add basic collision geom visualizations

5 files changed, 265 insertions, 72 deletions

diff --git a/honey/asset/mesh.lua b/honey/asset/mesh.lua
index f912577..8f02a88 100644
--- a/honey/asset/mesh.lua
+++ b/honey/asset/mesh.lua
@@ -41,7 +41,7 @@ local function loadShape(shape, attrib, debug)
 		end
 	end
 
-	if false then
+	if true then
 	-- helpful block for creating the builtin meshes
 		io.write("{")
 		for i, vertex in ipairs(vertices) do
@@ -1787,102 +1787,198 @@ init = function()
 	builtin(
 		"builtin.tube",
 		{
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 			0.555570, -1.000000, 0.831470, 0.634400, 0.000000, 0.773000, 0.593750, 0.000000, 
-			0.555570, -1.000000, 0.831470, 0.471400, 0.000000, 0.881900, 0.593750, 0.000000, 
 			0.555570, 1.000000, 0.831470, 0.471400, 0.000000, 0.881900, 0.593750, 1.000000, 
 			0.382683, 1.000000, 0.923880, 0.471400, 0.000000, 0.881900, 0.562500, 1.000000, 
-			0.555570, -1.000000, 0.831470, 0.471400, 0.000000, 0.881900, 0.593750, 0.000000, 
-			0.382683, 1.000000, 0.923880, 0.471400, 0.000000, 0.881900, 0.562500, 1.000000, 
 			0.382683, -1.000000, 0.923880, 0.471400, 0.000000, 0.881900, 0.562500, 0.000000, 
-			0.382683, -1.000000, 0.923880, 0.290300, 0.000000, 0.956900, 0.562500, 0.000000, 
 			0.382683, 1.000000, 0.923880, 0.290300, 0.000000, 0.956900, 0.562500, 1.000000, 
 			0.195090, 1.000000, 0.980785, 0.290300, 0.000000, 0.956900, 0.531250, 1.000000, 
-			0.382683, -1.000000, 0.923880, 0.290300, 0.000000, 0.956900, 0.562500, 0.000000, 
-			0.195090, 1.000000, 0.980785, 0.290300, 0.000000, 0.956900, 0.531250, 1.000000, 
 			0.195090, -1.000000, 0.980785, 0.290300, 0.000000, 0.956900, 0.531250, 0.000000, 
-			0.195090, -1.000000, 0.980785, 0.098000, 0.000000, 0.995200, 0.531250, 0.000000, 
 			0.195090, 1.000000, 0.980785, 0.098000, 0.000000, 0.995200, 0.531250, 1.000000, 
 			0.000000, 1.000000, 1.000000, 0.098000, 0.000000, 0.995200, 0.500000, 1.000000, 
-			0.195090, -1.000000, 0.980785, 0.098000, 0.000000, 0.995200, 0.531250, 0.000000, 
-			0.000000, 1.000000, 1.000000, 0.098000, 0.000000, 0.995200, 0.500000, 1.000000, 
 			0.000000, -1.000000, 1.000000, 0.098000, 0.000000, 0.995200, 0.500000, 0.000000, 
+			0.000000, 1.000000, 1.000000, -0.098000, 0.000000, 0.995200, 0.500000, 1.000000, 
+			-0.195090, 1.000000, 0.980785, -0.098000, 0.000000, 0.995200, 0.468750, 1.000000, 
+			-0.195090, -1.000000, 0.980785, -0.098000, 0.000000, 0.995200, 0.468750, 0.000000, 
+			-0.195090, 1.000000, 0.980785, -0.290300, 0.000000, 0.956900, 0.468750, 1.000000, 
+			-0.382683, 1.000000, 0.923880, -0.290300, 0.000000, 0.956900, 0.437500, 1.000000, 
+			-0.382683, -1.000000, 0.923880, -0.290300, 0.000000, 0.956900, 0.437500, 0.000000, 
+			-0.382683, 1.000000, 0.923880, -0.471400, 0.000000, 0.881900, 0.437500, 1.000000, 
+			-0.555570, 1.000000, 0.831470, -0.471400, 0.000000, 0.881900, 0.406250, 1.000000, 
+			-0.555570, -1.000000, 0.831470, -0.471400, 0.000000, 0.881900, 0.406250, 0.000000, 
+			-0.555570, 1.000000, 0.831470, -0.634400, 0.000000, 0.773000, 0.406250, 1.000000, 
+			-0.707107, 1.000000, 0.707107, -0.634400, 0.000000, 0.773000, 0.375000, 1.000000, 
+			-0.707107, -1.000000, 0.707107, -0.634400, 0.000000, 0.773000, 0.375000, 0.000000, 
+			-0.707107, 1.000000, 0.707107, -0.773000, 0.000000, 0.634400, 0.375000, 1.000000, 
+			-0.831470, 1.000000, 0.555570, -0.773000, 0.000000, 0.634400, 0.343750, 1.000000, 
+			-0.831470, -1.000000, 0.555570, -0.773000, 0.000000, 0.634400, 0.343750, 0.000000, 
+			-0.831470, 1.000000, 0.555570, -0.881900, 0.000000, 0.471400, 0.343750, 1.000000, 
+			-0.923880, 1.000000, 0.382683, -0.881900, 0.000000, 0.471400, 0.312500, 1.000000, 
+			-0.923880, -1.000000, 0.382683, -0.881900, 0.000000, 0.471400, 0.312500, 0.000000, 
