private void DrawRod(Vector3 pos, Quaternion rot)
{
Vector3 axisX = rot * Vector3.right;
Vector3 axisY = rot * Vector3.up;
Vector3 axisZ = rot * Vector3.forward;
Vector3 offsetX = 0.5f * kRodThickness * axisX;
Vector3 offsetY = 0.5f * (kRodLegnth - kRodThickness) * axisY;
Vector3 offsetZ = 0.5f * kRodThickness * axisZ;
Vector2 dimsSide = new Vector2(kRodThickness, kRodLegnth);
Vector2 dimsCap = new Vector2(kRodThickness, kRodThickness);
Quaternion q = Quaternion.AngleAxis(90.0f, Vector3.right);
Quaternion r = Quaternion.AngleAxis(90.0f, Vector3.up);
// sides
DebugUtil.DrawRect(pos + offsetZ + offsetY, rot * q, dimsSide, Color.red, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos + offsetX + offsetY, rot * r * q, dimsSide, Color.green, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos - offsetZ + offsetY, rot * r * r * q, dimsSide, Color.red, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos - offsetX + offsetY, rot * r * r * r * q, dimsSide, Color.green, true, DebugUtil.Style.FlatShaded);
// caps
DebugUtil.DrawRect(pos - (0.5f * kRodThickness) * axisY, rot, dimsCap, Color.yellow, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos + (kRodLegnth - 0.5f * kRodThickness) * axisY, rot, dimsCap, Color.yellow, true, DebugUtil.Style.FlatShaded);
// rotationAxis
DebugUtil.DrawArrow(pos, pos + 1.2f * m_rotDiffAxis, 0.1f, 0.3f, 32, 0.03f, Color.cyan, true, DebugUtil.Style.SmoothShaded);
}
private void Draw(Vector3[] value)
{
for (int x = 0; x < value.GetLength(0); ++x)
{
Vector3 p = ComputePoint(x);
Color c = ComputeColor(p, ComputePoint(0), ComputePoint(m_gridExtent - 1), 0.8f);
DebugUtil.DrawArrow(p, p + m_elementSize * value[x], 0.05f, c, true, DebugUtil.Style.FlatShaded);
}
}
private void DrawArrowSegments(Vector3 center)
{
Vector3 v0 = center + m_basePos - 0.7f * (m_baseRotQuat * Vector3.up);
Vector3 v1 = center + m_basePos + 0.7f * (m_baseRotQuat * Vector3.up);
int numSegments = (int)Mathf.Floor(6.0f + 8.0f * (1.0f + Mathf.Sin(m_phase)));
Color color = (m_style == DebugUtil.Style.Wireframe ? m_wireframeColor : new Color(0.9f, 0.9f, 0.1f));
DebugUtil.DrawArrow(v0, v1, 0.4f, 0.8f, numSegments, 0.0f, color, true, m_style);
}
private void Draw(Vector2[,] value)
{
for (int y = 0; y < value.GetLength(1); ++y)
{
for (int x = 0; x < value.GetLength(0); ++x)
{
Vector3 p = ComputePoint(x, y);
Color c = ComputeColor(p, ComputePoint(0, 0), ComputePoint(m_gridExtent - 1, m_gridExtent - 1), 0.6f);
DebugUtil.DrawArrow(p, p + m_elementSize * (new Vector3(value[y, x].x, value[y, x].y, 0.0f)), 0.05f, c, true, DebugUtil.Style.FlatShaded);
}
}
}
private void DrawArrowDimensions(Vector3 center)
{
float height = 1.1f + 0.3f * Mathf.Sin(m_phase);
float radius = 0.3f - 0.1f * Mathf.Cos(m_phase);
Vector3 v0 = center + m_basePos - 0.5f * height * (m_baseRotQuat * Vector3.up);
Vector3 v1 = center + m_basePos + 0.5f * height * (m_baseRotQuat * Vector3.up);
int numSegments = (int)Mathf.Floor(6.0f + 8.0f * (1.0f + Mathf.Sin(m_phase)));
Color color = (m_style == DebugUtil.Style.Wireframe ? m_wireframeColor : new Color(0.9f, 0.9f, 0.1f));
DebugUtil.DrawArrow(v0, v1, radius, 2.0f * radius, numSegments, radius * 0.4f, color, true, m_style);
}
private void Draw(Vector3[,,] value)
{
for (int z = 0; z < value.GetLength(2); ++z)
{
for (int y = 0; y < value.GetLength(1); ++y)
{
for (int x = 0; x < value.GetLength(0); ++x)
{
Vector3 p = ComputePoint(x, y, z);
Color c = ComputeColor(p, ComputePoint(0, 0, m_gridExtent - 1), ComputePoint(m_gridExtent - 1, m_gridExtent - 1, 0), 0.1f);
DebugUtil.DrawArrow(p, p + m_elementSize * value[z, y, x], 0.05f, c, true, DebugUtil.Style.FlatShaded);
}
}
}
}
private void Draw(Vector2[] input, Vector3[] value)
{
for (int i = 0; i < input.Length; ++i)
{
float farMult =
(input.Length == m_gridExtent)
? 0.8f
: 0.6f;
Vector3 p =
(input.Length == m_gridExtent)
? ComputePoint((int)input[i].x)
: ComputePoint((int)input[i].x, (int)input[i].y);
Color c = ComputeColor(p, ComputePoint(0, 0, m_gridExtent - 1), ComputePoint(m_gridExtent - 1, m_gridExtent - 1, 0), farMult);
DebugUtil.DrawArrow(p, p + m_elementSize * value[i], 0.05f, c, true, DebugUtil.Style.FlatShaded);
}
}
