public static void DrawCollisionShape(HkShape shape, MatrixD worldMatrix, float alpha, ref int shapeIndex, string customText = null, bool isPhantom = false)
{
var color = GetShapeColor(shape.ShapeType, ref shapeIndex, isPhantom);
if (isPhantom)
{
alpha *= alpha;
}
color.A = (byte)(alpha * 255);
bool shaded = true;
float expandSize = 0.02f;
float expandRatio = 1.035f;
bool drawCustomText = false;
switch (shape.ShapeType)
{
case HkShapeType.Sphere:
{
var sphere = (HkSphereShape)shape;
float radius = sphere.Radius;
VRageRender.MyRenderProxy.DebugDrawSphere(worldMatrix.Translation, radius, color, alpha, true, shaded);
if (isPhantom)
{
VRageRender.MyRenderProxy.DebugDrawSphere(worldMatrix.Translation, radius, color, 1.0f, true, false);
VRageRender.MyRenderProxy.DebugDrawSphere(worldMatrix.Translation, radius, color, 1.0f, true, false, false);
}
drawCustomText = true;
break;
}
case HkShapeType.Capsule:
{
// Sphere and OBB to show cylinder space
var capsule = (HkCapsuleShape)shape;
Vector3D vertexA = Vector3.Transform(capsule.VertexA, worldMatrix);
Vector3D vertexB = Vector3.Transform(capsule.VertexB, worldMatrix);
VRageRender.MyRenderProxy.DebugDrawCapsule(vertexA, vertexB, capsule.Radius, color, true, shaded);
drawCustomText = true;
break;
}
case HkShapeType.Cylinder:
{
// Sphere and OBB to show cylinder space
var cylinder = (HkCylinderShape)shape;
VRageRender.MyRenderProxy.DebugDrawCylinder(worldMatrix, cylinder.VertexA, cylinder.VertexB, cylinder.Radius, color, alpha, true, shaded);
drawCustomText = true;
break;
}
case HkShapeType.Box:
{
var box = (HkBoxShape)shape;
VRageRender.MyRenderProxy.DebugDrawOBB(MatrixD.CreateScale(box.HalfExtents * 2 + new Vector3(expandSize)) * worldMatrix, color, alpha, true, shaded);
if (isPhantom)
{
VRageRender.MyRenderProxy.DebugDrawOBB(Matrix.CreateScale(box.HalfExtents * 2 + new Vector3(expandSize)) * worldMatrix, color, 1.0f, true, false);
VRageRender.MyRenderProxy.DebugDrawOBB(Matrix.CreateScale(box.HalfExtents * 2 + new Vector3(expandSize)) * worldMatrix, color, 1.0f, true, false, false);
}
drawCustomText = true;
break;
}
case HkShapeType.ConvexVertices:
{
var convexShape = (HkConvexVerticesShape)shape;
Vector3 center;
convexShape.GetGeometry(DebugGeometry, out center);
Vector3D transformedCenter = Vector3D.Transform(center, worldMatrix.GetOrientation());
var matrix = worldMatrix;
matrix = MatrixD.CreateScale(expandRatio) * matrix;
matrix.Translation -= transformedCenter * (expandRatio - 1);
//matrix.Translation += transformedCenter;
DrawGeometry(DebugGeometry, matrix, color, true, true);
drawCustomText = true;
break;
}
case HkShapeType.ConvexTranslate:
{
var translateShape = (HkConvexTranslateShape)shape;
DrawCollisionShape((HkShape)translateShape.ChildShape, Matrix.CreateTranslation(translateShape.Translation) * worldMatrix, alpha, ref shapeIndex, customText);
break;
}
case HkShapeType.ConvexTransform:
{
var transformShape = (HkConvexTransformShape)shape;
DrawCollisionShape(transformShape.ChildShape, transformShape.Transform * worldMatrix, alpha, ref shapeIndex, customText);
break;
}
case HkShapeType.Mopp:
{
var compoundShape = (HkMoppBvTreeShape)shape;
DrawCollisionShape(compoundShape.ShapeCollection, worldMatrix, alpha, ref shapeIndex, customText);
break;
}
case HkShapeType.List:
{
var listShape = (HkListShape)shape;
var iterator = listShape.GetIterator();
while (iterator.IsValid)
{
//string text = (customText ?? string.Empty) + "[" + iterator.CurrentShapeKey + "]";
DrawCollisionShape(iterator.CurrentValue, worldMatrix, alpha, ref shapeIndex, customText);
iterator.Next();
}
break;
}
case HkShapeType.StaticCompound:
{
