Implemented Debug physics mesh drawing for box and sphere primitives

README.md

@@ -155,17 +155,17 @@
 
 - ## TODO
 
-	- Convert IM_Vertex array to only be used as temporary storage for vertices between begin and end calls
 	- Physics forces/torque etc
+	- Implement physics debug visualizations for other primitives and tri mesh shapes
 	- Replace all renderer_check_gl calls with GL_CHECK macro
 	- Fix lights type not being correctly saved/loaded from file
 	- Physics Trimesh support
-	- Debug physics mesh drawing
 	- Serializing/Deserializing physics data
 	- Storing entity reference/id in rigidbody
 	- Storing rigidbody in entity
 	- Expose complete physics api with forces/joints etc
 	- Complete ODE integration
+	- Proper implementation of Scene struct with per-scene settings and configurations that can be loaded/saved to file instead of just dumping entities into a file
 	- Test physics code on linux
 	- Pipeline improvements, getting models/materials etc to/from other programs
 	- Necessary basic editor additions like placing objects, scaling, rotating etc
@@ -368,3 +368,5 @@
 	* Update physics if entity position/rotation/scale etc are changed
 	* Implemented Physics raycasting
 	* Implemented immediate mode renderer that can draw arbitrary points, lines and triangles
+	* Converted IM_Vertex array to only be used as temporary storage for vertices between begin and end calls
+	* Implemented Debug physics mesh drawing for box and sphere primitives

assets/test_scene.symtres

@@ -312,11 +312,11 @@ Entity
 	scale : 1.000 1.000 1.000
 	material : Blinn_Phong
 	rotation : 0.000 0.000 0.000 1.000
-	geometry : default.pamesh
+	geometry : sphere.symbres
 	is_listener : false
-	position : 3.000 0.000 4.000
-	parent : Model_Entity
-	name : Suzanne
+	position : 3.000 10.000 4.000
+	parent : ROOT
+	name : Sphere_Ent
 	renderable : true
 }
 

src/common/common.h

@@ -53,6 +53,15 @@ enum Sound_Attenuation_Type
 	SA_EXPONENTIAL // Exponential distance attenuation model
 };
 
+enum Collision_Shape_Type
+{
+	CST_BOX = 0,
+	CST_SPHERE,
+	CST_CYLINDER,
+	CST_TRIMESH,
+	CST_UNKNOWN
+};
+
 struct Raycast_Hit
 {
 	int  entity_id;
@@ -70,6 +79,7 @@ struct Physics_Api
 	void            (*cs_remove)(Collision_Shape shape);
 	void            (*cs_data_set)(Collision_Shape shape, void* data);
 	void*           (*cs_data_get)(Collision_Shape shape);
+	int             (*cs_type_get)(Collision_Shape shape);
 
 	Collision_Shape (*cs_plane_create)(float a, float b, float c, float d);
 	void            (*cs_plane_params_set)(Collision_Shape shape, float a, float b, float c, float d);
@@ -93,6 +103,11 @@ struct Physics_Api
 								   float pos_x, float pos_y, float pos_z, 
 								   float dir_x, float dir_y, float dir_z);
 
+	void            (*cs_position_set)(Collision_Shape shape, float x, float y, float z);
+	void            (*cs_position_get)(Collision_Shape shape, float* x, float* y, float* z);
+	void            (*cs_rotation_set)(Collision_Shape shape, float x, float y, float z, float w);
+	void            (*cs_rotation_get)(Collision_Shape shape, float* x, float* y, float* z, float* w);
+
 	void            (*body_remove)(Rigidbody body);
 	Rigidbody       (*body_box_create)(float length, float width, float height);
 	Rigidbody       (*body_sphere_create)(float radius);

src/game/config_vars.c

@@ -28,7 +28,8 @@ void config_vars_init(void)
 	hashmap_vec3_setf(cvars, "ambient_light",      0.1f, 0.1f, 0.1f);
 	hashmap_bool_set(cvars,  "msaa_enabled",       1);
 	hashmap_int_set(cvars,   "msaa_levels",        4);
-	hashmap_bool_set(cvars,  "debug_draw_enabled", 1);
+	hashmap_bool_set(cvars,  "debug_draw_enabled", true);
+	hashmap_bool_set(cvars,  "debug_draw_physics", true);
     hashmap_int_set(cvars,  "video_driver_linux",  VD_WAYLAND);
 	hashmap_int_set(cvars,   "debug_draw_mode",    0);
     hashmap_vec4_setf(cvars, "debug_draw_color",   1.f, 0.f, 0.f, 1.f);

