mirror of
https://github.com/space-wizards/RobustToolbox.git
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7fbcfeaa8f
* Warning fixes in Robust.Shared * Robust.Client warning fixes * Fix test failure Test failures were due to broken system registrations for the client RobustUnitTest. It was accidentally registering some server systems, which means DebugPhysicsSystem wasn't gettings its dependencies properly. Fixing this meant pulling half a dozen extra dependencies that client ContainerSystem and TransformSystem are supposed to have, but didn't.
589 lines
24 KiB
C#
589 lines
24 KiB
C#
/*
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* Farseer Physics Engine:
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* Copyright (c) 2012 Ian Qvist
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*
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* Original source Box2D:
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* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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// MIT License
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// Copyright (c) 2019 Erin Catto
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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/* Heavily inspired by Farseer */
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using System;
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using System.Collections.Generic;
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using System.Numerics;
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using Robust.Client.GameObjects;
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using Robust.Client.Graphics;
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using Robust.Client.Input;
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using Robust.Client.Player;
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using Robust.Client.ResourceManagement;
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using Robust.Shared.Enums;
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using Robust.Shared.GameObjects;
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using Robust.Shared.IoC;
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using Robust.Shared.Map;
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using Robust.Shared.Map.Components;
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using Robust.Shared.Maths;
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using Robust.Shared.Physics;
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using Robust.Shared.Physics.Collision;
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using Robust.Shared.Physics.Collision.Shapes;
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using Robust.Shared.Physics.Components;
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using Robust.Shared.Physics.Dynamics;
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using Robust.Shared.Physics.Dynamics.Contacts;
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using Robust.Shared.Physics.Dynamics.Joints;
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using Robust.Shared.Physics.Systems;
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namespace Robust.Client.Debugging
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{
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public sealed class DebugPhysicsSystem : SharedDebugPhysicsSystem
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{
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/*
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* Used for debugging shapes, controllers, joints, contacts
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*/
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private const int MaxContactPoints = 2048;
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internal int PointCount;
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[Dependency] private readonly SharedPhysicsSystem _physics = default!;
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[Dependency] private readonly EntityLookupSystem _entityLookup = default!;
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[Dependency] private readonly TransformSystem _transform = default!;
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[Dependency] private readonly IOverlayManager _overlay = default!;
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[Dependency] private readonly IEyeManager _eye = default!;
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[Dependency] private readonly IInputManager _input = default!;
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[Dependency] private readonly IMapManager _map = default!;
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[Dependency] private readonly IPlayerManager _player = default!;
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[Dependency] private readonly IResourceCache _resourceCache = default!;
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internal ContactPoint[] Points = new ContactPoint[MaxContactPoints];
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public PhysicsDebugFlags Flags
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{
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get => _flags;
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set
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{
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if (value == _flags) return;
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if (_flags == PhysicsDebugFlags.None)
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_overlay.AddOverlay(
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new PhysicsDebugOverlay(
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EntityManager,
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_eye,
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_input,
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_map,
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_player,
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_resourceCache,
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this,
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_entityLookup,
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_physics,
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_transform));
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if (value == PhysicsDebugFlags.None)
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_overlay.RemoveOverlay(typeof(PhysicsDebugOverlay));
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_flags = value;
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}
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}
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private PhysicsDebugFlags _flags;
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public override void HandlePreSolve(Contact contact, in Manifold oldManifold)
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{
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if ((Flags & (PhysicsDebugFlags.ContactPoints | PhysicsDebugFlags.ContactNormals)) != 0)
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{
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Manifold manifold = contact.Manifold;
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if (manifold.PointCount == 0)
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return;
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var fixtureA = contact.FixtureA!;
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var fixtureB = contact.FixtureB!;
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var state1 = new PointState[2];
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var state2 = new PointState[2];
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CollisionManager.GetPointStates(ref state1, ref state2, oldManifold, manifold);
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Span<Vector2> points = stackalloc Vector2[2];
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var transformA = _physics.GetPhysicsTransform(contact.EntityA);
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var transformB = _physics.GetPhysicsTransform(contact.EntityB);
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contact.GetWorldManifold(transformA, transformB, out var normal, points);
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ContactPoint cp = Points[PointCount];
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for (var i = 0; i < manifold.PointCount && PointCount < MaxContactPoints; ++i)
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{
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if (fixtureA == null)
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Points[i] = new ContactPoint();
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cp.Position = points[i];
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cp.Normal = normal;
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cp.State = state2[i];
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Points[PointCount] = cp;
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++PointCount;
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}
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}
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}
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internal struct ContactPoint
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{
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public Vector2 Normal;
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public Vector2 Position;
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public PointState State;
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}
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}
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[Flags]
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public enum PhysicsDebugFlags : byte
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{
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None = 0,
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/// <summary>
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/// Shows the world point for each contact in the viewport.