+			-0.923880, 1.000000, 0.382683, -0.956900, 0.000000, 0.290300, 0.312500, 1.000000, 
+			-0.980785, 1.000000, 0.195090, -0.956900, 0.000000, 0.290300, 0.281250, 1.000000, 
+			-0.980785, -1.000000, 0.195090, -0.956900, 0.000000, 0.290300, 0.281250, 0.000000, 
+			-0.980785, 1.000000, 0.195090, -0.995200, 0.000000, 0.098000, 0.281250, 1.000000, 
+			-1.000000, 1.000000, 0.000000, -0.995200, 0.000000, 0.098000, 0.250000, 1.000000, 
+			-1.000000, -1.000000, 0.000000, -0.995200, 0.000000, 0.098000, 0.250000, 0.000000, 
+			-1.000000, 1.000000, 0.000000, -0.995200, 0.000000, -0.098000, 0.250000, 1.000000, 
+			-0.980785, 1.000000, -0.195090, -0.995200, 0.000000, -0.098000, 0.218750, 1.000000, 
+			-0.980785, -1.000000, -0.195090, -0.995200, 0.000000, -0.098000, 0.218750, 0.000000, 
+			-0.980785, 1.000000, -0.195090, -0.956900, 0.000000, -0.290300, 0.218750, 1.000000, 
+			-0.923880, 1.000000, -0.382683, -0.956900, 0.000000, -0.290300, 0.187500, 1.000000, 
+			-0.923880, -1.000000, -0.382683, -0.956900, 0.000000, -0.290300, 0.187500, 0.000000, 
+			-0.923880, 1.000000, -0.382683, -0.881900, 0.000000, -0.471400, 0.187500, 1.000000, 
+			-0.831470, 1.000000, -0.555570, -0.881900, 0.000000, -0.471400, 0.156250, 1.000000, 
+			-0.831470, -1.000000, -0.555570, -0.881900, 0.000000, -0.471400, 0.156250, 0.000000, 
+			-0.831470, 1.000000, -0.555570, -0.773000, 0.000000, -0.634400, 0.156250, 1.000000, 
+			-0.707107, 1.000000, -0.707107, -0.773000, 0.000000, -0.634400, 0.125000, 1.000000, 
+			-0.707107, -1.000000, -0.707107, -0.773000, 0.000000, -0.634400, 0.125000, 0.000000, 
+			-0.707107, 1.000000, -0.707107, -0.634400, 0.000000, -0.773000, 0.125000, 1.000000, 
+			-0.555570, 1.000000, -0.831470, -0.634400, 0.000000, -0.773000, 0.093750, 1.000000, 
+			-0.555570, -1.000000, -0.831470, -0.634400, 0.000000, -0.773000, 0.093750, 0.000000, 
+			-0.555570, 1.000000, -0.831470, -0.471400, 0.000000, -0.881900, 0.093750, 1.000000, 
+			-0.382683, 1.000000, -0.923880, -0.471400, 0.000000, -0.881900, 0.062500, 1.000000, 
+			-0.382683, -1.000000, -0.923880, -0.471400, 0.000000, -0.881900, 0.062500, 0.000000, 
+			-0.382683, 1.000000, -0.923880, -0.290300, 0.000000, -0.956900, 0.062500, 1.000000, 
+			-0.195090, 1.000000, -0.980785, -0.290300, 0.000000, -0.956900, 0.031250, 1.000000, 
+			-0.195090, -1.000000, -0.980785, -0.290300, 0.000000, -0.956900, 0.031250, 0.000000, 
+			-0.195090, 1.000000, -0.980785, -0.098000, 0.000000, -0.995200, 0.031250, 1.000000, 
+			0.000000, 1.000000, -1.000000, -0.098000, 0.000000, -0.995200, 0.000000, 1.000000, 
+			0.000000, -1.000000, -1.000000, -0.098000, 0.000000, -0.995200, 0.000000, 0.000000, 
 		},
 		{
 			0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,
@@ -1892,7 +1988,15 @@ init = function()
 			48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59,
 			60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71,
 			72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83,
-			84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95
+			84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95,
+			96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107,
+			108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119,
+			120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131,
+			132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143,
+			144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155,
+			156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167,
+			168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179,
+			180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 
 		}
 	)
 end
diff --git a/honey/asset/shader.lua b/honey/asset/shader.lua
index d1fecc4..8094a0c 100644
--- a/honey/asset/shader.lua
+++ b/honey/asset/shader.lua
@@ -183,4 +183,17 @@ builtin["builtin.flat.frag"] = [[
 	}
 ]]
 
