Linker error for debug renderer

[mickeyordog]

Hello, my project compiles fine when running the sample Hello World file, but I'm currently in the process of implementing a debug renderer and I'm getting the following error:

[build] Undefined symbols for architecture arm64:
[build]   "typeinfo for JPH::DebugRenderer", referenced from:
[build]       typeinfo for PhysicsDebugRenderer in libphysics.a[3](physicsDebugRenderer.cpp.o)
[build] ld: symbol(s) not found for architecture arm64

I'm using macOS Sonoma 14.4.1, in a VS Code project. Jolt is integrated via vcpkg/CMake with vcpkg install joltphysics[core,debugrenderer,profiler], so the debug renderer should be included there. I ran nm -gC path/to/libJolt.a | grep DebugRenderer and there were a lot of finds, maybe there's somehow no definition for it though. I'm not positive where to go from here. As mentioned, the default parts of the library are building and linking just fine.

Secondary question, what should the Batch in Batch CreateTriangleBatch() contain? I wasn't able to find any documentation about it, from what I see it's just a RefTargetVirtual? Thank you.

[jrouwe]

Undefined symbols for architecture arm64

Jolt by default compiles without C++ RTTI, your project is compiling with RTTI. Either turn it off for your own project or turn it on for Jolt using the CPP_RTTI_ENABLED cmake option.

Secondary question, what should the Batch in Batch CreateTriangleBatch() contain? I wasn't able to find any documentation about it, from what I see it's just a RefTargetVirtual? Thank you.

It's a handle to renderable data. It can be whatever you need it to be in order to be able to draw a batch of triangles. See example here:

JoltPhysics/TestFramework/Renderer/DebugRendererImp.h

Lines 61 to 71 in 9b3e9e6

	/// Implementation specific batch object
	class BatchImpl : public RefTargetVirtual, public RenderPrimitive
	{
	public:
	JPH_OVERRIDE_NEW_DELETE
	BatchImpl(Renderer *inRenderer, D3D_PRIMITIVE_TOPOLOGY inType) : RenderPrimitive(inRenderer, inType) { }
	virtual void AddRef() override { RenderPrimitive::AddRef(); }
	virtual void Release() override { if (--mRefCount == 0) delete this; }
	};

JoltPhysics/TestFramework/Renderer/DebugRendererImp.cpp

Lines 98 to 107 in 9b3e9e6

	DebugRenderer::Batch DebugRendererImp::CreateTriangleBatch(const Triangle *inTriangles, int inTriangleCount)
	{
	if (inTriangles == nullptr || inTriangleCount == 0)
	return mEmptyBatch;
	BatchImpl *primitive = new BatchImpl(mRenderer, D3D_PRIMITIVE_TOPOLOGY_TRIANGLELIST);
	primitive->CreateVertexBuffer(3 * inTriangleCount, sizeof(Vertex), inTriangles);
	return primitive;
	}

[mickeyordog]

Got it thank you. Is there a way to do that with vcpkg or would I need to compile from source myself?

[jrouwe]

I'm not the maintainer of the vcpkg, but looking at the vcpkg repository:

https://github.com/microsoft/vcpkg/blob/ff8d715b6dfcc192f4930e8e696afe6a2e0e85c0/ports/joltphysics/portfile.cmake#L13-L17

it is not exposed.

Exposing it should be trivial though. Just add something along the lines rtti_enabled CPP_RTTI_ENABLED to that code block and send a PR to microsoft.

[mickeyordog]

Thank you. I don't really know enough about CMake to feel confident submitted that myself, so I opened a request here. If you would be at all willing to help with this yourself that would be awesome, but otherwise I'll just wait to see if they are able to help with it.

[mickeyordog]

By the way I had one more question. For my debug renderer I call initialize in the constructor after the Jolt hello world is set up, and call NextFrame(), but nothing is being displayed. I checked with the debugger and only the initialize and CreateBatch functions are being called, none of the draw functions are being called. Do you have any idea why that might be?

[jrouwe]

You need to call PhysicsSystem::DrawBodies or activate any of the other debug drawing functions for Jolt to draw anything:

JoltPhysics/Samples/SamplesApp.cpp

Lines 527 to 568 in 248253f

	mDebugUI->CreateCheckBox(drawing_options, "Draw Shapes (H)", mBodyDrawSettings.mDrawShape, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawShape = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Shapes Wireframe (Alt+W)", mBodyDrawSettings.mDrawShapeWireframe, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawShapeWireframe = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateComboBox(drawing_options, "Draw Shape Color", { "Instance", "Shape Type", "Motion Type", "Sleep", "Island", "Material" }, (int)mBodyDrawSettings.mDrawShapeColor, [this](int inItem) { mBodyDrawSettings.mDrawShapeColor = (BodyManager::EShapeColor)inItem; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw GetSupport + Cvx Radius (Shift+H)", mBodyDrawSettings.mDrawGetSupportFunction, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawGetSupportFunction = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Shapes Using GetTrianglesStart/Next (Alt+H)", mDrawGetTriangles, [this](UICheckBox::EState inState) { mDrawGetTriangles = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw GetSupport Direction", mBodyDrawSettings.mDrawSupportDirection, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSupportDirection = inState == UICheckBox::STATE_CHECKED; mBodyDrawSettings.mDrawGetSupportFunction |= mBodyDrawSettings.mDrawSupportDirection; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw GetSupportingFace (Shift+F)", mBodyDrawSettings.mDrawGetSupportingFace, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawGetSupportingFace = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Constraints (C)", mDrawConstraints, [this](UICheckBox::EState inState) { mDrawConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Constraint Limits (L)", mDrawConstraintLimits, [this](UICheckBox::EState inState) { mDrawConstraintLimits = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Constraint Reference Frame", mDrawConstraintReferenceFrame, [this](UICheckBox::EState inState) { mDrawConstraintReferenceFrame = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Contact Point (1)", ContactConstraintManager::sDrawContactPoint, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawContactPoint = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Supporting Faces (2)", ContactConstraintManager::sDrawSupportingFaces, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawSupportingFaces = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Contact Point Reduction (3)", ContactConstraintManager::sDrawContactPointReduction, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawContactPointReduction = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Contact Manifolds (M)", ContactConstraintManager::sDrawContactManifolds, [](UICheckBox::EState inState) { ContactConstraintManager::sDrawContactManifolds = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Motion Quality Linear Cast", PhysicsSystem::sDrawMotionQualityLinearCast, [](UICheckBox::EState inState) { PhysicsSystem::sDrawMotionQualityLinearCast = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Bounding Boxes", mBodyDrawSettings.mDrawBoundingBox, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawBoundingBox = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Physics System Bounds", mDrawPhysicsSystemBounds, [this](UICheckBox::EState inState) { mDrawPhysicsSystemBounds = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Center of Mass Transforms", mBodyDrawSettings.mDrawCenterOfMassTransform, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawCenterOfMassTransform = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw World Transforms", mBodyDrawSettings.mDrawWorldTransform, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawWorldTransform = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Velocity", mBodyDrawSettings.mDrawVelocity, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawVelocity = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Sleep Stats", mBodyDrawSettings.mDrawSleepStats, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSleepStats = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Mass and Inertia (I)", mBodyDrawSettings.mDrawMassAndInertia, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawMassAndInertia = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Joints", mPoseDrawSettings.mDrawJoints, [this](UICheckBox::EState inState) { mPoseDrawSettings.mDrawJoints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Joint Orientations", mPoseDrawSettings.mDrawJointOrientations, [this](UICheckBox::EState inState) { mPoseDrawSettings.mDrawJointOrientations = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Joint Names", mPoseDrawSettings.mDrawJointNames, [this](UICheckBox::EState inState) { mPoseDrawSettings.mDrawJointNames = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Convex Hull Shape Face Outlines", ConvexHullShape::sDrawFaceOutlines, [](UICheckBox::EState inState) { ConvexHullShape::sDrawFaceOutlines = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Mesh Shape Triangle Groups", MeshShape::sDrawTriangleGroups, [](UICheckBox::EState inState) { MeshShape::sDrawTriangleGroups = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Mesh Shape Triangle Outlines", MeshShape::sDrawTriangleOutlines, [](UICheckBox::EState inState) { MeshShape::sDrawTriangleOutlines = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Height Field Shape Triangle Outlines", HeightFieldShape::sDrawTriangleOutlines, [](UICheckBox::EState inState) { HeightFieldShape::sDrawTriangleOutlines = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Submerged Volumes", Shape::sDrawSubmergedVolumes, [](UICheckBox::EState inState) { Shape::sDrawSubmergedVolumes = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Character Virtual Constraints", CharacterVirtual::sDrawConstraints, [](UICheckBox::EState inState) { CharacterVirtual::sDrawConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Character Virtual Walk Stairs", CharacterVirtual::sDrawWalkStairs, [](UICheckBox::EState inState) { CharacterVirtual::sDrawWalkStairs = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Character Virtual Stick To Floor", CharacterVirtual::sDrawStickToFloor, [](UICheckBox::EState inState) { CharacterVirtual::sDrawStickToFloor = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Vertices", mBodyDrawSettings.mDrawSoftBodyVertices, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyVertices = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Vertex Velocities", mBodyDrawSettings.mDrawSoftBodyVertexVelocities, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyVertexVelocities = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Edge Constraints", mBodyDrawSettings.mDrawSoftBodyEdgeConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyEdgeConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Bend Constraints", mBodyDrawSettings.mDrawSoftBodyBendConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyBendConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Volume Constraints", mBodyDrawSettings.mDrawSoftBodyVolumeConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyVolumeConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Skin Constraints", mBodyDrawSettings.mDrawSoftBodySkinConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodySkinConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body LRA Constraints", mBodyDrawSettings.mDrawSoftBodyLRAConstraints, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyLRAConstraints = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateCheckBox(drawing_options, "Draw Soft Body Predicted Bounds", mBodyDrawSettings.mDrawSoftBodyPredictedBounds, [this](UICheckBox::EState inState) { mBodyDrawSettings.mDrawSoftBodyPredictedBounds = inState == UICheckBox::STATE_CHECKED; });
	mDebugUI->CreateComboBox(drawing_options, "Draw Soft Body Constraint Color", { "Constraint Type", "Constraint Group", "Constraint Order" }, (int)mBodyDrawSettings.mDrawSoftBodyConstraintColor, [this](int inItem) { mBodyDrawSettings.mDrawSoftBodyConstraintColor = (ESoftBodyConstraintColor)inItem; });