Allow to display collision points in the debug viewer

apps/openmw/mwphysics/physicssystem.cpp

@@ -1,5 +1,8 @@
 #include "physicssystem.hpp"
 
+#include <LinearMath/btIDebugDraw.h>
+#include <LinearMath/btVector3.h>
+#include <memory>
 #include <osg/Group>
 #include <osg/Stats>
 
@@ -90,6 +93,7 @@ namespace MWPhysics
         }
 
         mTaskScheduler = std::make_unique<PhysicsTaskScheduler>(mPhysicsDt, mCollisionWorld);
+        mDebugDrawer = std::make_unique<MWRender::DebugDrawer>(mParentNode, mCollisionWorld.get());
     }
 
     PhysicsSystem::~PhysicsSystem()
@@ -124,14 +128,8 @@ namespace MWPhysics
     {
         mDebugDrawEnabled = !mDebugDrawEnabled;
 
-        if (mDebugDrawEnabled && !mDebugDrawer)
+        mCollisionWorld->setDebugDrawer(mDebugDrawEnabled ? mDebugDrawer.get() : nullptr);
-        {
+        mDebugDrawer->setDebugMode(mDebugDrawEnabled);
-            mDebugDrawer.reset(new MWRender::DebugDrawer(mParentNode, mCollisionWorld.get()));
-            mCollisionWorld->setDebugDrawer(mDebugDrawer.get());
-            mDebugDrawer->setDebugMode(mDebugDrawEnabled);
-        }
-        else if (mDebugDrawer)
-            mDebugDrawer->setDebugMode(mDebugDrawEnabled);
         return mDebugDrawEnabled;
     }
 
@@ -758,7 +756,7 @@ namespace MWPhysics
 
     void PhysicsSystem::debugDraw()
     {
-        if (mDebugDrawer)
+        if (mDebugDrawEnabled)
             mDebugDrawer->step();
     }
 
@@ -864,6 +862,12 @@ namespace MWPhysics
         stats.setAttribute(frameNumber, "Physics HeightFields", mHeightFields.size());
     }
 
+    void PhysicsSystem::reportCollision(const btVector3& position, const btVector3& normal)
+    {
+        if (mDebugDrawEnabled)
+            mDebugDrawer->addCollision(position, normal);
+    }
+
     ActorFrameData::ActorFrameData(const std::shared_ptr<Actor>& actor, const MWWorld::Ptr character, const MWWorld::Ptr standingOn,
             bool moveToWaterSurface, osg::Vec3f movement, float slowFall, float waterlevel)
         : mActor(actor), mActorRaw(actor.get()), mStandingOn(standingOn),

apps/openmw/mwphysics/physicssystem.hpp

@@ -45,6 +45,7 @@ class btDefaultCollisionConfiguration;
 class btCollisionDispatcher;
 class btCollisionObject;
 class btCollisionShape;
+class btVector3;
 
 namespace MWPhysics
 {
@@ -232,6 +233,7 @@ namespace MWPhysics
             bool isAreaOccupiedByOtherActor(const osg::Vec3f& position, const float radius, const MWWorld::ConstPtr& ignore) const;
 
             void reportStats(unsigned int frameNumber, osg::Stats& stats) const;
+            void reportCollision(const btVector3& position, const btVector3& normal);
 
         private:
 

apps/openmw/mwrender/bulletdebugdraw.cpp

@@ -1,4 +1,4 @@
-#include "bulletdebugdraw.hpp"
+#include <algorithm>
 
 #include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
 
@@ -6,17 +6,11 @@
 #include <osg/Group>
 
 #include <components/debug/debuglog.hpp>
+#include <components/misc/convert.hpp>
 
+#include "bulletdebugdraw.hpp"
 #include "vismask.hpp"
 
-namespace
-{
-    osg::Vec3f toOsg(const btVector3& vec)
-    {
-        return osg::Vec3f(vec.x(), vec.y(), vec.z());
-    }
-}
-
 namespace MWRender
 {
 
@@ -37,11 +31,14 @@ void DebugDrawer::createGeometry()
         mGeometry->setNodeMask(Mask_Debug);
 
         mVertices = new osg::Vec3Array;
+        mColors = new osg::Vec4Array;
 
         mDrawArrays = new osg::DrawArrays(osg::PrimitiveSet::LINES);
 
         mGeometry->setUseDisplayList(false);
         mGeometry->setVertexArray(mVertices);
+        mGeometry->setColorArray(mColors);
+        mGeometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
         mGeometry->setDataVariance(osg::Object::DYNAMIC);
         mGeometry->addPrimitiveSet(mDrawArrays);
 