+
+builtin["builtin.color.frag"] = [[
+	#version 410 core
+
+	out vec4 frag_color;
+	uniform vec3 color;
+
+	void main()
+	{
+		frag_color = vec4(color, 1.0);
+	}
+]]
+
 return module
diff --git a/honey/ecs/collision.lua b/honey/ecs/collision.lua
index f34c320..b385e76 100644
--- a/honey/ecs/collision.lua
+++ b/honey/ecs/collision.lua
@@ -67,7 +67,7 @@ end
 local updateGeom = ecs.System("collisionGeoms", function(db, dt, p)
 	for id, collision in pairs(db:queryComponent("collision")) do
 		if not collision._geom then
-			createGeom(p.space, collision)
+			createGeom(p.space, id, collision)
 		end
 		updateGeom(collision)
 	end
diff --git a/honey/ecs/ecs.lua b/honey/ecs/ecs.lua
index 0c84041..dc096be 100644
--- a/honey/ecs/ecs.lua
+++ b/honey/ecs/ecs.lua
@@ -307,7 +307,7 @@ end
 function SystemDb.addSystems(self, systems, params)
 	for _, system in ipairs(systems) do
 		self.systems[system.name] = system
-		self.params[system.name] = params
+		self.params[system.name] = params or {}
 	end
 	self.sort, self.dangling = tsort(self.systems)
 	return self
diff --git a/honey/ecs/render.lua b/honey/ecs/render.lua
index 8cca6cf..1c38692 100644
--- a/honey/ecs/render.lua
+++ b/honey/ecs/render.lua
@@ -1,4 +1,10 @@
-local ecs = require 'honey.ecs.ecs'
+local gl   = honey.gl
+local glfw = honey.glfw
+local ode  = honey.ode
+
+local ecs       = require 'honey.ecs.ecs'
+local collision = require 'honey.ecs.collision'
+local node      = require 'honey.ecs.node'
 
 local image  = require 'honey.asset.image'
 local shader = require 'honey.asset.shader'
@@ -8,16 +14,12 @@ local glm = require 'honey.glm'
 local Vec3       = glm.Vec3
 local Mat4       = glm.Mat4
 
-local gl = honey.gl
-local glfw = honey.glfw
-
-local node = require 'honey.ecs.node'
 
 local module = {}
 setmetatable(module, {__index=_G})
 setfenv(1, module)
 
---===== rendering =====--
+
 
 local function drawMesh(program, uniforms, matrices, vao, count)
 	gl.UseProgram(program)
@@ -49,6 +51,88 @@ local function drawMesh(program, uniforms, matrices, vao, count)
 end
 
