void OnDrawGizmos()
{
if (lastContacts == null)
{
return;
}
foreach (Contact lastContact in lastContacts)
{
if (!lastContact.IsTouching())
{
return;
}
FarseerPhysics.Common.FixedArray2 <FVector2> contactPoints;
FVector2 normal;
lastContact.GetWorldManifold(out normal, out contactPoints);
Vector3 p0 = FSHelper.FVector2ToVector3(contactPoints[0]);
Vector3 p1 = FSHelper.FVector2ToVector3(contactPoints[1]);
Vector3 pn = FSHelper.FVector2ToVector3(normal);
Gizmos.color = Color.red;
Gizmos.DrawWireSphere(p0, 0.15f);
Gizmos.DrawLine(p0, p0 + pn * 2f);
Gizmos.color = Color.yellow;
Gizmos.DrawWireSphere(p1, 0.15f);
Gizmos.DrawLine(p1, p1 + pn * 2f);
}
}
protected virtual void ConvertToConvex(FSConcaveShapeComponent targetCSC)
{
FSShapeComponent[] childcomps = targetCSC.GetComponentsInChildren <FSShapeComponent>();
if (childcomps != null)
{
if (childcomps.Length > 0)
{
for (int i = 0; i < childcomps.Length; i++)
{
if (childcomps[i] == null)
{
continue;
}
if (childcomps[i].gameObject == null)
{
continue;
}
DestroyImmediate(childcomps[i].gameObject);
}
}
}
// convert vertices
FarseerPhysics.Common.Vertices concaveVertices = new FarseerPhysics.Common.Vertices();
if (targetCSC.PointInput == FSShapePointInput.Transform)
{
for (int i = 0; i < targetCSC.TransformPoints.Length; i++)
{
concaveVertices.Add(FSHelper.Vector3ToFVector2(targetCSC.TransformPoints[i].localPosition));
}
}
List <FarseerPhysics.Common.Vertices> convexShapeVs = FarseerPhysics.Common.Decomposition.BayazitDecomposer.ConvexPartition(concaveVertices);
for (int i = 0; i < convexShapeVs.Count; i++)
{
GameObject newConvShape = new GameObject("convexShape" + i.ToString());
newConvShape.transform.parent = targetCSC.transform;
newConvShape.transform.localPosition = Vector3.zero;
newConvShape.transform.localRotation = Quaternion.Euler(Vector3.zero);
newConvShape.transform.localScale = Vector3.one;
FSShapeComponent shape0 = newConvShape.AddComponent <FSShapeComponent>();
shape0.CollidesWith = targetCSC.CollidesWith;
shape0.CollisionFilter = targetCSC.CollisionFilter;
shape0.BelongsTo = targetCSC.BelongsTo;
shape0.CollisionGroup = targetCSC.CollisionGroup;
shape0.Friction = targetCSC.Friction;
shape0.Restitution = targetCSC.Restitution;
shape0.Density = targetCSC.Density;
shape0.UseUnityCollider = false;
shape0.PolygonPoints = new Transform[convexShapeVs[i].Count];
for (int j = 0; j < convexShapeVs[i].Count; j++)
{
GameObject pnew = new GameObject("p" + j.ToString());
pnew.transform.parent = shape0.transform;
pnew.transform.localPosition = FSHelper.FVector2ToVector3(convexShapeVs[i][j]);
shape0.PolygonPoints[j] = pnew.transform;
}
}
}
public static FDVertex FromLine(FVector2 begin, FVector2 end, Color color)
{
FDVertex fv = new FDVertex();
fv.Position = new Vector3[2];
fv.Position[0] = FSHelper.FVector2ToVector3(begin);
fv.Position[1] = FSHelper.FVector2ToVector3(end);
fv.Color = color;
return(fv);
}
public static FDVertex FromTriangleList(FVector2 p0, FVector2 p1, FVector2 p2, Color color)
{
FDVertex fv = new FDVertex();
fv.Position = new Vector3[3];
fv.Position[0] = FSHelper.FVector2ToVector3(p0);
fv.Position[1] = FSHelper.FVector2ToVector3(p1);
fv.Position[2] = FSHelper.FVector2ToVector3(p2);
fv.Color = color;
return(fv);
}
public void ConvertToConvex()
{
FSShapeComponent[] childFsShapes = GetComponentsInChildren <FSShapeComponent>();
foreach (FSShapeComponent shapeComponent in childFsShapes)
{
if (shapeComponent.gameObject == null)
{
continue;
}
DestroyImmediate(shapeComponent.gameObject);
}
// convert vertices
var concaveVertices = new FarseerPhysics.Common.Vertices();
if (PointInput == FSShapePointInput.Transform)
{
for (int i = 0; i < PointsTransforms.Length; i++)
{
concaveVertices.Add(FSHelper.Vector3ToFVector2(PointsTransforms[i].localPosition));
}
}
if (PointInput == FSShapePointInput.Vector2List)
{
foreach (var coordinate in PointsCoordinates)
{
concaveVertices.Add(FSHelper.Vector2ToFVector2(transform.TransformPoint(coordinate)));
}
}
List <FarseerPhysics.Common.Vertices> convexShapeVs =
FarseerPhysics.Common.Decomposition.BayazitDecomposer.ConvexPartition(concaveVertices);
for (int i = 0; i < convexShapeVs.Count; i++)
{
var newConvShape = new GameObject("convexShape" + i.ToString());
newConvShape.transform.parent = transform;
newConvShape.transform.localPosition = Vector3.zero;
newConvShape.transform.localRotation = Quaternion.Euler(Vector3.zero);
newConvShape.transform.localScale = Vector3.one;
var shapeComponent = newConvShape.AddComponent <FSShapeComponent>();
shapeComponent.CollidesWith = CollidesWith;
shapeComponent.CollisionFilter = CollisionFilter;
shapeComponent.BelongsTo = BelongsTo;
shapeComponent.CollisionGroup = CollisionGroup;
shapeComponent.Friction = Friction;
shapeComponent.Restitution = Restitution;
shapeComponent.Density = Density;
shapeComponent.UseUnityCollider = false;
shapeComponent.UseTransforms = (PointInput == FSShapePointInput.Transform);
if (PointInput == FSShapePointInput.Transform)
{
shapeComponent.PolygonTransforms = new Transform[convexShapeVs[i].Count];
for (int j = 0; j < convexShapeVs[i].Count; j++)
{
var pnew = new GameObject("p" + j.ToString(CultureInfo.InvariantCulture));
pnew.transform.parent = shapeComponent.transform;
pnew.transform.localPosition = FSHelper.FVector2ToVector3(convexShapeVs[i][j]);
shapeComponent.PolygonTransforms[j] = pnew.transform;
}
}
else
{
shapeComponent.PolygonCoordinates = new Vector2[convexShapeVs[i].Count];
for (int j = 0; j < convexShapeVs[i].Count; j++)
{
shapeComponent.PolygonCoordinates[j] = newConvShape.transform.InverseTransformPoint(FSHelper.FVector2ToVector3(convexShapeVs[i][j]));
}
}
}
}