@@ -70,23 +67,53 @@ void DebugDrawer::step()
     if (mDebugOn)
     {
         mVertices->clear();
+        mColors->clear();
         mWorld->debugDrawWorld();
+        showCollisions();
         mDrawArrays->setCount(mVertices->size());
         mVertices->dirty();
+        mColors->dirty();
         mGeometry->dirtyBound();
     }
 }
 
 void DebugDrawer::drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)
 {
-    mVertices->push_back(toOsg(from));
+    mVertices->push_back(Misc::Convert::toOsg(from));
-    mVertices->push_back(toOsg(to));
+    mVertices->push_back(Misc::Convert::toOsg(to));
+    mColors->push_back({1,1,1,1});
+    mColors->push_back({1,1,1,1});
+}
+
+void DebugDrawer::addCollision(const btVector3& orig, const btVector3& normal)
+{
+    mCollisionViews.emplace_back(orig, normal);
+}
+
+void DebugDrawer::showCollisions()
+{
+    const auto now = std::chrono::steady_clock::now();
+    for (auto& [from, to , created] : mCollisionViews)
+    {
+        if (now - created < std::chrono::seconds(2))
+        {
+            mVertices->push_back(Misc::Convert::toOsg(from));
+            mVertices->push_back(Misc::Convert::toOsg(to));
+            mColors->push_back({1,0,0,1});
+            mColors->push_back({1,0,0,1});
+        }
+    }
+    mCollisionViews.erase(std::remove_if(mCollisionViews.begin(), mCollisionViews.end(),
+                [&now](const CollisionView& view) { return now - view.mCreated >= std::chrono::seconds(2); }),
+            mCollisionViews.end());
 }
 
 void DebugDrawer::drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)
 {
-    mVertices->push_back(toOsg(PointOnB));
+    mVertices->push_back(Misc::Convert::toOsg(PointOnB));
-    mVertices->push_back(toOsg(PointOnB) + (toOsg(normalOnB) * distance * 20));
+    mVertices->push_back(Misc::Convert::toOsg(PointOnB) + (Misc::Convert::toOsg(normalOnB) * distance * 20));
+    mColors->push_back({1,1,1,1});
+    mColors->push_back({1,1,1,1});
 }
 
 void DebugDrawer::reportErrorWarning(const char *warningString)
@@ -96,7 +123,7 @@ void DebugDrawer::reportErrorWarning(const char *warningString)
 
 void DebugDrawer::setDebugMode(int isOn)
 {
-    mDebugOn = (isOn == 0) ? false : true;
+    mDebugOn = (isOn != 0);
 
     if (!mDebugOn)
         destroyGeometry();
@@ -109,6 +136,4 @@ int DebugDrawer::getDebugMode() const
     return mDebugOn;
 }
 
-
-
 }

apps/openmw/mwrender/bulletdebugdraw.hpp

@@ -1,6 +1,9 @@
 #ifndef OPENMW_MWRENDER_BULLETDEBUGDRAW_H
 #define OPENMW_MWRENDER_BULLETDEBUGDRAW_H
 
+#include <chrono>
+#include <vector>
+
 #include <osg/ref_ptr>
 #include <osg/Array>
 #include <osg/PrimitiveSet>
@@ -20,11 +23,22 @@ namespace MWRender
 
 class DebugDrawer : public btIDebugDraw
 {
+private:
+    struct CollisionView
+    {
+        btVector3 mOrig;
+        btVector3 mEnd;
+        std::chrono::time_point<std::chrono::steady_clock> mCreated;
+        CollisionView(btVector3 orig, btVector3 normal) : mOrig(orig), mEnd(orig + normal * 20), mCreated(std::chrono::steady_clock::now()) {};
+    };
+    std::vector<CollisionView> mCollisionViews;
+
 protected:
     osg::ref_ptr<osg::Group> mParentNode;
     btCollisionWorld *mWorld;
     osg::ref_ptr<osg::Geometry> mGeometry;
     osg::ref_ptr<osg::Vec3Array> mVertices;
+    osg::ref_ptr<osg::Vec4Array> mColors;
     osg::ref_ptr<osg::DrawArrays> mDrawArrays;
 
     bool mDebugOn;
@@ -41,6 +55,10 @@ public:
 
     void drawLine(const btVector3& from,const btVector3& to,const btVector3& color) override;
 
+    void addCollision(const btVector3& orig, const btVector3& normal);
+
+    void showCollisions();
+
     void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color) override;
 
     void reportErrorWarning(const char* warningString) override;