1 files changed, 26 insertions, 0 deletions
diff --git a/src/3d/visual_debug.cc b/src/3d/visual_debug.cc
index 3f5778a..78c751b 100644
--- a/src/3d/visual_debug.cc
+++ b/src/3d/visual_debug.cc
@@ -225,6 +225,32 @@ void VisualDebug::add_mesh_normals(const mat4& transform, uint32_t num_vertices,
   }
 }
 
+void VisualDebug::add_mesh_wireframe(const mat4& transform, uint32_t num_vertices,
+                                     const MeshVertex* vertices, uint32_t num_indices,
+                                     const uint32_t* indices, const vec3& color) {
+  if (!vertices || !indices || num_indices == 0)
+    return;
+
+  for (uint32_t i = 0; i < num_indices; i += 3) {
+    if (i + 2 >= num_indices) break;
+    
+    uint32_t idx0 = indices[i];
+    uint32_t idx1 = indices[i + 1];
+    uint32_t idx2 = indices[i + 2];
+
+    if (idx0 >= num_vertices || idx1 >= num_vertices || idx2 >= num_vertices)
+      continue;
+
+    vec4 p0_world = transform * vec4(vertices[idx0].p[0], vertices[idx0].p[1], vertices[idx0].p[2], 1.0f);
+    vec4 p1_world = transform * vec4(vertices[idx1].p[0], vertices[idx1].p[1], vertices[idx1].p[2], 1.0f);
+    vec4 p2_world = transform * vec4(vertices[idx2].p[0], vertices[idx2].p[1], vertices[idx2].p[2], 1.0f);
+
+    add_line(p0_world.xyz(), p1_world.xyz(), color);
+    add_line(p1_world.xyz(), p2_world.xyz(), color);
+    add_line(p2_world.xyz(), p0_world.xyz(), color);
+  }
+}
+
 void VisualDebug::add_line(const vec3& start, const vec3& end, const vec3& color) {
   lines_.push_back({start, end, color});
 }