src/game/main.c

@@ -152,6 +152,11 @@ int main(int argc, char** args)
 				.cs_sphere_create            = &physics_cs_sphere_create,
 				.cs_capsule_create           = &physics_cs_capsule_create,
 				.cs_remove                   = &physics_cs_remove,
+				.cs_position_set             = &physics_cs_position_set,
+				.cs_position_get             = &physics_cs_position_get,
+				.cs_rotation_set             = &physics_cs_rotation_set,
+				.cs_rotation_get             = &physics_cs_rotation_get,
+				.cs_type_get                 = &physics_cs_type_get,
 				.cs_data_set                 = &physics_cs_data_set,
 				.cs_data_get                 = &physics_cs_data_get,
 				.cs_plane_params_get         = &physics_cs_plane_params_get,

src/game/physics.c

@@ -113,7 +113,7 @@ void physics_body_rotation_get(Rigidbody body, float * x, float * y, float * z,
 
 void physics_body_rotation_set(Rigidbody body, float x, float y, float z, float w)
 {
-	dReal rotation[4] = { 0 };
+	dReal rotation[4] = { 0.f };
 	rotation[1] = x;
 	rotation[2] = y;
 	rotation[3] = z;
@@ -229,12 +229,25 @@ Collision_Shape physics_cs_box_create(float x, float y, float z)
 
 }
 
+int physics_cs_type_get(Collision_Shape shape)
+{
+	int geom_class = dGeomGetClass(shape);
+	switch(geom_class)
+	{
+	case dBoxClass:      return CST_BOX;
+	case dSphereClass:   return CST_SPHERE;
+	case dCylinderClass: return CST_CYLINDER; 
+	case dTriMeshClass:  return CST_TRIMESH;
+	default: return CST_UNKNOWN;
+	}
+}
+
 void physics_cs_box_params_get(Collision_Shape shape, float* x, float* y, float* z)
 {
 	assert(x && y && z);
 	*x = *y = *z = 0.f;
-	float lengths[3] = { 0.f };
-	dGeomBoxGetLengths(shape, lengths);
+	dReal lengths[3] = { 0 };
+	dGeomBoxGetLengths(shape, &lengths[0]);
 	*x = lengths[0];
 	*y = lengths[1];
 	*z = lengths[2];
@@ -432,6 +445,65 @@ bool physics_cs_ray_cast(Collision_Shape ray,
 	return out_rayhit->entity_id == -1 ? false : true;
 }
 
+void physics_cs_position_get(Collision_Shape shape, float * x, float * y, float * z)
+{
+	assert(x && y && z);
+	if(dGeomGetClass(shape) == dPlaneClass)
+	{
+		*x = 0.f;
+		*y = 0.f;
+		*z = 0.f;
+		return;
+	}
+
+	const dReal* pos = dGeomGetPosition(shape);
+	*x = pos[0];
+	*y = pos[1];
+	*z = pos[2];
+}
+
+void physics_cs_position_set(Collision_Shape shape, float x, float y, float z)
+{
+	if(dGeomGetClass(shape) == dPlaneClass)
+		return;
+
+	dGeomSetPosition(shape, x, y, z);
+}
+
+void physics_cs_rotation_get(Collision_Shape shape, float* x, float* y, float* z, float* w)
+{
+	assert(x && y && z && w);
+
+	if(dGeomGetClass(shape) == dPlaneClass)
+	{
+		*x = 0.f;
+		*y = 0.f;
+		*z = 0.f;
+		*w = 1.f;
+		return;
+	}
+
+	dReal rotation[4] = { 1, 0, 0, 0 };
+	dGeomGetQuaternion(shape, &rotation[0]);
+	*x = rotation[1];
+	*y = rotation[2];
+	*z = rotation[3];
+	*w = rotation[0];
+}
+
+void physics_cs_rotation_set(Collision_Shape shape, float x, float y, float z, float w)
+{
+	if(dGeomGetClass(shape) == dPlaneClass)
+		return;
+
+	dReal rotation[4] = { 0.f };
+	rotation[1] = x;
+	rotation[2] = y;
+	rotation[3] = z;
+	rotation[0] = w;
+	dGeomSetQuaternion(shape, &rotation[0]);
+}
+
 Collision_Shape physics_cs_ray_create(float length, bool first_contact, bool backface_cull)
 {
 	dGeomID ray = dCreateRay(Physics.space, length);

src/game/physics.h

@@ -19,6 +19,7 @@ Collision_Shape physics_body_cs_get(Rigidbody body);
 void            physics_body_cs_set(Rigidbody body, Collision_Shape shape);
 
 void            physics_cs_remove(Collision_Shape shape);
+int             physics_cs_type_get(Collision_Shape shape);
 
