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phywire.lua
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local m = {}
-- default options table
m.options = {
-- drawing options
wireframe = false, -- show shapes in wireframe instead of filled geometry
overdraw = false, -- force elements to render over existing scene (ignore depth buffer check)
show_shapes = true, -- draw collider shapes (mesh and terrain not supported!)
show_aabb = false, -- draw each shape's AABB box
show_velocities = false, -- vector showing direction and magnitude of collider linear velocity
show_angulars = false, -- gizmo displaying the collider's angular velocity
show_joints = false, -- show joints between colliders
show_contacts = false, -- show collision contacts (quite inefficient, triples the needed collision computations)
geometry_segments = 22, -- complexity of rendered geometry (number of segments in spheres, circles, cylinders, cones)
-- sizes of visualized elements
velocity_sensitivity = 0.1, -- velocity multiplier to scale the displayed velocity vectors
velocity_arrow_size = 0.002,
angular_sensitivity = 4, -- angular velocity multiplier for scaling the gizmo angles
angular_gizmo_size = 0.05,
joint_label_size = 0.05,
joint_anchor_size = 0.01,
joint_line_size = 0.2,
collision_size = 0.01,
collision_normal_length = 0.1,
-- colors of visualizations
velocity_color = {0.878, 0.784, 0.447},
joint_anchor_color = {0.169, 0.157, 0.129},
joint_axis_color = {0.890, 0.812, 0.706, 0.2},
joint_label_color = {0.694, 0.647, 0.553},
collision_color = {0.690, 0.227, 0.282},
angular_x_color = {0.631, 0.231, 0.227},
angular_y_color = {0.247, 0.427, 0.224},
angular_z_color = {0.141, 0.239, 0.361},
ignored_colliders = {}, -- for colliders not to be drawn: phywire.options.ignored_colliders[c] = true
shape_colors = {}, -- table that maps a shape to color, if unspecified random color is selected
shapes_palette = { -- list of colors to be assigned to each shape not specified in shape_colors
{0.180, 0.133, 0.184}, -- https://lospec.com/palette-list/mushroom
{0.600, 0.239, 0.255},
{0.471, 0.541, 0.529},
{0.341, 0.376, 0.412},
{0.267, 0.220, 0.275},
{0.400, 0.349, 0.392},
{0.271, 0.161, 0.247},
{0.478, 0.188, 0.271},
{0.663, 0.698, 0.635},
{0.804, 0.408, 0.239},
{0.949, 0.925, 0.545},
{0.984, 0.725, 0.329},
{0.690, 0.663, 0.529},
{0.600, 0.498, 0.451},
}
}
m.next_color_index = 1 -- index of last chosen palette color
m.shown_warning = false
local aabb_points = {}
for i=1,8 do
aabb_points[i] = lovr.math.newVec3()
end
function m.setColor(shape_or_collider, color)
if shape_or_collider.getType then
local shape = shape_or_collider
m.options.shape_colors[shape] = color
elseif shape_or_collider.getShapes then
local collider = shape_or_collider
for _, shape in ipairs(collider:getShapes()) do
m.options.shape_colors[shape] = color
end
end
end
function m.drawCollider(pass, collider)
if m.options.ignored_colliders[collider] then return end
local options = m.options
for _, shape in ipairs(collider:getShapes()) do
if not options.shape_colors[shape] then
options.shape_colors[shape] = options.shapes_palette[m.next_color_index]
m.next_color_index = 1 + (m.next_color_index % #options.shapes_palette)
end
pass:setColor(options.shape_colors[shape])
local pose = mat4(collider:getPose()):mul(mat4(shape:getOffset()))
local shape_type = shape:getType()
if shape_type == 'box' then
pass:box(pose:scale(shape:getDimensions()))
elseif shape_type == 'sphere' then
pass:sphere(pose:scale(shape:getRadius()), options.geometry_segments, options.geometry_segments)
elseif shape_type == 'cylinder' then
local l, r = shape:getLength(), shape:getRadius()
pose
:scale(r, r, l)
pass:cylinder(pose, true, 0, 2 * math.pi, options.geometry_segments)
elseif shape_type == 'capsule' then
local l, r = shape:getLength(), shape:getRadius()
pose
:scale(r, r, l)
pass:capsule(pose, options.geometry_segments)
else
if not m.shown_warning then -- not supported
print('Warning: TerrainShape and MeshShape are not supported and will not be rendered')
