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debug_geometry.gd
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debug_geometry.gd
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extends MeshInstance3D
var im := ImmediateMesh.new()
var mat := StandardMaterial3D.new()
var debug_shapes: Array[DebugShape] = []
func _ready() -> void:
mat.vertex_color_use_as_albedo = true
mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
mesh = im
process_priority = 1000
func _process(delta: float) -> void:
_update_geometry_timer(delta)
func _update_geometry_timer(delta: float) -> void:
_clear_geometry()
_draw_geometry()
if not debug_shapes.is_empty():
var count := debug_shapes.size()
for i in count:
var shape := debug_shapes[count - 1 - i]
shape.draw_time -= delta
if shape.draw_time < 0.0:
debug_shapes.remove_at(count - 1 - i)
func _clear_geometry() -> void:
im.clear_surfaces()
func _draw_geometry(index: int = 0) -> void:
for i in range(index, debug_shapes.size()):
var shape := debug_shapes[i]
_draw_debug_shape(shape)
func _draw_debug_shape(shape: DebugShape) -> void:
if shape is DebugShapeCompound:
for sub_shape in shape.debug_shapes:
_draw_debug_shape(sub_shape)
else:
var primitives: Array[Primitive] = []
if shape.draw_surfaces:
im.surface_begin(Mesh.PRIMITIVE_TRIANGLES, mat)
primitives = shape.triangle_primitives
else:
im.surface_begin(Mesh.PRIMITIVE_LINES, mat)
primitives = shape.line_primitives
im.surface_set_color(shape.color)
for primitive in primitives:
for vertex in primitive.vertices:
im.surface_add_vertex(vertex)
im.surface_end()
func draw_debug_cube(t: float, p: Vector3, extents: Vector3, c: Color = Color(0, 0, 0), b_triangles: bool = false) -> void:
var cube := DebugCube.new(extents)
cube.position = p
cube.color = c
cube.draw_surfaces = b_triangles
cube.draw_time = t
debug_shapes.append(cube)
cube.update_geometry()
func draw_debug_sphere(t: float, p: Vector3, lon: int, lat: int, r: float,
c: Color = Color(0, 0, 0), b_triangles: bool = false) -> void:
var sphere := DebugSphere.new(r, lon, lat)
sphere.position = p
sphere.color = c
sphere.draw_surfaces = b_triangles
sphere.draw_time = t
debug_shapes.append(sphere)
sphere.update_geometry()
func draw_debug_cylinder(t: float, p1: Vector3, p2: Vector3, r: float, lon: int = 8, b_caps: bool = true,
c: Color = Color(0, 0, 0), b_triangles: bool = false) -> void:
var cylinder := DebugCylinder.new(p1, p2, r, lon)
cylinder.color = c
cylinder.draw_caps = b_caps
cylinder.draw_surfaces = b_triangles
cylinder.draw_time = t
debug_shapes.append(cylinder)
cylinder.update_geometry()
func draw_debug_cone(t: float, p1: Vector3, p2: Vector3, r1: float, r2: float, lon: int = 8,
b_caps: bool = true, c: Color = Color(0, 0, 0), b_triangles: bool = false) -> void:
var cone := DebugCone.new(p1, p2, r1, r2, lon)
cone.color = c
cone.draw_caps = b_caps
cone.draw_surfaces = b_triangles
cone.draw_time = t
debug_shapes.append(cone)
cone.update_geometry()
func draw_debug_arrow(t: float, p: Vector3, n: Vector3, s: float = 1.0,
c: Color = Color(0, 0, 0), b_triangles: bool = true) -> void:
var arrow := DebugArrow.new(p, n, s)
arrow.color = c
arrow.draw_surfaces = b_triangles
arrow.draw_time = t
debug_shapes.append(arrow)
arrow.update_geometry()
func draw_debug_coordinate_system(t: float, p: Vector3, x: Vector3 = Vector3.RIGHT, y: Vector3 = Vector3.UP,
s: float = 1.0, c: float = 1.0, b_triangles: bool = true) -> void:
var coordinate_system := DebugCoordinateSystem.new(x, y, s)
coordinate_system.position = p
coordinate_system.color_intensity = c
coordinate_system.draw_surfaces = b_triangles
coordinate_system.draw_time = t
debug_shapes.append(coordinate_system)
coordinate_system.update_geometry()
func draw_debug_grid(t: float, p: Vector3, a: float, b: float, div_a: int, div_b: int,
normal: Vector3 = Vector3(0, 1, 0), tangent: Vector3 = Vector3(1, 0, 0), color: Color = Color(0, 0, 0)) -> void:
var grid := DebugGrid.new(a, b, div_a, div_b, normal, tangent)
grid.position = p
grid.color = color
grid.draw_surfaces = false
grid.draw_time = t
debug_shapes.append(grid)
