Using Debug Drawer (b3DebugDraw) with Box3D and Raylib in CLion using CMake and MinGW Использование Debug Drawer (b3DebugDraw) для Box3D и Raylib в CLion с использованием CMake и MinGW

Prefer video? You can watch the entire process in the video below. Предпочитаете видео? Вы можете посмотреть весь процесс в видео ниже.

Create a C or C++ project in CLion Создайте C или C++ проект в CLion

Run CLion and click on the New Project button: Запустите CLion и нажмите на кнопку New Project:

You can select a Locaton (1) and a type of project (2) - C or C++: Вы можете выбрать расположение проекта - Locaton (1) и тип проекта (2) - C или C++:

Let's select a C project and click the Create button: Давайте выберем проект на C и нажмем кнопку Create:

You can click the Run (1) or Debug (2) button to test the project launch and ensure that everything is working: Вы можете нажать кнопку Run (1) или Debug (2), чтобы протестировать запуск проекта и убедиться, что всё работает:

Setting up Box3D and Raylib in the CMakeLists.txt file Настройка Box3D и Raylib в файле CMakeLists.txt

Replace the contents of the CMakeLists.txt file with the following code: Замените содержимое файла CMakeLists.txt следующим кодом:

set(CMAKE_BUILD_TYPE "Debug")

cmake_minimum_required(VERSION 3.21)
project(debug-drawer-box3d-raylib-c)

set(CMAKE_C_STANDARD 17)
set(CMAKE_C_STANDARD_REQUIRED ON)

add_executable(app)

target_include_directories(app PRIVATE C:/libs/raylib-6.0_win64_mingw-w64/include)
target_link_directories(app PRIVATE C:/libs/raylib-6.0_win64_mingw-w64/lib)

target_include_directories(app PRIVATE C:/libs/box3d-0.1.0-mingw-winlibs-gcc-16.1/include)
target_link_directories(app PRIVATE C:/libs/box3d-0.1.0-mingw-winlibs-gcc-16.1/lib)

target_link_libraries(app PRIVATE box3d raylib winmm)

target_link_options(app PRIVATE -static)

target_sources(app
    PRIVATE
    main.c
)

Replace the contents of the main.c file with the following code: Замените содержимое файла main.c следующим кодом:

#include <box3d/box3d.h>
#include <raylib.h>
#include <raymath.h> // Required for QuaternionToMatrix and MatrixToFloat
#include <rlgl.h>    // Required for rlPushMatrix, rlMultMatrixf, rlPopMatrix
#include <stdio.h>
#include <stdlib.h> // Required for malloc/free

// Global or persistent data
b3WorldId worldId;
b3DebugDraw dd;

Camera3D camera = { 0 };

typedef struct
{
    b3ShapeType type;
    b3Vec3 extents; // For boxes, we store half-extents
    float radius;   // For spheres
} MyDebugShape;

int b3InternalAssert(const char *condition, const char *fileName, int lineNumber)
{
    printf("Box3D Assertion Failed: %s, file %s, line %d\n", condition, fileName, lineNumber);
    fflush(stdout);

    // Returning 1 usually tells the engine to trigger a breakpoint (if supported)
    // Returning 0 just ignores the error.
    // Using abort() here ensures the program stops immediately so you can debug.
    abort();

    return 1;
}

void *createDebugShape(const b3DebugShape *debugShape, void *context)
{
    MyDebugShape *myShape = (MyDebugShape *)malloc(sizeof(MyDebugShape));
    myShape->type = debugShape->type;

    if (debugShape->type == b3_hullShape)
    {
        b3AABB aabb = debugShape->hull->aabb;

        // Calculate the full dimensions (width, height, depth)
        // size = upperBound - lowerBound
        myShape->extents.x = (aabb.upperBound.x - aabb.lowerBound.x) * 0.5f;
        myShape->extents.y = (aabb.upperBound.y - aabb.lowerBound.y) * 0.5f;
        myShape->extents.z = (aabb.upperBound.z - aabb.lowerBound.z) * 0.5f;
    }
    else if (debugShape->type == b3_sphereShape)
    {
        myShape->radius = debugShape->sphere->radius;
    }

    return (void *)myShape;
}

void destroyDebugShape(void *userShape, void *context)
{
    free(userShape); // Free the memory we allocated
}

