private static void DrawCylinderSidesWorld(this Graphics graphics, Color color, Vector3 start, Vector3 end, float radius, int segments)
{
var normal = (end - start).Normalized();
var vertices0 = GfxMath.GetCircleVertices(start, normal, radius, segments);
var vertices1 = GfxMath.GetCircleVertices(end, normal, radius, segments);
for (var i = 0; i < vertices0.Length; i++)
{
vertices0[i] = graphics.TransformWorldToScreen(vertices0[i]);
vertices1[i] = graphics.TransformWorldToScreen(vertices1[i]);
graphics.DrawPolylineScreen(color, vertices0[i], vertices1[i]);
}
}
public static void DrawCapsuleWorld(this Graphics graphics, Color color, Vector3 start, Vector3 end, float radius, int segments, int layers)
{
var normal = end - start;
normal.Normalize();
var halfSphere0 = GfxMath.GetHalfSphere(start, -normal, radius, segments, layers);
var halfSphere1 = GfxMath.GetHalfSphere(end, normal, radius, segments, layers);
// world to screen + draw layered circles
for (var i = 0; i < layers; i++)
{
for (var j = 0; j < segments + 1; j++)
{
halfSphere0[i][j] = graphics.TransformWorldToScreen(halfSphere0[i][j]);
halfSphere1[i][j] = graphics.TransformWorldToScreen(halfSphere1[i][j]);
}
graphics.DrawPolylineScreen(color, halfSphere0[i]);
graphics.DrawPolylineScreen(color, halfSphere1[i]);
}
// draw verticals of half-spheres (connect layered circles)
var halfSphereTopScreen0 = graphics.TransformWorldToScreen(start - normal * radius);
var halfSphereTopScreen1 = graphics.TransformWorldToScreen(end + normal * radius);
var verticals0 = new Vector3[layers + 1];
var verticals1 = new Vector3[layers + 1];
for (var vertexId = 0; vertexId < segments + 1; vertexId++)
{
for (var layerId = 0; layerId < layers; layerId++)
{
verticals0[layerId] = halfSphere0[layerId][vertexId];
verticals1[layerId] = halfSphere1[layerId][vertexId];
}
verticals0[layers] = halfSphereTopScreen0;
verticals1[layers] = halfSphereTopScreen1;
graphics.DrawPolylineScreen(color, verticals0);
graphics.DrawPolylineScreen(color, verticals1);
}
// draw vertical cylinder edges between half-spheres
graphics.DrawCylinderSidesWorld(color, start, end, radius, segments);
}