grid.update_geometry()
func draw_debug_line(t: float, p1: Vector3, p2: Vector3, thickness: float, color: Color = Color(0, 0, 0)) -> void:
var line := DebugLine.new(p1, p2, thickness)
line.color = color
line.draw_time = t
debug_shapes.append(line)
line.update_geometry()
func draw_debug_point(t: float, p: Vector3, size: float, color: Color = Color(0, 0, 0), b_triangles: bool = true) -> void:
var point := DebugPoint.new(size)
point.position = p
point.color = color
point.draw_surfaces = b_triangles
point.draw_time = t
debug_shapes.append(point)
point.update_geometry()
class Primitive:
var vertex_count := 2
var vertices: Array[Vector3] = [] :
get:
while vertices.size() < vertex_count:
vertices.append(Vector3.ZERO)
return vertices
set(array):
if array.size() > vertex_count:
vertices = array.slice(0, vertex_count)
else:
while array.size() < vertex_count:
array.append([Vector3.ZERO])
vertices = array
func _init(_vertices: Array[Vector3]) -> void:
vertices = _vertices
class LinePrimitive extends Primitive:
func _init(_vertices: Array[Vector3]) -> void:
vertex_count = 2
super._init(_vertices)
class TrianglePrimitive extends Primitive:
func _init(_vertices: Array[Vector3]) -> void:
vertex_count = 3
super._init(_vertices)
class DebugShape:
var line_primitives: Array[LinePrimitive] = []
var triangle_primitives: Array[TrianglePrimitive] = []
var position := Vector3.ZERO
var color := Color(0, 0, 0)
var draw_surfaces := false
var draw_time := 0.0
func _draw_debug_shape() -> void:
line_primitives.clear()
triangle_primitives.clear()
func _to_string() -> String:
return "DebugShape"
func add_line_primitive(vertices: Array[Vector3]) -> void:
line_primitives.append(LinePrimitive.new(vertices))
func add_triangle_primitive(vertices: Array[Vector3]) -> void:
triangle_primitives.append(TrianglePrimitive.new(vertices))
func set_draw_time(time: float) -> void:
draw_time = time
func update_geometry() -> void:
_draw_debug_shape()
class DebugShapeCompound extends DebugShape:
var debug_shapes: Array[DebugShape] = []
func _draw_debug_shape() -> void:
for shape in debug_shapes:
shape._draw_debug_shape()
func _to_string() -> String:
return "DebugShapeCompound"
func add_debug_shape(shape: DebugShape) -> void:
debug_shapes.append(shape)
func set_draw_time(time: float) -> void:
for shape in debug_shapes:
shape.set_draw_time(time)
class DebugCube extends DebugShape:
var extents := Vector3.ONE
func _init(size: Vector3) -> void:
extents = size
func _draw_debug_shape() -> void:
super()
var x := extents.x
var y := extents.y
var z := extents.z
var points := [0.5 * Vector3(-x, -y, -z) + position,
0.5 * Vector3(-x, -y, z) + position,
0.5 * Vector3(-x, y, -z) + position,
0.5 * Vector3(-x, y, z) + position,
0.5 * Vector3(x, -y, -z) + position,
0.5 * Vector3(x, -y, z) + position,
0.5 * Vector3(x, y, -z) + position,
0.5 * Vector3(x, y, z) + position]
if draw_surfaces:
add_triangle_primitive([points[0], points[2], points[3]])
add_triangle_primitive([points[3], points[1], points[0]])
add_triangle_primitive([points[4], points[5], points[7]])
add_triangle_primitive([points[7], points[6], points[4]])
add_triangle_primitive([points[0], points[1], points[5]])
add_triangle_primitive([points[5], points[4], points[0]])
add_triangle_primitive([points[3], points[2], points[7]])
add_triangle_primitive([points[7], points[2], points[6]])
add_triangle_primitive([points[0], points[4], points[2]])
add_triangle_primitive([points[2], points[4], points[6]])
add_triangle_primitive([points[1], points[3], points[7]])
add_triangle_primitive([points[7], points[5], points[1]])
else:
add_line_primitive([points[0], points[1]])
add_line_primitive([points[1], points[3]])
add_line_primitive([points[3], points[2]])
add_line_primitive([points[2], points[0]])
add_line_primitive([points[4], points[5]])
add_line_primitive([points[5], points[7]])
add_line_primitive([points[7], points[6]])
add_line_primitive([points[6], points[4]])
add_line_primitive([points[0], points[4]])
add_line_primitive([points[1], points[5]])
add_line_primitive([points[3], points[7]])