m.shown_warning = true
end
end
m.drawn_shapes = m.drawn_shapes + 1
end
end
function m.drawShapes(pass, world)
m.drawn_shapes = 0
for _, collider in ipairs(world:getColliders()) do
m.drawCollider(pass, collider)
end
end
function m.drawAABBs(pass, world)
pass:setColor(1, 1, 1, 0.2)
for _, collider in ipairs(world:getColliders()) do
for _, shape in ipairs(collider:getShapes()) do
local minx, maxx, miny, maxy, minz, maxz = shape:getAABB()
pass:box(
(minx + maxx) / 2, -- x
(miny + maxy) / 2, -- y
(minz + maxz) / 2, -- z
maxx - minx, -- w
maxy - miny, -- h
maxz - minz, -- d
0, 0, 0, 0,
'line')
end
end
end
function m.drawJoints(pass, world)
local options = m.options
pass:setColor(1,1,1)
for _, collider in ipairs(world:getColliders()) do
for _, joint in ipairs(collider:getJoints()) do
local colliderA, colliderB = joint:getColliders()
if collider == colliderA then
local joint_type = joint:getType()
if joint_type == 'ball' then
local x1, y1, z1, x2, y2, z2 = joint:getAnchors()
pass:setColor(options.joint_anchor_color)
pass:sphere(vec3(x1, y1, z1), options.joint_anchor_size, options.geometry_segments)
pass:sphere(vec3(x2, y2, z2), options.joint_anchor_size, options.geometry_segments)
pass:setColor(options.joint_axis_color)
--pass:line(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.05),
-- vec3(x1, y1, z1):lerp(x2, y2, z2, 0.95))
pass:setColor(options.joint_label_color)
local pose = mat4():target(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.5), vec3(x2, y2, z2)):rotate(-math.pi/2, 0,1,0)
pass:text(joint_type, pose:scale(options.joint_label_size))
elseif joint_type == 'slider' then
local ax, ay, az = joint:getAxis()
local x1, y1, z1 = colliderA:getPosition()
local x2, y2, z2 = colliderB:getPosition()
pass:setColor(options.joint_axis_color)
pass:line(vec3(x1, y1, z1), -- line from anchor down the axis
vec3(ax, ay, az):mul(options.joint_line_size):add(x1, y1, z1))
pass:setColor(options.joint_label_color)
local pose = mat4():target(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.5), vec3(x2, y2, z2)):rotate(-math.pi/2, 0,1,0)
pass:text(joint_type, pose:scale(options.joint_label_size))
elseif joint_type == 'distance' then
local x1, y1, z1, x2, y2, z2 = joint:getAnchors()
pass:setColor(options.joint_anchor_color)
pass:sphere(vec3(x1, y1, z1), options.joint_anchor_size, options.geometry_segments)
pass:sphere(vec3(x2, y2, z2), options.joint_anchor_size, options.geometry_segments)
pass:setColor(options.joint_axis_color)
pass:line(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.05),
vec3(x1, y1, z1):lerp(x2, y2, z2, 0.95))
pass:setColor(options.joint_label_color)
local pose = mat4()
pose:target(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.5), vec3(x2, y2, z2))
pose:rotate(-math.pi/2, 0,1,0)
pass:text(joint_type, pose:scale(options.joint_label_size))
elseif joint_type == 'hinge' then
local x1, y1, z1, x2, y2, z2 = joint:getAnchors()
local ax, ay, az = joint:getAxis()
local angle = joint:getAngle()
pass:setColor(options.joint_anchor_color)
pass:sphere(vec3(x1, y1, z1), options.joint_anchor_size, options.geometry_segments)
pass:sphere(vec3(x2, y2, z2), options.joint_anchor_size, options.geometry_segments)
pass:setColor(options.joint_axis_color)
local end_axis = vec3(ax, ay, az):mul(options.joint_line_size):add(x1, y1, z1)
pass:line(vec3(x1, y1, z1), -- line from anchor down the axis
end_axis)
pass:setColor(options.joint_label_color)
local pose = mat4(end_axis, -angle, ax, ay, az)
pass:text(joint_type, pose:scale(options.joint_label_size))
elseif joint_type == 'weld' then
local x1, y1, z1, x2, y2, z2 = joint:getAnchors()
pass:setColor(options.joint_anchor_color)
pass:sphere(vec3(x1, y1, z1), options.joint_anchor_size, options.geometry_segments)
pass:sphere(vec3(x2, y2, z2), options.joint_anchor_size, options.geometry_segments)
pass:setColor(options.joint_axis_color)
pass:line(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.05),
vec3(x1, y1, z1):lerp(x2, y2, z2, 0.95))
pass:setColor(options.joint_label_color)