 Collision_Shape physics_cs_plane_create(float a, float b, float c, float d);
 void            physics_cs_plane_params_set(Collision_Shape shape, float a, float b, float c, float d);
@@ -45,6 +46,12 @@ bool            physics_cs_ray_cast(Collision_Shape ray,
 									float pos_x, float pos_y, float pos_z, 
 						            float dir_x, float dir_y, float dir_z);
 
+void physics_cs_position_get(Collision_Shape shape, float* x, float* y, float* z);
+void physics_cs_position_set(Collision_Shape shape, float x, float y, float z);
+
+void physics_cs_rotation_get(Collision_Shape shape, float* x, float* y, float* z, float* w);
+void physics_cs_rotation_set(Collision_Shape shape, float x, float y, float z, float w);
+
 Rigidbody physics_body_box_create(float x, float y, float z);
 Rigidbody physics_body_sphere_create(float radius);
 Rigidbody physics_body_capsule_create(float radius, float height);

src/libsymmetry/game.c

@@ -255,7 +255,8 @@ void scene_setup(void)
     }
 
 	platform->physics.cs_plane_create(0, 1, 0, 0);
-	Rigidbody box = platform->physics.body_box_create(2.5, 2.5, 2.5);
+	//Rigidbody box = platform->physics.body_box_create(2.5, 2.5, 2.5);
+	Rigidbody box = platform->physics.body_sphere_create(3.5);
 	/*platform->physics.body_position_set(box, 0.f, 50.f, 0.f);
 	platform->physics.body_mass_set(box, 10.f);*/
 	/*platform->physics.body_data_set(box, (void*)suz_id);*/
@@ -264,15 +265,17 @@ void scene_setup(void)
 	entity_rigidbody_set(suz, box);
 	suz->collision.on_collision = &on_collision_test;
 
-	Collision_Shape plane = platform->physics.cs_plane_create(0, 1, 0, 0);
-	//Rigidbody ground_box = platform->physics.body_box_create(10, 10, 10);
-	/*platform->physics.body_position_set(ground_box, 0.f, 0.f, 0.f);
-	platform->physics.body_kinematic_set(ground_box);*/
-	struct Entity* ground = entity_find("Ground");
-	entity_collision_shape_set(ground, plane);
-	//entity_rigidbody_set(ground, ground_box);
-	/*platform->physics.body_data_set(ground_box, (void*)ground->id);*/
+	Rigidbody sphere = platform->physics.body_sphere_create(3.5f);
+	struct Entity* sphere_ent = entity_find("Sphere_Ent");
+	entity_rigidbody_set(sphere_ent, sphere);
 
+	//Collision_Shape plane = platform->physics.cs_plane_create(0, 1, 0, 0);
+	Rigidbody ground_box = platform->physics.body_box_create(10, 5, 10);
+	platform->physics.body_position_set(ground_box, 0.f, 0.f, 0.f);
+	/*platform->physics.body_kinematic_set(ground_box);*/
+	struct Entity* ground = entity_find("Ground");
+	//entity_collision_shape_set(ground, plane);
+	entity_rigidbody_set(ground, ground_box);
 }
 
 void debug(float dt)
@@ -525,8 +528,13 @@ void debug(float dt)
 	im_end();
 
 	vec4 prim_color = {1.f, 1.f, 0.f, 1.f};
-	im_cube(5.f, im_position, im_rot, prim_color, GDM_TRIANGLES);
-	im_sphere(2.f, im_position, im_rot, prim_color, GDM_TRIANGLES);
+	im_box(5.f, 2.f, 10.f, im_position, im_rot, prim_color, GDM_TRIANGLES);
+
+	for(int i = 0; i < 10; i++)
+	{
+		im_position.x += i * 2.f;
+		im_sphere(2.f, im_position, im_rot, prim_color, GDM_TRIANGLES);
+	}
 }
 
 bool run(void)

src/libsymmetry/im_render.c

@@ -100,7 +100,7 @@ void im_pos(float x, float y, float z)
 	active_vertex_index++;
 }
 
-void im_cube(float length, vec3 position, quat rotation, vec4 color, int draw_mode)
+void im_box(float x, float y, float z, vec3 position, quat rotation, vec4 color, int draw_mode)
 {
 	if(active_geom)
 	{
@@ -113,7 +113,7 @@ void im_cube(float length, vec3 position, quat rotation, vec4 color, int draw_mo
 	active_geom->draw_mode = draw_mode;
 	active_geom->prim_geom_index = geom_create_from_file("cube.symbres");
 	vec3_assign(&active_geom->position, &position);
-	vec3 scale =  { length, length, length }; 
+	vec3 scale =  { x, y, z}; 
 	vec3_assign(&active_geom->scale, &scale);
 	vec4_assign(&active_geom->color, &color);
 	quat_assign(&active_geom->rotation, &rotation);