add_line_primitive([points[2], points[6]])
func _to_string() -> String:
return "DebugCube"
class DebugSphere extends DebugShape:
var longitude := 36 :
set(value):
longitude = clampi(value, 0, 72)
var latitude := 18 :
set(value):
latitude = clampi(value, 0, 36)
var radius := 0.5
func _init(rad: float, lon: int = 36, lat: int = 18) -> void:
radius = rad
longitude = lon
latitude = lat
func _draw_debug_shape() -> void:
super()
for i in range(1, latitude + 1):
var lat0 := PI * (-0.5 + (i - 1) / (latitude as float))
var y0 := sin(lat0)
var r0 := cos(lat0)
var lat1 := PI * (-0.5 + i / (latitude as float))
var y1 := sin(lat1)
var r1 := cos(lat1)
for j in range(1, longitude + 1):
var lon0 := 2 * PI * ((j - 1) / (longitude as float))
var x0 := cos(lon0)
var z0 := sin(lon0)
var lon1 := 2 * PI * (j / (longitude as float))
var x1 := cos(lon1)
var z1 := sin(lon1)
var points := [radius * Vector3(x1 * r0, y0, z1 * r0) + position,
radius * Vector3(x1 * r1, y1, z1 * r1) + position,
radius * Vector3(x0 * r1, y1, z0 * r1) + position,
radius * Vector3(x0 * r0, y0, z0 * r0) + position]
if draw_surfaces:
add_triangle_primitive([points[0], points[1], points[2]])
add_triangle_primitive([points[2], points[3], points[0]])
else:
add_line_primitive([points[0], points[1]])
add_line_primitive([points[1], points[2]])
func _to_string() -> String:
return "DebugSphere"
class DebugCone extends DebugShape:
var longitude := 8
var radius_top := 0.5
var radius_base := 0.5
var base := Vector3.ZERO
var top := Vector3.ZERO
var draw_caps := false
func _init(p1: Vector3, p2: Vector3, r1: float, r2: float, sides: int = 8) -> void:
base = p1
top = p2
radius_base = r1
radius_top = r2
longitude = sides
func _draw_debug_shape() -> void:
super()
position = (top + base) / 2
var height := (top - base).length()
for i in range(1, longitude + 1):
var lon0 := 2 * PI * ((i - 1) as float / longitude)
var x0 := cos(lon0)
var z0 := sin(lon0)
var lon1 := 2 * PI * (i as float / longitude)
var x1 := cos(lon1)
var z1 := sin(lon1)
var points := [Vector3(x0 * radius_base, 0, z0 * radius_base),
Vector3(x0 * radius_top, height, z0 * radius_top),
Vector3(x1 * radius_base, 0, z1 * radius_base),
Vector3(x1 * radius_top, height, z1 * radius_top),
Vector3(0.0, 0, 0.0),
Vector3(0.0, height, 0.0)]
var dir := (top - base).normalized()
var rot := Vector3.RIGHT
var ang := 0.0
if dir == Vector3.DOWN:
ang = PI
elif dir != Vector3.UP and dir != Vector3.ZERO:
rot = Vector3.UP.cross(dir).normalized()
ang = Vector3.UP.angle_to(dir)
for j in range(points.size()):
points[j] = points[j].rotated(rot, ang) + base
if draw_surfaces:
add_triangle_primitive([points[0], points[2], points[1]])
add_triangle_primitive([points[1], points[2], points[3]])
if draw_caps:
add_triangle_primitive([points[0], points[4], points[2]])
add_triangle_primitive([points[1], points[3], points[5]])
else:
add_line_primitive([points[0], points[1]])
add_line_primitive([points[1], points[3]])
add_line_primitive([points[2], points[0]])
if draw_caps:
add_line_primitive([points[0], points[4]])
add_line_primitive([points[1], points[5]])
func _to_string() -> String:
return "DebugCone"
class DebugCylinder extends DebugCone:
func _init(p1: Vector3, p2: Vector3, rad: float, lon: int = 8) -> void:
super(p1, p2, rad, rad, lon)
func _to_string() -> String:
return "DebugCylinder"
class DebugArrow extends DebugShapeCompound:
var direction := Vector3.ONE
var length := 1.0
func _init(pos: Vector3, dir: Vector3, size: float) -> void:
position = pos
direction = dir
length = size
func _draw_debug_shape() -> void:
debug_shapes.clear()
direction = direction.normalized()
var arrow_end_local := direction * length
var arrow_body := DebugCylinder.new(
position, position + 0.8 * arrow_end_local, 0.05 * length, 8)
arrow_body.color = color
arrow_body.draw_surfaces = draw_surfaces
arrow_body.draw_caps = true
var arrow_tip := DebugCone.new(
position + 0.8 * arrow_end_local, position + arrow_end_local, 0.1 * length, 0, 8)
arrow_tip.color = color
arrow_tip.draw_surfaces = draw_surfaces
arrow_tip.draw_caps = true