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/// </summary>
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ContactPoints = 1 << 0,
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/// <summary>
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/// Shows the world normal for each contact in the viewport.
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/// </summary>
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ContactNormals = 1 << 1,
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/// <summary>
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/// Shows all physics shapes in the viewport.
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/// </summary>
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Shapes = 1 << 2,
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ShapeInfo = 1 << 3,
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Joints = 1 << 4,
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AABBs = 1 << 5,
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/// <summary>
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/// Shows Center of Mass for all bodies in the viewport.
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/// </summary>
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COM = 1 << 6,
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/// <summary>
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/// Shows nearest edge from target to player.
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/// </summary>
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Distance = 1 << 7,
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}
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internal sealed class PhysicsDebugOverlay : Overlay
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{
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private readonly IEntityManager _entityManager;
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private readonly IEyeManager _eyeManager;
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private readonly IInputManager _inputManager;
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private readonly IMapManager _mapManager;
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private readonly IPlayerManager _playerManager;
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private readonly DebugPhysicsSystem _debugPhysicsSystem;
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private readonly EntityLookupSystem _lookup;
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private readonly SharedPhysicsSystem _physicsSystem;
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private readonly SharedTransformSystem _transformSystem;
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public override OverlaySpace Space => OverlaySpace.WorldSpace | OverlaySpace.ScreenSpace;
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private static readonly Color JointColor = new(0.5f, 0.8f, 0.8f);
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private readonly Font _font;
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private HashSet<Joint> _drawnJoints = new();
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private List<Entity<MapGridComponent>> _grids = new();
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public PhysicsDebugOverlay(IEntityManager entityManager, IEyeManager eyeManager, IInputManager inputManager, IMapManager mapManager, IPlayerManager playerManager, IResourceCache cache, DebugPhysicsSystem system, EntityLookupSystem lookup, SharedPhysicsSystem physicsSystem, SharedTransformSystem transformSystem)
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{
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_entityManager = entityManager;
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_eyeManager = eyeManager;
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_inputManager = inputManager;
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_mapManager = mapManager;
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_playerManager = playerManager;
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_debugPhysicsSystem = system;
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_lookup = lookup;
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_physicsSystem = physicsSystem;
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_transformSystem = transformSystem;
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_font = new VectorFont(cache.GetResource<FontResource>("/EngineFonts/NotoSans/NotoSans-Regular.ttf"), 10);
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}
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private void DrawWorld(DrawingHandleWorld worldHandle, OverlayDrawArgs args)
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{
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var viewBounds = args.WorldBounds;
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var viewAABB = args.WorldAABB;
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var mapId = args.MapId;
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.Shapes) != 0)
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{
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foreach (var physBody in _physicsSystem.GetCollidingEntities(mapId, viewBounds))
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{
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if (_entityManager.HasComponent<MapGridComponent>(physBody)) continue;
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var xform = _physicsSystem.GetPhysicsTransform(physBody);
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var comp = physBody.Comp;
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const float AlphaModifier = 0.2f;
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foreach (var fixture in _entityManager.GetComponent<FixturesComponent>(physBody).Fixtures.Values)
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{
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// Invalid shape - Box2D doesn't check for IsSensor but we will for sanity.