bool drawShape(void *userShape, b3WorldTransform transform, b3HexColor color, void *context)
{
    MyDebugShape *myShape = (MyDebugShape *)userShape;
    b3Vec3 pos = b3ToVec3(transform.p); // Convert high-precision b3Pos to float Vector3
    Vector3 vPos = { pos.x, pos.y, pos.z };

    if (myShape->type == b3_hullShape)
    {
        // Map b3Quat (s, v) to Raylib Quaternion (x, y, z, w)
        // Raylib expects: x, y, z, w
        // Box3D provides: v.x, v.y, v.z, s
        Matrix mat = QuaternionToMatrix((Quaternion) {
            transform.q.v.x,
            transform.q.v.y,
            transform.q.v.z,
            transform.q.s });

        // Apply translation to the matrix
        mat.m12 = pos.x;
        mat.m13 = pos.y;
        mat.m14 = pos.z;

        // Draw with matrix
        rlPushMatrix();
        rlMultMatrixf(MatrixToFloat(mat));

        Vector3 size = { myShape->extents.x * 2.0f, myShape->extents.y * 2.0f, myShape->extents.z * 2.0f };
        DrawCubeWires((Vector3) { 0, 0, 0 }, size.x, size.y, size.z, DARKGRAY);

        rlPopMatrix();
    }
    else if (myShape->type == b3_sphereShape) // Add this
    {
        // Create the rotation matrix from the quaternion
        Matrix mat = QuaternionToMatrix((Quaternion) {
            transform.q.v.x,
            transform.q.v.y,
            transform.q.v.z,
            transform.q.s });

        // Apply the translation
        mat.m12 = pos.x;
        mat.m13 = pos.y;
        mat.m14 = pos.z;

        // Apply the matrix so the sphere's coordinate system is transformed
        rlPushMatrix();
        rlMultMatrixf(MatrixToFloat(mat));

        // Draw the sphere wires at origin (0,0,0) because the matrix handles position
        DrawSphereWires((Vector3) { 0, 0, 0 }, myShape->radius, 10, 10, DARKGRAY);

        rlPopMatrix();
    }

    return true;
}

void CreateBoxAtMouse()
{
    if (IsMouseButtonPressed(MOUSE_BUTTON_LEFT))
    {
        // Get a ray from the camera to the mouse position
        Ray ray = GetMouseRay(GetMousePosition(), camera);

        // Find intersection with the Z = 0 plane.
        // The ray is: origin + t * direction
        // We want origin.z + t * direction.z = 0
        // So: t = -origin.z / direction.z
        float t = -ray.position.z / ray.direction.z;
        Vector3 worldPos = {
            ray.position.x + ray.direction.x * t,
            ray.position.y + ray.direction.y * t,
            0.0f // Fixed on the Z=0 plane
        };

        // Create the Box3D body
        b3BodyDef boxBodyDef = b3DefaultBodyDef();
        boxBodyDef.type = b3_dynamicBody;
        boxBodyDef.position = (b3Vec3) { worldPos.x, worldPos.y, worldPos.z };

        b3BodyId boxId = b3CreateBody(worldId, &boxBodyDef);

        b3BoxHull boxHull = b3MakeBoxHull(0.5f, 0.5f, 0.5f);
        b3ShapeDef boxShapeDef = b3DefaultShapeDef();
        boxShapeDef.density = 1.0f;

        b3CreateHullShape(boxId, &boxShapeDef, &boxHull.base);
    }
}

void CreateSphereAtMouse()
{
    if (IsMouseButtonPressed(MOUSE_BUTTON_RIGHT))
    {
        Ray ray = GetMouseRay(GetMousePosition(), camera);
        float t = -ray.position.z / ray.direction.z;
        Vector3 worldPos = {
            ray.position.x + ray.direction.x * t,
            ray.position.y + ray.direction.y * t,
            0.0f
        };

        b3BodyDef bodyDef = b3DefaultBodyDef();
        bodyDef.type = b3_dynamicBody;
        bodyDef.position = (b3Vec3) { worldPos.x, worldPos.y, worldPos.z };
        b3BodyId bodyId = b3CreateBody(worldId, &bodyDef);