add_debug_shape(arrow_body)
add_debug_shape(arrow_tip)
super()
func _to_string() -> String:
return "DebugArrow"
class DebugCoordinateSystem extends DebugShapeCompound:
var size := 1.0
var dir_x := Vector3.RIGHT
var dir_y := Vector3.UP
var color_intensity := 1.0
func _init(x: Vector3 = Vector3.RIGHT, y: Vector3 = Vector3.UP, s: float = 1.0) -> void:
dir_x = x
dir_y = y
size = s
func _draw_debug_shape() -> void:
debug_shapes.clear()
dir_x = dir_x.normalized()
var dir_z = dir_x.cross(dir_y).normalized()
dir_y = dir_z.cross(dir_x).normalized()
color_intensity = clamp(color_intensity, 0, 10)
var arrow_x := DebugArrow.new(position, dir_x, size)
var arrow_y := DebugArrow.new(position, dir_y, size)
var arrow_z := DebugArrow.new(position, dir_z, size)
arrow_x.draw_surfaces = draw_surfaces
arrow_y.draw_surfaces = draw_surfaces
arrow_z.draw_surfaces = draw_surfaces
arrow_x.color = Color(color_intensity, 0, 0)
arrow_y.color = Color(0, color_intensity, 0)
arrow_z.color = Color(0, 0, color_intensity)
add_debug_shape(arrow_x)
add_debug_shape(arrow_y)
add_debug_shape(arrow_z)
super()
func _to_string() -> String:
return "DebugCoordinateSystem"
class DebugGrid extends DebugShape:
var length := 5.0
var width := 5.0
var length_divs := 6 :
set(value):
length_divs = 1 if value < 1 else value
var width_divs := 6 :
set(value):
width_divs = 1 if value < 1 else value
var normal_direction := Vector3(0, 1, 0)
var tangent_direction := Vector3(1, 0, 0)
func _init(a: float, b: float, div_a: int, div_b: int,
normal: Vector3 = Vector3(0, 1, 0), tangent: Vector3 = Vector3(1, 0, 0)) -> void:
length = a
width = b
length_divs = div_a
width_divs = div_b
normal_direction = normal
tangent_direction = tangent
func _draw_debug_shape() -> void:
super()
if tangent_direction == normal_direction:
tangent_direction = Vector3.RIGHT
var normal_rotation := Vector3.RIGHT
var normal_angle := 0.0
if normal_direction == Vector3.DOWN:
normal_angle = PI
elif normal_direction != Vector3.UP and normal_direction != Vector3.ZERO:
normal_rotation = Vector3.UP.cross(normal_direction).normalized()
normal_angle = Vector3.UP.angle_to(normal_direction)
if normal_direction.cross(Vector3.UP).normalized() == -normal_direction.normalized():
normal_angle = -normal_angle
var rotated_right_vector := Vector3.RIGHT.rotated(normal_rotation, normal_angle)
var tangent_rotation := normal_direction.normalized()
var projection := tangent_direction - tangent_direction.dot(normal_direction) / normal_direction.length_squared() * normal_direction
var tangent_angle := rotated_right_vector.angle_to(projection)
if rotated_right_vector.cross(projection).normalized() != normal_direction.normalized():
tangent_angle = -tangent_angle
for i in range(0, length_divs + 1):
var lx := length * (i as float / length_divs - 0.5)
add_line_primitive([Vector3(lx, 0, -width / 2.0).rotated(normal_rotation, normal_angle).rotated(
tangent_rotation, tangent_angle) + position,
Vector3(lx, 0, width / 2.0).rotated(normal_rotation, normal_angle).rotated(
tangent_rotation, tangent_angle) + position])
for j in range(0, width_divs + 1):
var lz := width * (j as float / width_divs - 0.5)
add_line_primitive([Vector3(-length / 2.0, 0, lz).rotated(normal_rotation, normal_angle).rotated(
tangent_rotation, tangent_angle) + position,
Vector3(length / 2.0, 0, lz).rotated(normal_rotation, normal_angle).rotated(
tangent_rotation, tangent_angle) + position])
func _to_string() -> String:
return "DebugGrid"
class DebugLine extends DebugCylinder:
var line_thickness := 0.0
func _init(p1: Vector3, p2: Vector3, thickness: float) -> void:
super(p1, p2, thickness, 8)
base = p1
top = p2
line_thickness = thickness
func _draw_debug_shape() -> void:
if line_thickness <= 0.0:
draw_surfaces = false
add_line_primitive([base, top])
else:
draw_surfaces = true
super()
func _to_string() -> String:
return "DebugLine"
class DebugPoint extends DebugSphere:
func _init(size: float) -> void:
super(size / 2, 8, 4)
if size < 0.005:
radius = 0.005
func _draw_debug_shape() -> void:
super()
func _to_string() -> String:
return "DebugPoint"