSettings->mUpdateGroups[i].mVolumeEndIndex;
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-
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- Color color;
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- if (inDrawConstraintGroupColor)
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- color = Color::sGetDistinctColor((uint)mSettings->mUpdateGroups.size() - i - 1); // Ensure that color 0 is always the last group
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- else
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- color = Color::sYellow;
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-
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- for (; idx < end; ++idx)
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- {
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- const Volume &v = mSettings->mVolumeConstraints[idx];
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+ DrawConstraints(inConstraintColor,
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+ [](const SoftBodySharedSettings::UpdateGroup &inGroup) {
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+ return inGroup.mVolumeEndIndex;
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+ },
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+ [this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
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+ const Volume &v = mSettings->mVolumeConstraints[inIndex];
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RVec3 x1 = inCenterOfMassTransform * mVertices[v.mVertex[0]].mPosition;
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RVec3 x2 = inCenterOfMassTransform * mVertices[v.mVertex[1]].mPosition;
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RVec3 x3 = inCenterOfMassTransform * mVertices[v.mVertex[2]].mPosition;
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RVec3 x4 = inCenterOfMassTransform * mVertices[v.mVertex[3]].mPosition;
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- inRenderer->DrawTriangle(x1, x3, x2, color, DebugRenderer::ECastShadow::On);
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- inRenderer->DrawTriangle(x2, x3, x4, color, DebugRenderer::ECastShadow::On);
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- inRenderer->DrawTriangle(x1, x4, x3, color, DebugRenderer::ECastShadow::On);
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- inRenderer->DrawTriangle(x1, x2, x4, color, DebugRenderer::ECastShadow::On);
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- }
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- }
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+ inRenderer->DrawTriangle(x1, x3, x2, inColor, DebugRenderer::ECastShadow::On);
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+ inRenderer->DrawTriangle(x2, x3, x4, inColor, DebugRenderer::ECastShadow::On);
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+ inRenderer->DrawTriangle(x1, x4, x3, inColor, DebugRenderer::ECastShadow::On);
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+ inRenderer->DrawTriangle(x1, x2, x4, inColor, DebugRenderer::ECastShadow::On);
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+ },
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+ Color::sYellow);
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}
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void SoftBodyMotionProperties::DrawSkinConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
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@@ -1083,25 +1084,17 @@ void SoftBodyMotionProperties::DrawSkinConstraints(DebugRenderer *inRenderer, RM
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}
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}
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-void SoftBodyMotionProperties::DrawLRAConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, bool inDrawConstraintGroupColor) const
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+void SoftBodyMotionProperties::DrawLRAConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
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{
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- uint idx = 0;
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- for (uint i = 0; i < (uint)mSettings->mUpdateGroups.size(); ++i)
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- {
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- uint end = mSettings->mUpdateGroups[i].mLRAEndIndex;
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-
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- Color color;
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- if (inDrawConstraintGroupColor)
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- color = Color::sGetDistinctColor((uint)mSettings->mUpdateGroups.size() - i - 1); // Ensure that color 0 is always the last group
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- else
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- color = Color::sGrey;
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-
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- for (; idx < end; ++idx)
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- {
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- const LRA &l = mSettings->mLRAConstraints[idx];
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- inRenderer->DrawLine(inCenterOfMassTransform * mVertices[l.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[l.mVertex[1]].mPosition, color);
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- }
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- }
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+ DrawConstraints(inConstraintColor,
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+ [](const SoftBodySharedSettings::UpdateGroup &inGroup) {
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+ return inGroup.mLRAEndIndex;
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+ },
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+ [this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
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+ const LRA &l = mSettings->mLRAConstraints[inIndex];
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+ inRenderer->DrawLine(inCenterOfMassTransform * mVertices[l.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[l.mVertex[1]].mPosition, inColor);
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+ },
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+ Color::sGrey);
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}
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void SoftBodyMotionProperties::DrawPredictedBounds(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
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Jorrit Rouwe