var compoundShape = (HkStaticCompoundShape)shape;
if (DebugDrawFlattenHierarchy)
{
var it = compoundShape.GetIterator();
while (it.IsValid)
{
if (compoundShape.IsShapeKeyEnabled(it.CurrentShapeKey))
{
string text = (customText ?? string.Empty) + "-" + it.CurrentShapeKey + "-";
DrawCollisionShape(it.CurrentValue, worldMatrix, alpha, ref shapeIndex, text);
}
it.Next();
}
}
else
{
for (int i = 0; i < compoundShape.InstanceCount; i++)
{
bool enabled = compoundShape.IsInstanceEnabled(i);
string text;
if (enabled)
{
text = (customText ?? string.Empty) + "<" + i + ">";
}
else
{
text = (customText ?? string.Empty) + "(" + i + ")";
}
if (enabled)
{
DrawCollisionShape(compoundShape.GetInstance(i), compoundShape.GetInstanceTransform(i) * worldMatrix, alpha, ref shapeIndex, text);
}
}
}
break;
}
case HkShapeType.Triangle:
{
HkTriangleShape tri = (HkTriangleShape)shape;
VRageRender.MyRenderProxy.DebugDrawTriangle(tri.Pt0, tri.Pt1, tri.Pt2, Color.Green, false, false);
break;
}
case HkShapeType.BvTree:
{
var gridShape = (HkGridShape)shape;
if (HkGridShapeCellDebugDraw && !gridShape.Base.IsZero)
{
Vector3S min, max;
var cellSize = gridShape.CellSize;
int count = gridShape.GetShapeInfoCount();
for (int i = 0; i < count; i++)
{
try
{
gridShape.GetShapeInfo(i, out min, out max, m_tmpShapeList);
Vector3 size = max * cellSize - min * cellSize;
Vector3 center = (max * cellSize + min * cellSize) / 2.0f;
size += Vector3.One * cellSize;
var clr = color;
if (min == max)
{
clr = new Color(1.0f, 0.2f, 0.1f);
}
VRageRender.MyRenderProxy.DebugDrawOBB(Matrix.CreateScale(size + new Vector3(expandSize)) * Matrix.CreateTranslation(center) * worldMatrix, clr, alpha, true, shaded);
}
finally
{
m_tmpShapeList.Clear();
}
}
}
else
{
var msg = MyRenderProxy.PrepareDebugDrawTriangles();
try
{
using (HkShapeBuffer buf = new HkShapeBuffer())
{
var treeShape = (HkBvTreeShape)shape;
for (var i = treeShape.GetIterator(buf); i.IsValid; i.Next())
{
var child = i.CurrentValue;
if (child.ShapeType == HkShapeType.Triangle)
{
var tri = (HkTriangleShape)child;
msg.AddTriangle(tri.Pt0, tri.Pt1, tri.Pt2);
}
else
{
DrawCollisionShape(child, worldMatrix, alpha, ref shapeIndex);
}
}
}
}
finally
{
MyRenderProxy.DebugDrawTriangles(msg, worldMatrix, color, false, false);
}
}
break;
}
case HkShapeType.BvCompressedMesh:
{
if (MyDebugDrawSettings.DEBUG_DRAW_TRIANGLE_PHYSICS)
{
var meshShape = (HkBvCompressedMeshShape)shape;
meshShape.GetGeometry(DebugGeometry);
DrawGeometry(DebugGeometry, worldMatrix, Color.Green, false, false);
drawCustomText = true;
}
break;
}
case HkShapeType.Bv:
{
var bvShape = (HkBvShape)shape;
DrawCollisionShape(bvShape.BoundingVolumeShape, worldMatrix, alpha, ref shapeIndex, null, true);
DrawCollisionShape(bvShape.ChildShape, worldMatrix, alpha, ref shapeIndex);
break;
}
case HkShapeType.PhantomCallback:
{
// Nothing to draw, it's just shape with events
MyRenderProxy.DebugDrawText3D(worldMatrix.Translation, "Phantom", Color.Green, 0.75f, false);
break;
}
default:
break;
}
if (drawCustomText && customText != null)
{
color.A = 255;
MyRenderProxy.DebugDrawText3D(worldMatrix.Translation, customText, color, 0.8f, false);
}
}
public static unsafe void DrawCollisionShape(HkShape shape, MatrixD worldMatrix, float alpha, ref int shapeIndex, string customText = null, bool isPhantom = false)
{
Color color = GetShapeColor(shape.ShapeType, ref shapeIndex, isPhantom);
if (isPhantom)
{
alpha *= alpha;
}
color.A = (byte)(alpha * 255f);
bool smooth = true;
float num = 0.02f;
float num2 = 1.035f;
bool flag2 = false;
HkShapeType shapeType = shape.ShapeType;
switch (shapeType)
{
case HkShapeType.Sphere:
{
float radius = ((HkSphereShape)shape).Radius;