        // Use the sphere primitive constructor
        b3Sphere sphere = { .center = { 0, 0, 0 }, .radius = 0.5f };
        b3ShapeDef shapeDef = b3DefaultShapeDef();
        shapeDef.density = 1.0f;

        b3CreateSphereShape(bodyId, &shapeDef, &sphere);
    }
}

void InitGame()
{
    InitWindow(800, 450, "Raylib and Box3D");
    SetTargetFPS(60);

    // Camera
    camera.position = (Vector3) { 0.f, 0.f, 10.f };
    camera.target = (Vector3) { 0.f, 0.f, 0.f };
    camera.up = (Vector3) { 0.f, 1.f, 0.f };
    camera.fovy = 50.f;
    camera.projection = CAMERA_PERSPECTIVE;

    // Debug draw
    dd = b3DefaultDebugDraw();
    dd.DrawShapeFcn = drawShape;
    dd.drawShapes = true;

    dd.drawingBounds = (b3AABB) {
        (b3Vec3) { -100.0f, -100.0f, -100.0f },
        (b3Vec3) { 100.0f, 100.0f, 100.0f }
    };

    // Box3D world
    b3WorldDef worldDef = b3DefaultWorldDef();
    worldDef.gravity = (b3Vec3) { 0.0f, -9.8f, 0.0f };
    worldDef.createDebugShape = createDebugShape;
    worldDef.destroyDebugShape = destroyDebugShape;
    worldId = b3CreateWorld(&worldDef);

    // Ground rotation
    // Convert 20 degrees to radians
    float angleInRadians = 10.0f * (PI / 180.0f);
    // Define the axis of rotation (Z-axis)
    b3Vec3 axis = { 0.f, 0.f, 1.f };
    // Create the quaternion
    b3Quat rotation = b3MakeQuatFromAxisAngle(axis, angleInRadians);

    // Create a ground
    b3BodyDef groundBodyDef = b3DefaultBodyDef();
    groundBodyDef.position = (b3Vec3) { 0.f, -2.f, 0.f };
    groundBodyDef.rotation = rotation;
    b3BodyId groundId = b3CreateBody(worldId, &groundBodyDef);
    b3BoxHull groundBox = b3MakeBoxHull(5.f, 0.2f, 1.f);
    b3ShapeDef groundShapeDef = b3DefaultShapeDef();
    b3CreateHullShape(groundId, &groundShapeDef, &groundBox.base);

    // Create a dynamic falling box
    b3BodyDef boxBodyDef = b3DefaultBodyDef();
    boxBodyDef.type = b3_dynamicBody;                 // This tells Box3D it should fall
    boxBodyDef.position = (b3Vec3) { 0.f, 5.f, 0.f }; // Start 5 units above
    b3BodyId boxId = b3CreateBody(worldId, &boxBodyDef);
    b3BoxHull boxHull = b3MakeBoxHull(0.5f, 0.5f, 0.5f);
    b3ShapeDef boxShapeDef = b3DefaultShapeDef();
    // Setting density makes the object have mass so gravity affects it
    boxShapeDef.density = 1.0f;
    b3CreateHullShape(boxId, &boxShapeDef, &boxHull.base);
}

void UpdateGame()
{
    CreateBoxAtMouse();
    CreateSphereAtMouse();
    b3World_Step(worldId, 1.0f / 60.0f, 5);
}

void DrawGame()
{
    BeginDrawing();
    ClearBackground(RAYWHITE);

    BeginMode3D(camera);
    b3World_Draw(worldId, &dd, B3_DEFAULT_MASK_BITS);
    EndMode3D();

    // Display game information
    b3Vec3 g = b3World_GetGravity(worldId);
    DrawText(TextFormat("Gravity is: (%0.1f, %0.1f, %0.1f)", g.x, g.y, g.z), 10, 10, 20, DARKGRAY);

    // Display controls
    DrawText("Controls: [Left Click] Spawn Box | [Right Click] Spawn Sphere", 10, 40, 20, MAROON);

    EndDrawing();
}

void ShutdownGame()
{
    b3DestroyWorld(worldId);
    CloseWindow();
}

int main()
{
    InitGame();

    while (!WindowShouldClose())
    {
        UpdateGame();
        DrawGame();
    }

    ShutdownGame();

    return 0;
}

When you run the example above, you will see the following result: Когда вы запустите пример выше, вы увидите следующий результат:

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