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if (comp.BodyType == BodyType.Dynamic && fixture.Density == 0f && fixture.Hard)
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{
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DrawShape(worldHandle, fixture, xform, Color.Red.WithAlpha(AlphaModifier));
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}
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else if (!comp.CanCollide)
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{
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DrawShape(worldHandle, fixture, xform, new Color(0.5f, 0.5f, 0.3f).WithAlpha(AlphaModifier));
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}
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else if (comp.BodyType == BodyType.Static)
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{
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DrawShape(worldHandle, fixture, xform, new Color(0.5f, 0.9f, 0.5f).WithAlpha(AlphaModifier));
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}
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else if ((comp.BodyType & (BodyType.Kinematic | BodyType.KinematicController)) != 0x0)
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{
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DrawShape(worldHandle, fixture, xform, new Color(0.5f, 0.5f, 0.9f).WithAlpha(AlphaModifier));
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}
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else if (!comp.Awake)
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{
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DrawShape(worldHandle, fixture, xform, new Color(0.6f, 0.6f, 0.6f).WithAlpha(AlphaModifier));
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}
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else
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{
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DrawShape(worldHandle, fixture, xform, new Color(0.9f, 0.7f, 0.7f).WithAlpha(AlphaModifier));
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}
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}
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}
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}
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.COM) != 0)
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{
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const float Alpha = 0.25f;
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foreach (var physBody in _physicsSystem.GetCollidingEntities(mapId, viewBounds))
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{
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var color = Color.Purple.WithAlpha(Alpha);
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var transform = _physicsSystem.GetPhysicsTransform(physBody);
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worldHandle.DrawCircle(Transform.Mul(transform, physBody.Comp.LocalCenter), 0.2f, color);
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}
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_grids.Clear();
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_mapManager.FindGridsIntersecting(mapId, viewBounds, ref _grids);
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foreach (var grid in _grids)
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{
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var physBody = _entityManager.GetComponent<PhysicsComponent>(grid);
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var color = Color.Orange.WithAlpha(Alpha);
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var transform = _physicsSystem.GetPhysicsTransform(grid);
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worldHandle.DrawCircle(Transform.Mul(transform, physBody.LocalCenter), 1f, color);
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}
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}
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.AABBs) != 0)
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{
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foreach (var physBody in _physicsSystem.GetCollidingEntities(mapId, viewBounds))
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{
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if (_entityManager.HasComponent<MapGridComponent>(physBody)) continue;
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var xform = _physicsSystem.GetPhysicsTransform(physBody);
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const float AlphaModifier = 0.2f;
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Box2? aabb = null;
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foreach (var fixture in _entityManager.GetComponent<FixturesComponent>(physBody).Fixtures.Values)
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{
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for (var i = 0; i < fixture.Shape.ChildCount; i++)
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{
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var shapeBB = fixture.Shape.ComputeAABB(xform, i);
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aabb = aabb?.Union(shapeBB) ?? shapeBB;
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}
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}
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if (aabb == null) continue;
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worldHandle.DrawRect(aabb.Value, Color.Red.WithAlpha(AlphaModifier), false);
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}
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}
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.Joints) != 0x0)
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{
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_drawnJoints.Clear();
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var query = _entityManager.AllEntityQueryEnumerator<JointComponent>();
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while (query.MoveNext(out var uid, out var jointComponent))
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{
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if (jointComponent.JointCount == 0 ||
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!_entityManager.TryGetComponent(uid, out TransformComponent? xf1) ||
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!viewAABB.Contains(_transformSystem.GetWorldPosition(xf1))) continue;
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foreach (var (_, joint) in jointComponent.Joints)
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{
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if (_drawnJoints.Contains(joint)) continue;
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DrawJoint(worldHandle, joint);