src/libsymmetry/im_render.h

@@ -40,7 +40,7 @@ void im_init(void);
 void im_cleanup(void);
 void im_begin(vec3 position, quat rotation, vec3 scale, vec4 color, int draw_mode);
 void im_pos(float x, float y, float z);
-void im_cube(float length, vec3 position, quat rotation, vec4 color, int draw_mode);
+void im_box(float x, float y, float z, vec3 position, quat rotation, vec4 color, int draw_mode);
 void im_sphere(float radius, vec3 position, quat rotation, vec4 color, int draw_mode);
 void im_end(void);
 void im_render(struct Entity* active_viewer);

src/libsymmetry/renderer.c

@@ -408,6 +408,51 @@ void renderer_draw(struct Entity* active_viewer)
 		glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 	}
 
+	// Debug Physics render
+	if(hashmap_bool_get(cvars, "debug_draw_physics"))
+	{
+		static vec4 physics_draw_color = { 0.f, 0.f, 1.f, 1.f };
+		struct Entity* entity_list = entity_get_all();
+		for(int i = 0; i < array_len(entity_list); i++)
+		{
+			if(!entity_list[i].has_collision) continue;
+			struct Entity* entity = &entity_list[i];
+
+			//Get collision mesh and it's props then render it
+			vec3 pos = {0.f};
+			quat rot = {0.f, 0.f, 0.f, 1.f };
+			if(entity->collision.rigidbody)
+			{
+				platform->physics.body_position_get(entity->collision.rigidbody, &pos.x, &pos.y, &pos.z);
+				platform->physics.body_rotation_get(entity->collision.rigidbody, &rot.x, &rot.y, &rot.z, &rot.w);
+			}
+			else
+			{
+				platform->physics.cs_position_get(entity->collision.collision_shape, &pos.x, &pos.y, &pos.z);
+				platform->physics.cs_rotation_get(entity->collision.collision_shape, &rot.x, &rot.y, &rot.z, &rot.w);
+			}
+
+			int collision_shape_type = platform->physics.cs_type_get(entity->collision.collision_shape);
+			switch(collision_shape_type)
+			{
+			case CST_SPHERE:
+			{
+				float radius = platform->physics.cs_sphere_radius_get(entity->collision.collision_shape);
+				im_sphere(radius, pos, rot, physics_draw_color, GDM_TRIANGLES);
+			}
+			break;
+			case CST_BOX:
+			{
+				float x = 0.f, y = 0.f, z = 0.f;
+				platform->physics.cs_box_params_get(entity->collision.collision_shape, &x, &y, &z);
+				im_box(x, y, z, pos, rot, physics_draw_color, GDM_TRIANGLES);
+			};
+			break;
+			default: break;
+			}
+		}
+	}
+
 	//Immediate mode geometry render
 	im_render(active_viewer);
 
@@ -508,6 +553,7 @@ void renderer_settings_get(struct Render_Settings* settings)
 	settings->fog.max_dist           = hashmap_float_get(cvars, "fog_max_dist");
 	settings->fog.color              = hashmap_vec3_get(cvars,  "fog_color");
 	settings->debug_draw_enabled     = hashmap_bool_get(cvars,  "debug_draw_enabled");
+	settings->debug_draw_physics     = hashmap_bool_get(cvars,  "debug_draw_physics");
 	settings->debug_draw_mode        = hashmap_int_get(cvars,   "debug_draw_mode");
 	settings->debug_draw_color       = hashmap_vec4_get(cvars,  "debug_draw_color");
 	settings->ambient_light          = hashmap_vec3_get(cvars,  "ambient_light");
@@ -522,6 +568,7 @@ void renderer_settings_set(const struct Render_Settings* settings)
 	hashmap_float_set(cvars, "fog_max_dist",       settings->fog.max_dist);
 	hashmap_vec3_set(cvars,  "fog_color",          &settings->fog.color);
 	hashmap_bool_set(cvars,  "debug_draw_enabled", settings->debug_draw_enabled);
+	hashmap_bool_set(cvars,  "debug_draw_physics", settings->debug_draw_physics);
 	hashmap_int_set(cvars,   "debug_draw_mode",    settings->debug_draw_mode);
 	hashmap_vec4_set(cvars,  "debug_draw_color",   &settings->debug_draw_color);
 	hashmap_vec3_set(cvars,  "ambient_light",      &settings->ambient_light);

src/libsymmetry/renderer.h

@@ -26,9 +26,10 @@ struct Render_Settings
 {
 	struct Fog fog;
 	vec3       ambient_light;
-	int        debug_draw_enabled;
+	bool       debug_draw_enabled;
 	vec4       debug_draw_color;
 	int        debug_draw_mode;
+	bool       debug_draw_physics;
 };
 
 struct Entity;