local pose = mat4(vec3(x1, y1, z1):lerp(x2, y2, z2, 0.5), colliderA:getOrientation())
pass:text(joint_type, pose:scale(options.joint_label_size))
end
end
end
end
end
function m.drawVelocities(pass, world)
local options = m.options
for _, collider in ipairs(world:getColliders()) do
local pos = vec3(collider:getPosition())
local vel = vec3(collider:getLinearVelocity())
local mag = vel:length()
pass:setColor(options.velocity_color)
local pose = mat4():target(vel:mul(options.velocity_sensitivity) + pos, pos)
pass:line(pos, vec3(pose))
if mag > 1e-3 then
pose:scale(options.velocity_arrow_size, options.velocity_arrow_size, -options.velocity_arrow_size * 2)
pass:cone(pose, options.geometry_segments)
end
end
end
function m.drawAngulars(pass, world)
local options = m.options
local pose = mat4()
for _, collider in ipairs(world:getColliders()) do
local ang = vec3(collider:getAngularVelocity()):mul(options.angular_sensitivity)
-- X axis
pass:setColor(options.angular_x_color)
pose:set(collider:getPose()) -- arc
pose:rotate(math.pi / 2, 0,1,0)
pass:circle(pose:scale(options.angular_gizmo_size), 'line', 0, ang[1], options.geometry_segments)
pose:set(collider:getPose()) -- arrow
pose:rotate(ang[1], 1,0,0)
pose:translate(0, 0, -options.angular_gizmo_size)
pose:rotate(-math.pi / 2, 1,0,0)
pose:scale(options.angular_gizmo_size, options.angular_gizmo_size, options.angular_gizmo_size * 2 * (ang[1] < 0 and 1 or -1)):scale(0.1)
pass:cone(pose, options.geometry_segments)
-- Y axis
pass:setColor(options.angular_y_color)
pose:set(collider:getPose()) -- arc
pose:rotate(-math.pi / 2, 1,0,0)
pass:circle(pose:scale(options.angular_gizmo_size), 'line', 0, ang[2], options.geometry_segments)
pose:set(collider:getPose()) -- arrow
pose:rotate(math.pi, 0,1,0)
pose:rotate(ang[2], 0,1,0)
pose:translate(-options.angular_gizmo_size, 0, 0)
pose:scale(options.angular_gizmo_size, options.angular_gizmo_size, options.angular_gizmo_size * 2 * (ang[2] < 0 and 1 or -1)):scale(0.1)
pass:cone(pose, options.geometry_segments)
-- Z axis
pass:setColor(options.angular_z_color)
pose:set(collider:getPose()) -- arc
pose:rotate(math.pi / 2, 0,0,1)
pass:circle(pose:scale(options.angular_gizmo_size), 'line', 0, ang[3], options.geometry_segments)
pose:set(collider:getPose()) -- arrow
pose:rotate(ang[3], 0,0,1)
pose:translate(0, options.angular_gizmo_size, 0)
pose:rotate(-math.pi / 2, 0,1,0)
pose:scale(options.angular_gizmo_size, options.angular_gizmo_size, options.angular_gizmo_size * 2 * (ang[3] < 0 and 1 or -1)):scale(0.1)
pass:cone(pose, options.geometry_segments)
end
end
function m.drawCollisions(pass, world)
-- TODO
end
function m.draw(pass, world)
local options = m.options
pass:push('state')
if options.wireframe then
pass:setWireframe(true)
if options.overdraw then
pass:setDepthTest()
end
end
if options.show_shapes then m.drawShapes(pass, world, options) end
if options.show_aabb then m.drawAABBs(pass, world, options) end
if options.overdraw then
pass:setDepthTest()
end
pass:setShader() -- drawing text and other gizmos with default shader
if options.show_joints then m.drawJoints(pass, world, options) end
if options.show_velocities then m.drawVelocities(pass, world, options) end
if options.show_angulars then m.drawAngulars(pass, world, options) end
if options.show_contacts then m.drawCollisions(pass, world, options) end
pass:pop('state')
end
function m.xray(pass, world, resolution)
resolution = resolution or 0.01
local NEAR_PLANE = 0.01
local w, h = pass:getDimensions()
local clip_from_screen = mat4(-1, -1, 0):scale(2 / w, 2 / h, 1)
local view_pose = mat4(pass:getViewPose(1))
local view_proj = pass:getProjection(1, mat4())
local world_from_screen = view_pose:mul(view_proj:invert()):mul(clip_from_screen)
for sx = 0, w, w * resolution do
for sy = 0, h, h * resolution do
local origin = world_from_screen * vec3(sx, sy, NEAR_PLANE / NEAR_PLANE)
local target = world_from_screen * vec3(sx, sy, NEAR_PLANE / 100)
local collider, shape, x, y, z, nx, ny, nz, f = world:raycast(origin, target)
if collider then
pass:cube(x, y, z, resolution)
end
end
end
end
return m