 
+local function drawMeshes(db, view, projection)
+	local meshes = db:queryComponent("renderMesh")
+	for id, tbl in pairs(meshes) do
+		-- get model matrix
+		local node = db:getComponent(id, "node")
+		local model = (node and node._matrix) or Mat4():identity()
+
+		-- get shader program
+		local program = shader.get(tbl.shader)
+
+		-- get mesh
+		local vao, count = mesh.get(tbl.mesh.filename, tbl.mesh.index)
+
+		-- draw c:
+		drawMesh(program, tbl.uniforms or {}, {view=view, model=model, projection=projection}, vao, count)
+	end
+end
+
+
+local function drawGeoms(db, view, projection)
+	-- draw wireframes
+	gl.Enable(gl.CULL_FACE)
+	gl.PolygonMode(gl.FRONT_AND_BACK, gl.LINE)
+	gl.LineWidth(1)
+
+	-- shader program for all geoms
+	local program = shader.get{ vertex="builtin.basic3d.vert", fragment="builtin.color.frag" }
+	local uniforms = {
+		vec3 = {
+			color = Vec3{ 1, 0, 1 },
+		},
+	}
+
+	local query = db:queryComponent("collision")
+	for id, tbl in pairs(query) do
+		-- compute model matrix
+		local m = Mat4():identity()
+		m[1][4], m[2][4], m[3][4] = ode.GeomGetPosition(tbl._geom)
+		m[1][1], m[1][2], m[1][3],
+		m[2][1], m[2][2], m[2][3],
+		m[3][1], m[3][2], m[3][3] = ode.GeomGetRotation(tbl._geom)
+
+		local matrices = {
+			view=view,
+			projection=projection,
+			model=m,
+		}
+
+		-- get the mesh
+		if tbl.class == "sphere" then
+			m:scale(Vec3{tbl.radius, tbl.radius, tbl.radius})
+			local vao, count = mesh.get("builtin.hemisphere", 1)
+			drawMesh(program, uniforms, matrices, vao, count)
+			m:rotateX(math.pi)
+			drawMesh(program, uniforms, matrices, vao, count)
+		elseif tbl.class == "box" then
+			m:scale(Vec3{tbl.lx, tbl.ly, tbl.lz})
+			local vao, count = mesh.get("builtin.cube", 1)
+			drawMesh(program, uniforms, matrices, vao, count)
+		elseif tbl.class == "capsule" then
+			m:scale(Vec3{tbl.radius, tbl.length/2, tbl.radius})
+			local vao, count = mesh.get("builtin.tube", 1)
+			drawMesh(program, uniforms, matrices, vao, count)
+			m:scale(Vec3{1, 2*tbl.radius/tbl.length, 1})
+				:translate(Vec3{0, tbl.length/2, 0})
+			vao, count = mesh.get("builtin.hemisphere", 1)
+			drawMesh(program, uniforms, matrices, vao, count)
+			m:translate(Vec3{0, -tbl.length, 0})
+				:rotateX(math.pi)
+			drawMesh(program, uniforms, matrices, vao, count)
+		elseif tbl.class == "ray" then
+			m:scale(Vec3{0.001, 0.001, tbl.length})
+			local vao, count = mesh.get("builtin.cube", 1)
+			drawMesh(program, uniforms, matrices, vao, count)
+		end
+	end
+
+	-- switch out of wireframe mode
+	gl.PolygonMode(gl.FRONT_AND_BACK, gl.FILL)
+end
+
+
 local render = ecs.System("render", function(db, dt, p)
 	for id, camera in pairs(db:queryComponent("camera")) do
 		-- get camera's view and projection matrices
@@ -60,26 +144,18 @@ local render = ecs.System("render", function(db, dt, p)
 		else
 			view:identity()
 		end
-		
-		-- iterate over all scene meshes
-		local meshes = db:queryComponent("renderMesh")
-		for id, tbl in pairs(meshes) do
-			-- get model matrix
-			local node = db:getComponent(id, "node")
-			local model = (node and node._matrix) or Mat4():identity()
 
-			-- get shader program
-			local program = shader.get(tbl.shader)
-
-			-- get mesh
-			local vao, count = mesh.get(tbl.mesh.filename, tbl.mesh.index)
-
-			-- draw c:
-			drawMesh(program, tbl.uniforms or {}, {view=view, model=model, projection=projection}, vao, count)
+		-- optionally draw collision geoms
+		if p.drawGeoms then
+			drawGeoms(db, view, projection)
 		end
+		
+		-- render all scene meshes
+		drawMeshes(db, view, projection)
 	end
 end)
 render:addDependencies(node.system)
+render:addDependencies(collision.system)
 
 system = {render}