1 files changed, 36 insertions, 1 deletions

diff --git a/src/sim/rb_sim/mod.rs b/src/sim/rb_sim/mod.rs
index 8101afd..48e4282 100644
--- a/src/sim/rb_sim/mod.rs
+++ b/src/sim/rb_sim/mod.rs
@@ -1,3 +1,4 @@
+pub mod debug_render;
 pub mod rb_entity;
 
 use fxhash::FxHashMap;
@@ -12,10 +13,15 @@ use crate::{
     config::{CELLS_IN_CHUNK, CHUNK_SIZE, PHYSICS_DELTA_TIME, PIXELS_TO_METRES},
     sim::{
         cell::{cell::Cell, materials::MaterialId},
-        rb_sim::rb_entity::RbEntity,
+        rb_sim::{
+            debug_render::{DebugLineBuffer, DebugVertex},
+            rb_entity::RbEntity,
+        },
     },
 };
 
+pub use rapier2d::pipeline::DebugRenderMode;
+
 pub struct PhysicsManager {
     rigid_body_set: prelude::RigidBodySet,
     collider_set: prelude::ColliderSet,
@@ -27,6 +33,7 @@ pub struct PhysicsManager {
     impulse_joint_set: prelude::ImpulseJointSet,
     multibody_joint_set: prelude::MultibodyJointSet,
     ccd_solver: prelude::CCDSolver,
+    debug_render_pipeline: prelude::DebugRenderPipeline,
 }
 
 impl PhysicsManager {
@@ -47,6 +54,14 @@ impl PhysicsManager {
             impulse_joint_set: prelude::ImpulseJointSet::new(),
             multibody_joint_set: prelude::MultibodyJointSet::new(),
             ccd_solver: prelude::CCDSolver::new(),
+            debug_render_pipeline: prelude::DebugRenderPipeline::new(
+                prelude::DebugRenderStyle {
+                    sleep_color_multiplier: [1.0; 4],
+                    sleep_eligible_color_multiplier: [1.0; 4],
+                    ..prelude::DebugRenderStyle::default()
+                },
+                prelude::DebugRenderMode::default(),
+            ),
         }
     }
 }
@@ -55,6 +70,7 @@ pub struct RbSimManager {
     physics_manager: PhysicsManager,
     pub rb_entities: FxHashMap<u32, RbEntity>,
     next_id: u32,
+    debug_line_buffer: DebugLineBuffer,
 }
 
 impl RbSimManager {
@@ -77,6 +93,24 @@ impl RbSimManager {
         );
     }
 
+    pub fn debug_render(&mut self, mode: DebugRenderMode) -> &[DebugVertex] {
+        puffin::profile_function!();
+
+        let physics = &mut self.physics_manager;
+        self.debug_line_buffer.vertices.clear();
+        physics.debug_render_pipeline.mode = mode;
+        physics.debug_render_pipeline.render(
+            &mut self.debug_line_buffer,
+            &physics.rigid_body_set,
+            &physics.collider_set,
+            &physics.impulse_joint_set,
+            &physics.multibody_joint_set,
+            &physics.narrow_phase,
+        );
+
+        &self.debug_line_buffer.vertices
+    }
+
     pub fn create_rb_entity(
         &mut self,
         cells: Box<[Cell; CELLS_IN_CHUNK]>,
@@ -175,6 +209,7 @@ impl RbSimManager {
             physics_manager: PhysicsManager::new(),
             rb_entities: FxHashMap::default(),
             next_id: 0,
+            debug_line_buffer: DebugLineBuffer::default(),
         }
     }
 }