MyRenderProxy.DebugDrawSphere(worldMatrix.Translation, radius, color, alpha, true, smooth, true, false);
if (isPhantom)
{
MyRenderProxy.DebugDrawSphere(worldMatrix.Translation, radius, color, 1f, true, false, true, false);
MyRenderProxy.DebugDrawSphere(worldMatrix.Translation, radius, color, 1f, true, false, false, false);
}
flag2 = true;
goto TR_0003;
}
case HkShapeType.Cylinder:
{
HkCylinderShape shape4 = (HkCylinderShape)shape;
MyRenderProxy.DebugDrawCylinder(worldMatrix, shape4.VertexA, shape4.VertexB, shape4.Radius, color, alpha, true, smooth, false);
flag2 = true;
goto TR_0003;
}
case HkShapeType.Triangle:
{
HkTriangleShape shape12 = (HkTriangleShape)shape;
MyRenderProxy.DebugDrawTriangle(shape12.Pt0, shape12.Pt1, shape12.Pt2, Color.Green, false, false, false);
goto TR_0003;
}
case HkShapeType.Box:
{
HkBoxShape shape5 = (HkBoxShape)shape;
MyRenderProxy.DebugDrawOBB(MatrixD.CreateScale((shape5.HalfExtents * 2f) + new Vector3(num)) * worldMatrix, color, alpha, true, smooth, true, false);
if (isPhantom)
{
MyRenderProxy.DebugDrawOBB(Matrix.CreateScale((shape5.HalfExtents * 2f) + new Vector3(num)) * worldMatrix, color, 1f, true, false, true, false);
MyRenderProxy.DebugDrawOBB(Matrix.CreateScale((shape5.HalfExtents * 2f) + new Vector3(num)) * worldMatrix, color, 1f, true, false, false, false);
}
flag2 = true;
goto TR_0003;
}
case HkShapeType.Capsule:
{
HkCapsuleShape shape3 = (HkCapsuleShape)shape;
MyRenderProxy.DebugDrawCapsule(Vector3.Transform(shape3.VertexA, worldMatrix), Vector3.Transform(shape3.VertexB, worldMatrix), shape3.Radius, color, true, smooth, false);
flag2 = true;
goto TR_0003;
}
case HkShapeType.ConvexVertices:
{
Vector3 vector;
((HkConvexVerticesShape)shape).GetGeometry(DebugGeometry, out vector);
Vector3D vectord2 = Vector3D.Transform(vector, worldMatrix.GetOrientation());
MatrixD xd = worldMatrix;
xd = MatrixD.CreateScale((double)num2) * xd;
MatrixD *xdPtr1 = (MatrixD *)ref xd;
xdPtr1.Translation -= vectord2 * (num2 - 1f);
DrawGeometry(DebugGeometry, xd, color, true, true);
flag2 = true;
goto TR_0003;
}
case HkShapeType.TriSampledHeightFieldCollection:
case HkShapeType.TriSampledHeightFieldBvTree:
case HkShapeType.SampledHeightField:
case HkShapeType.ExtendedMesh:
case HkShapeType.Transform:
case HkShapeType.CompressedMesh:
case HkShapeType.Collection:
case HkShapeType.User0:
case HkShapeType.User1:
case HkShapeType.User2:
goto TR_0003;
case HkShapeType.List:
{
HkShapeContainerIterator iterator = ((HkListShape)shape).GetIterator();
while (iterator.IsValid)
{
DrawCollisionShape(iterator.CurrentValue, worldMatrix, alpha, ref shapeIndex, customText, false);
iterator.Next();
}
goto TR_0003;
}
case HkShapeType.Mopp:
DrawCollisionShape((HkShape)((HkMoppBvTreeShape)shape).ShapeCollection, worldMatrix, alpha, ref shapeIndex, customText, false);
goto TR_0003;
case HkShapeType.ConvexTranslate:
{
HkConvexTranslateShape shape7 = (HkConvexTranslateShape)shape;
DrawCollisionShape((HkShape)shape7.ChildShape, Matrix.CreateTranslation(shape7.Translation) * worldMatrix, alpha, ref shapeIndex, customText, false);
goto TR_0003;
}
case HkShapeType.ConvexTransform:
{
HkConvexTransformShape shape8 = (HkConvexTransformShape)shape;
DrawCollisionShape((HkShape)shape8.ChildShape, shape8.Transform * worldMatrix, alpha, ref shapeIndex, customText, false);
goto TR_0003;
}
case HkShapeType.StaticCompound:
{
HkStaticCompoundShape shape11 = (HkStaticCompoundShape)shape;
if (DebugDrawFlattenHierarchy)
{
HkShapeContainerIterator iterator2 = shape11.GetIterator();
while (iterator2.IsValid)
{
if (shape11.IsShapeKeyEnabled(iterator2.CurrentShapeKey))
{
object[] objArray1 = new object[4];