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_drawnJoints.Add(joint);
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}
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}
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}
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if ((_debugPhysicsSystem.Flags & (PhysicsDebugFlags.ContactPoints | PhysicsDebugFlags.ContactNormals)) != 0)
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{
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const float axisScale = 0.3f;
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for (var i = 0; i < _debugPhysicsSystem.PointCount; ++i)
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{
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var point = _debugPhysicsSystem.Points[i];
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const float radius = 0.1f;
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.ContactPoints) != 0)
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{
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if (point.State == PointState.Add)
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worldHandle.DrawCircle(point.Position, radius, new Color(255, 77, 243, 255));
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else if (point.State == PointState.Persist)
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worldHandle.DrawCircle(point.Position, radius, new Color(255, 77, 77, 255));
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}
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.ContactNormals) != 0)
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{
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Vector2 p1 = point.Position;
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Vector2 p2 = p1 + point.Normal * axisScale;
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worldHandle.DrawLine(p1, p2, new Color(255, 102, 230, 255));
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}
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}
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_debugPhysicsSystem.PointCount = 0;
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}
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worldHandle.UseShader(null);
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worldHandle.SetTransform(Matrix3x2.Identity);
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}
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private void DrawScreen(DrawingHandleScreen screenHandle, OverlayDrawArgs args)
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{
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var mapId = args.MapId;
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var mousePos = _inputManager.MouseScreenPosition;
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.ShapeInfo) != 0x0)
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{
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var hoverBodies = new List<Entity<PhysicsComponent>>();
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var bounds = Box2.UnitCentered.Translated(_eyeManager.PixelToMap(mousePos.Position).Position);
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foreach (var physBody in _physicsSystem.GetCollidingEntities(mapId, bounds))
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{
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var uid = physBody.Owner;
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if (_entityManager.HasComponent<MapGridComponent>(uid)) continue;
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hoverBodies.Add((uid, physBody));
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}
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var lineHeight = _font.GetLineHeight(1f);
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var drawPos = mousePos.Position + new Vector2(20, 0) + new Vector2(0, -(hoverBodies.Count * 4 * lineHeight / 2f));
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int row = 0;
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foreach (var bodyEnt in hoverBodies)
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{
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if (bodyEnt != hoverBodies[0])
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{
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screenHandle.DrawString(_font, drawPos + new Vector2(0, row * lineHeight), "------");
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row++;
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}
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var body = bodyEnt.Comp;
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screenHandle.DrawString(_font, drawPos + new Vector2(0, row * lineHeight), $"Ent: {bodyEnt.Owner}");
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row++;
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screenHandle.DrawString(_font, drawPos + new Vector2(0, row * lineHeight), $"Layer: {Convert.ToString(body.CollisionLayer, 2)}");
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row++;
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screenHandle.DrawString(_font, drawPos + new Vector2(0, row * lineHeight), $"Mask: {Convert.ToString(body.CollisionMask, 2)}");
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row++;
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screenHandle.DrawString(_font, drawPos + new Vector2(0, row * lineHeight), $"Enabled: {body.CanCollide}, Hard: {body.Hard}, Anchored: {(body).BodyType == BodyType.Static}");
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row++;
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}
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}
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if ((_debugPhysicsSystem.Flags & PhysicsDebugFlags.Distance) != 0x0)
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{
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var mapPos = _eyeManager.PixelToMap(mousePos);
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if (mapPos.MapId != args.MapId)
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return;
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var player = _playerManager.LocalEntity;
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if (!_entityManager.TryGetComponent<TransformComponent>(player, out var playerXform) ||
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playerXform.MapID != args.MapId)
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return;
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var flags = EntityLookupSystem.DefaultFlags;
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flags &= ~LookupFlags.Contained;
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foreach (var ent in _lookup.GetEntitiesIntersecting(mapPos, flags))
