How to use the Box2D's b2Draw class in PyQt6 with OpenGL3? DrawSegment is not called

8Observer8 · 1 Oct 2023, 14:04

I am trying to draw colliders of Box2D. Now I have only physics in this example without graphics for simplicity. The DrawSegment() method must be called to print hello. I inherited the DebugDrawer class from the b2Draw class:

debug_drawer.py

from Box2D import b2Draw


class DebugDrawer(b2Draw):

    def DrawSegment(self, p1, p2, color):
        print("hello")

    def DrawSolidPolygon(self, vertices, color):
        pass
    def DrawPoint(self, p, size, color):
        pass
    def DrawPolygon(self, vertices, color):
        pass
    def DrawCircle(self, center, radius, color, drawwidth=1):
        pass
    def DrawSolidCircle(self, center, radius, axis, color):
        pass
    def DrawTransform(self, xf):
        pass

I created one object with the box shape. I have the animationLoop() method that I call with timer. Inside of the animationLoop() method I the self.world.Step() method and I call the paintGL() method by calling the self.update() method. Inside of the paintGL() method I call the self.world.DrawDebugData() method. I expect that the DrawSegment() will be called but it does not happen.

widget.py


from Box2D import (b2_staticBody, b2Body, b2BodyDef, b2FixtureDef,
                   b2PolygonShape, b2Vec2, b2World)
from OpenGL import GL as gl
from PyQt6.QtCore import QElapsedTimer, QSize, QTimer
from PyQt6.QtOpenGLWidgets import QOpenGLWidget

from debug_drawer import DebugDrawer


class Widget(QOpenGLWidget):

    def __init__(self):
        super().__init__()
        self.setWindowTitle("Box2D, OpenGL3, PyQt6")
        self.setFixedSize(QSize(500, 500))
        self.deltaTime = 0

        self.WORLD_SCALE = 30.0
        self.world = b2World(gravity=b2Vec2(0.0, 9.8))

    def initializeGL(self):
        gl.glClearColor(0.2, 0.2, 0.2, 1.0)
        gl.glEnable(gl.GL_DEPTH_TEST)

        self.debugDrawer = DebugDrawer()
        self.world.renderer = self.debugDrawer

        self.debugDrawer.flags = { 'drawShapes': True,
            'drawJoints': True, 'drawAABBs': True, 'drawPairs': True }
        # print(self.debugDrawer.flags)

        shape = b2PolygonShape()
        shape.SetAsBox(50.0 / self.WORLD_SCALE, 50.0 / self.WORLD_SCALE)

        bodyDef = b2BodyDef()
        bodyDef.type = b2_staticBody

        self.body: b2Body = self.world.CreateBody(bodyDef)
        fixtureDef = b2FixtureDef()
        fixtureDef.shape = shape
        fixtureDef.density = 2
        self.body.CreateFixture(fixtureDef)

        self.timer = QTimer()
        self.timer.timeout.connect(self.animationLoop)
        self.elapsedTimer = QElapsedTimer()
        self.elapsedTimer.start()
        self.timer.start(1000//60)
    
    def paintGL(self):
        gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
        self.world.DrawDebugData()
    
    def resizeGL(self, w: int, h: int):
        gl.glViewport(0, 0, w, h)

    def animationLoop(self):
        self.deltaTime = self.elapsedTimer.elapsed() / 1000.0
        self.elapsedTimer.restart()
        self.world.Step(self.deltaTime, 8, 3)
        self.update()

main.py

import sys

from PyQt6.QtCore import Qt
from PyQt6.QtGui import QSurfaceFormat
from PyQt6.QtWidgets import QApplication

from widget import Widget


def main():
    QApplication.setAttribute(Qt.ApplicationAttribute.AA_UseDesktopOpenGL)
    app = QApplication(sys.argv)

    format = QSurfaceFormat()
    format.setSamples(8)
    
    w = Widget()
    w.setFormat(format)
    w.show()
    sys.exit(app.exec())

if __name__ == "__main__":
    main()

Plan:

Add restart button

8Observer8 · wrote on 15 Aug 2022, 12:13

I have to use DrawPolygon to draw collider segments when I use blocks to draw borders around gameobjects. DrawSegment() will be called when b2EdgeShape is instantiated:

        edgeShape = b2EdgeShape()
        edgeShape.vertices = [(0.0, 0.0), (1.0, 0.0)]
        self.edgeBody: b2Body = self.world.CreateBody(bodyDef)
        edgeFixtureDef = b2FixtureDef()
        edgeFixtureDef.shape = edgeShape
        edgeFixtureDef.density = 2
        self.edgeBody.CreateFixture(edgeFixtureDef)

SGaist · 14 Aug 2022, 09:06

Hi,

From a quick look at the repo, and if I understood correctly your question, it seems you would need to call SetDebugDraw from the b2World class to make use of your class.

However there's a bug opened about that method so it's not really clear if it's possible.

8Observer8 · S SGaist 13 Aug 2022, 21:59

@SGaist said in How to use the Box2D's b2Draw class in PyQt6 with OpenGL3? DrawSegment is not called:

However there's a bug opened about that method so it's not really clear if it's possible.