object[] objArray2 = new object[4];
objArray2[0] = customText ?? string.Empty;
object[] local2 = objArray2;
local2[1] = "-";
local2[2] = iterator2.CurrentShapeKey;
local2[3] = "-";
string str = string.Concat(local2);
DrawCollisionShape(iterator2.CurrentValue, worldMatrix, alpha, ref shapeIndex, str, false);
}
iterator2.Next();
}
}
else
{
for (int i = 0; i < shape11.InstanceCount; i++)
{
string str2;
bool flag3 = shape11.IsInstanceEnabled(i);
if (flag3)
{
object[] objArray3 = new object[4];
object[] objArray4 = new object[4];
objArray4[0] = customText ?? string.Empty;
object[] local4 = objArray4;
local4[1] = "<";
local4[2] = i;
local4[3] = ">";
str2 = string.Concat(local4);
}
else
{
object[] objArray5 = new object[4];
object[] objArray6 = new object[4];
objArray6[0] = customText ?? string.Empty;
object[] local6 = objArray6;
local6[1] = "(";
local6[2] = i;
local6[3] = ")";
str2 = string.Concat(local6);
}
if (flag3)
{
DrawCollisionShape(shape11.GetInstance(i), shape11.GetInstanceTransform(i) * worldMatrix, alpha, ref shapeIndex, str2, false);
}
}
}
goto TR_0003;
}
case HkShapeType.BvCompressedMesh:
break;
case HkShapeType.BvTree:
{
HkGridShape shape13 = (HkGridShape)shape;
if (HkGridShapeCellDebugDraw && !shape13.Base.IsZero)
{
float cellSize = shape13.CellSize;
int shapeInfoCount = shape13.GetShapeInfoCount();
for (int i = 0; i < shapeInfoCount; i++)
{
try
{
Vector3S vectors;
Vector3S vectors2;
shape13.GetShapeInfo(i, out vectors, out vectors2, m_tmpShapeList);
Vector3 position = (Vector3)(((vectors2 * cellSize) + (vectors * cellSize)) / 2f);
Color color2 = color;
if (vectors == vectors2)
{
color2 = new Color(1f, 0.2f, 0.1f);
}
MyRenderProxy.DebugDrawOBB((Matrix.CreateScale((((vectors2 * cellSize) - (vectors * cellSize)) + (Vector3.One * cellSize)) + new Vector3(num)) * Matrix.CreateTranslation(position)) * worldMatrix, color2, alpha, true, smooth, true, false);
}
finally
{
m_tmpShapeList.Clear();
}
}
}
else
{
MyRenderMessageDebugDrawTriangles msgInterface = MyRenderProxy.PrepareDebugDrawTriangles();
try
{
using (HkShapeBuffer buffer = new HkShapeBuffer())
{
HkShapeContainerIterator iterator3 = ((HkBvTreeShape)shape).GetIterator(buffer);
while (iterator3.IsValid)
{
HkShape currentValue = iterator3.CurrentValue;
if (currentValue.ShapeType != HkShapeType.Triangle)
{
DrawCollisionShape(currentValue, worldMatrix, alpha, ref shapeIndex, null, false);
}
else
{
HkTriangleShape shape17 = (HkTriangleShape)currentValue;
msgInterface.AddTriangle(shape17.Pt0, shape17.Pt1, shape17.Pt2);
}
iterator3.Next();
}
goto TR_0003;
}
}
finally
{
msgInterface.Color = color;
MyRenderProxy.DebugDrawTriangles(msgInterface, new MatrixD?(worldMatrix), false, false, false, false);
}
break;
}
goto TR_0003;
}
default:
if (shapeType == HkShapeType.Bv)
{
HkBvShape shape19 = (HkBvShape)shape;
DrawCollisionShape(shape19.BoundingVolumeShape, worldMatrix, alpha, ref shapeIndex, null, true);
DrawCollisionShape(shape19.ChildShape, worldMatrix, alpha, ref shapeIndex, null, false);
}
else if (shapeType == HkShapeType.PhantomCallback)
{
MyRenderProxy.DebugDrawText3D(worldMatrix.Translation, "Phantom", Color.Green, 0.75f, false, MyGuiDrawAlignEnum.HORISONTAL_LEFT_AND_VERTICAL_TOP, -1, false);
}
goto TR_0003;
}
if (MyDebugDrawSettings.DEBUG_DRAW_TRIANGLE_PHYSICS)
{
((HkBvCompressedMeshShape)shape).GetGeometry(DebugGeometry);
DrawGeometry(DebugGeometry, worldMatrix, Color.Green, false, false);
flag2 = true;
}
TR_0003:
if (flag2 && (customText != null))
{
color.A = 0xff;
MyRenderProxy.DebugDrawText3D(worldMatrix.Translation, customText, color, 0.8f, false, MyGuiDrawAlignEnum.HORISONTAL_LEFT_AND_VERTICAL_TOP, -1, false);
}
}