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{
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if (!_entityManager.TryGetComponent<FixturesComponent>(ent, out var managerB))
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continue;
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if (_physicsSystem.TryGetDistance(player.Value, ent, out var distance, managerB: managerB))
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{
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screenHandle.DrawString(_font, mousePos.Position, $"Ent: {_entityManager.ToPrettyString(ent)}\nDistance: {distance:0.00}");
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break;
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}
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}
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}
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screenHandle.UseShader(null);
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screenHandle.SetTransform(Matrix3x2.Identity);
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}
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protected internal override void Draw(in OverlayDrawArgs args)
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{
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if (_debugPhysicsSystem.Flags == PhysicsDebugFlags.None) return;
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switch (args.Space)
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{
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case OverlaySpace.ScreenSpace:
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DrawScreen((DrawingHandleScreen) args.DrawingHandle, args);
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break;
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case OverlaySpace.WorldSpace:
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DrawWorld((DrawingHandleWorld) args.DrawingHandle, args);
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break;
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}
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}
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private void DrawShape(DrawingHandleWorld worldHandle, Fixture fixture, Transform xform, Color color)
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{
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switch (fixture.Shape)
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{
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case ChainShape cShape:
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{
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var count = cShape.Count;
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var vertices = cShape.Vertices;
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var v1 = Transform.Mul(xform, vertices[0]);
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for (var i = 1; i < count; ++i)
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{
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var v2 = Transform.Mul(xform, vertices[i]);
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worldHandle.DrawLine(v1, v2, color);
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v1 = v2;
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}
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}
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break;
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case PhysShapeCircle circle:
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var center = Transform.Mul(xform, circle.Position);
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worldHandle.DrawCircle(center, circle.Radius, color);
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break;
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case EdgeShape edge:
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{
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var v1 = Transform.Mul(xform, edge.Vertex1);
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var v2 = Transform.Mul(xform, edge.Vertex2);
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worldHandle.DrawLine(v1, v2, color);
|
|
|
|
if (edge.OneSided)
|
|
{
|
|
worldHandle.DrawCircle(v1, 0.1f, color);
|
|
worldHandle.DrawCircle(v2, 0.1f, color);
|
|
}
|
|
}
|
|
|
|
break;
|
|
case PolygonShape poly:
|
|
Span<Vector2> verts = stackalloc Vector2[poly.VertexCount];
|
|
|
|
for (var i = 0; i < verts.Length; i++)
|
|
{
|
|
verts[i] = Transform.Mul(xform, poly.Vertices[i]);
|
|
}
|
|
|
|
worldHandle.DrawPrimitives(DrawPrimitiveTopology.TriangleFan, verts, color);
|
|
break;
|
|
default:
|
|
return;
|
|
}
|
|
}
|
|
|
|
private void DrawJoint(DrawingHandleWorld worldHandle, Joint joint)
|
|
{
|
|
if (!_entityManager.TryGetComponent(joint.BodyAUid, out TransformComponent? xform1) ||
|
|
!_entityManager.TryGetComponent(joint.BodyBUid, out TransformComponent? xform2)) return;
|
|
|
|
var matrix1 = _transformSystem.GetWorldMatrix(xform1);
|
|
var matrix2 = _transformSystem.GetWorldMatrix(xform2);
|
|
|
|
var xf1 = new Vector2(matrix1.M31, matrix1.M32);
|
|
var xf2 = new Vector2(matrix2.M31, matrix2.M32);
|
|
|
|
var p1 = Vector2.Transform(joint.LocalAnchorA, matrix1);
|
|
var p2 = Vector2.Transform(joint.LocalAnchorB, matrix2);
|
|
|
|
var xfa = new Transform(xf1, _transformSystem.GetWorldRotation(xform1));
|
|
var xfb = new Transform(xf2, _transformSystem.GetWorldRotation(xform2));
|
|
|
|
switch (joint)
|
|
{
|
|
case DistanceJoint:
|
|
worldHandle.DrawLine(xf1, xf2, JointColor);
|
|
break;
|
|
case PrismaticJoint prisma:
|
|
var pA = Transform.Mul(xfa, joint.LocalAnchorA);
|
|
var pB = Transform.Mul(xfb, joint.LocalAnchorB);
|
|
|
|
var axis = Transform.Mul(xfa.Quaternion2D, prisma._localXAxisA);
|
|
|
|
Color c1 = new(0.7f, 0.7f, 0.7f);
|
|
Color c2 = new(0.3f, 0.9f, 0.3f);
|
|
Color c3 = new(0.9f, 0.3f, 0.3f);
|
|
Color c4 = new(0.3f, 0.3f, 0.9f);
|
|
Color c5 = new(0.4f, 0.4f, 0.4f);
|
|
|
|
worldHandle.DrawLine(pA, pB, c5);
|
|
|
|
if (prisma.EnableLimit)
|
|
{
|
|
var lower = pA + axis * prisma.LowerTranslation;
|
|
var upper = pA + axis * prisma.UpperTranslation;
|
|
var perp = Transform.Mul(xfa.Quaternion2D, prisma._localYAxisA);
|
|
worldHandle.DrawLine(lower, upper, c1);
|
|
worldHandle.DrawLine(lower - perp * 0.5f, lower + perp * 0.5f, c2);
|
|
worldHandle.DrawLine(upper - perp * 0.5f, upper + perp * 0.5f, c3);
|
|
}
|
|
else
|
|
{
|
|
worldHandle.DrawLine(pA - axis * 1.0f, pA + axis * 1.0f, c1);
|
|
}
|
|
|
|
worldHandle.DrawCircle(pA, 0.5f, c1);
|
|
worldHandle.DrawCircle(pB, 0.5f, c4);
|
|
break;
|
|
default:
|
|
worldHandle.DrawLine(xf1, p1, JointColor);
|
|
worldHandle.DrawLine(p1, p2, JointColor);
|
|
worldHandle.DrawLine(xf2, p2, JointColor);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|