This issue was opened by me. There is self.world.renderer = self.debugDrawer instead of self.world.SetDebugDraw(self.debugDrawer).

SGaist · wrote on 14 Aug 2022, 18:29

These are python bindings, so setting render like that might not work unless there is explicit support for that through the bindings.

You can add new attributes to python objects but that does not mean it will translate to the underlying C++ object.

8Observer8 · wrote on 14 Aug 2022, 20:48

This property exists in IntelliSense:

At first I found it in the documentation: https://github.com/pybox2d/pybox2d/wiki/manual#drawing

You can see there this example of usage:

draw = MyDraw()
world = b2World()
world.renderer = draw

DrawPolygon() works in my example. It prints hello:

from Box2D import b2Draw


class DebugDrawer(b2Draw):

    def DrawSegment(self, p1, p2, color):
        print("hello")

    def DrawPolygon(self, vertices, color):
        print("hello")

    def DrawSolidPolygon(self, vertices, color):
        pass
    def DrawPoint(self, p, size, color):
        pass
    def DrawCircle(self, center, radius, color, drawwidth=1):
        pass
    def DrawSolidCircle(self, center, radius, axis, color):
        pass
    def DrawTransform(self, xf):
        pass

But DrawSegment does not work and I do not understand why.

8Observer8 · wrote on 14 Aug 2022, 20:58

I can print polygons like this:

class DebugDrawer(b2Draw):

    def DrawSegment(self, p1, p2, color):
        print("hello")

    def DrawPolygon(self, vertices, color):
        print("Polygon. Begin")
        print(vertices[0][0] * 30, vertices[0][1] * 30)
        print(vertices[1][0] * 30, vertices[1][1] * 30)
        print(vertices[2][0] * 30, vertices[2][1] * 30)
        print(vertices[3][0] * 30, vertices[3][1] * 30)
        print("Polygon. End")

Output:

Polygon. Begin
-53.29999923706055 -53.29999923706055
53.29999923706055 -53.29999923706055
53.29999923706055 53.29999923706055
-53.29999923706055 53.29999923706055
Polygon. End

But I need segments. Why DrawSegment does not work?

8Observer8 · wrote on 14 Aug 2022, 21:05

Temporary I can get segments from polygon.

8Observer8 · wrote on 15 Aug 2022, 12:13

I have to use DrawPolygon to draw collider segments when I use blocks to draw borders around gameobjects. DrawSegment() will be called when b2EdgeShape is instantiated:

        edgeShape = b2EdgeShape()
        edgeShape.vertices = [(0.0, 0.0), (1.0, 0.0)]
        self.edgeBody: b2Body = self.world.CreateBody(bodyDef)
        edgeFixtureDef = b2FixtureDef()
        edgeFixtureDef.shape = edgeShape
        edgeFixtureDef.density = 2
        self.edgeBody.CreateFixture(edgeFixtureDef)

SGaist · 8 Jan 2023, 16:27

Glad you found out and thanks for sharing !

It would be nice a have a complete example that shows how to use a debug drawer provided by Box2D. Did you consider submitting one ?

8Observer8 · 1 Aug 2023, 17:15

@SGaist said in How to use the Box2D's b2Draw class in PyQt6 with OpenGL3? DrawSegment is not called:

It would be nice a have a complete example that shows how to use a debug drawer provided by Box2D. Did you consider submitting one ?

I wrote this simple example using OpenGL version 1 for simplicity:

PyBox2D currently works at most with Python version 3.8, as written on GitHub:

Recent builds should be available for Windows, Linux, and OS X, with Python 3.6, 3.7, and 3.8.

You must have PyQt6, PyOpenGL, and PyBox2D installed to run this example:

pip install PyQt6 PyOpenGL Box2D

main.py

import sys

from PyQt6.QtCore import Qt
from PyQt6.QtGui import QSurfaceFormat
from PyQt6.QtWidgets import QApplication

from opengl_widget import OpenGLWidget


def main():
    QApplication.setAttribute(Qt.ApplicationAttribute.AA_UseDesktopOpenGL)
    app = QApplication(sys.argv)

    format = QSurfaceFormat()
    format.setSamples(8)

    w = OpenGLWidget()
    w.setFormat(format)
    w.show()
    sys.exit(app.exec())

if __name__ == "__main__":
    main()

opengl_widget.py

import math

from Box2D import (b2_dynamicBody, b2_staticBody, b2Body, b2BodyDef,
                   b2FixtureDef, b2PolygonShape, b2Vec2, b2World)
from OpenGL.GL import *
from PyQt6.QtCore import QElapsedTimer, QSize, QTimer
from PyQt6.QtOpenGLWidgets import QOpenGLWidget

from debug_drawer import DebugDrawer


class OpenGLWidget(QOpenGLWidget):

    def __init__(self):
        super().__init__()
        self.setWindowTitle("Box2D, OpenGL1, PyQt6")
        self.setFixedSize(QSize(400, 400))
        self.deltaTime = 0

        self.WORLD_SCALE = 30.0
        self.world = b2World(gravity=b2Vec2(0.0, -9.8))

    def initializeGL(self):
        glClearColor(0.2, 0.2, 0.2, 1.0)

        self.debugDrawer = DebugDrawer()
        self.world.renderer = self.debugDrawer

        self.debugDrawer.flags = { 'drawShapes': True,
            'drawJoints': True, 'drawAABBs': True, 'drawPairs': True }
        # print(self.debugDrawer.flags)

        boxShape = b2PolygonShape()
        boxShape.SetAsBox(10 / self.WORLD_SCALE, 10 / self.WORLD_SCALE)
        boxBodyDef = b2BodyDef()
        boxBodyDef.type = b2_dynamicBody
        self.boxBody = self.world.CreateBody(boxBodyDef)
        boxFixtureDef = b2FixtureDef()
        boxFixtureDef.shape = boxShape
        boxFixtureDef.density = 2
        self.boxBody.CreateFixture(boxFixtureDef)
        self.boxBody.position = b2Vec2(100 / self.WORLD_SCALE, 100 / self.WORLD_SCALE)

        groundShape = b2PolygonShape()
        groundShape.SetAsBox(100 / self.WORLD_SCALE, 10 / self.WORLD_SCALE)
        groundBodyDef = b2BodyDef()
        groundBodyDef.type = b2_staticBody
        groundBody = self.world.CreateBody(groundBodyDef)
        groundFixtureDef = b2FixtureDef()
        groundFixtureDef.shape = groundShape
        groundFixtureDef.density = 2
        groundBody.CreateFixture(groundFixtureDef)
        groundBody.position = b2Vec2(100 / self.WORLD_SCALE, 0 / self.WORLD_SCALE)

        platformShape = b2PolygonShape()
        platformShape.SetAsBox(30 / self.WORLD_SCALE, 5 / self.WORLD_SCALE)
        platformBodyDef = b2BodyDef()
        platformBodyDef.type = b2_staticBody
        platformBody = self.world.CreateBody(platformBodyDef)
        platformFixtureDef = b2FixtureDef()
        platformFixtureDef.shape = platformShape
        boxFixtureDef.density = 2
        platformBody.CreateFixture(platformFixtureDef)
        platformBody.position = b2Vec2(100 / self.WORLD_SCALE, 50 / self.WORLD_SCALE)
        platformBody.angle = math.radians(-10)

        self.timer = QTimer()
        self.timer.timeout.connect(self.animationLoop)
        self.elapsedTimer = QElapsedTimer()
        self.elapsedTimer.start()
        self.timer.start(1000//60)

    def paintGL(self):
        glClear(GL_COLOR_BUFFER_BIT)
        self.world.DrawDebugData()

    def resizeGL(self, w, h):
        glViewport(0, 0, w, h)
        glMatrixMode(GL_PROJECTION)
        glLoadIdentity()
        glOrtho(0, 200, 0, 200, -10, 10)

    def animationLoop(self):
        self.deltaTime = self.elapsedTimer.elapsed() / 1000.0
        self.elapsedTimer.restart()
        self.world.Step(self.deltaTime, 8, 3)
        self.update()

debug_drawer.py

from Box2D import b2Draw
from OpenGL.GL import *


class DebugDrawer(b2Draw):

    def DrawSolidPolygon(self, vertexes, color):
        # print("Polygon. Begin")
        # print(vertexes[0][0] * 30, vertexes[0][1] * 30)
        # print(vertexes[1][0] * 30, vertexes[1][1] * 30)
        # print(vertexes[2][0] * 30, vertexes[2][1] * 30)
        # print(vertexes[3][0] * 30, vertexes[3][1] * 30)
        # print("Polygon. End")

        glLineWidth(3)

        glBegin(GL_LINES)
        glColor3f(color.r, color.g, color.b)

        glVertex2f(vertexes[0][0] * 30, vertexes[0][1] * 30)
        glVertex2f(vertexes[1][0] * 30, vertexes[1][1] * 30)

        glVertex2f(vertexes[1][0] * 30, vertexes[1][1] * 30)
        glVertex2f(vertexes[2][0] * 30, vertexes[2][1] * 30)

        glVertex2f(vertexes[2][0] * 30, vertexes[2][1] * 30)
        glVertex2f(vertexes[3][0] * 30, vertexes[3][1] * 30)
        
        glVertex2f(vertexes[3][0] * 30, vertexes[3][1] * 30)
        glVertex2f(vertexes[0][0] * 30, vertexes[0][1] * 30)
        glEnd()

    def DrawPolygon(self, vertexes, color):
        pass
    def DrawSegment(self, p1, p2, color):
        pass
    def DrawPoint(self, p, size, color):
        pass
    def DrawCircle(self, center, radius, color, drawwidth=1):
        pass
    def DrawSolidCircle(self, center, radius, axis, color):
        pass
    def DrawTransform(self, xf):
        pass

8Observer8 · wrote on 11 Jan 2023, 03:48

Added restart button:

Source code: https://github.com/8Observer8/edit-gravity-debug-drawer-opengl1-pyqt6