public void DrawHullCollision(GameObject a, GameObject b, RigidTransform t1, NativeHull hull1, RigidTransform t2, NativeHull hull2)
{
var collision = HullCollision.GetDebugCollisionInfo(t1, hull1, t2, hull2);
if (collision.IsColliding)
{
if (DrawIntersection) // Visualize all faces of the intersection
{
HullIntersection.DrawNativeHullHullIntersection(t1, hull1, t2, hull2);
}
if (DrawContact || LogContact) // Visualize the minimal contact calcluation for physics
{
//var manifold = HullOperations.GetContact.Invoke(t1, hull1, t2, hull2);
var sw1 = System.Diagnostics.Stopwatch.StartNew();
var tmp = new NativeManifold(Allocator.Persistent);
var normalResult = HullIntersection.NativeHullHullContact(ref tmp, t1, hull1, t2, hull2);
sw1.Stop();
tmp.Dispose();
var sw2 = System.Diagnostics.Stopwatch.StartNew();
var burstResult = HullOperations.TryGetContact.Invoke(out NativeManifold manifold, t1, hull1, t2, hull2);
sw2.Stop();
if (LogContact)
{
Debug.Log($"GetContact between '{a.name}'/'{b.name}' took: {sw1.Elapsed.TotalMilliseconds:N4}ms (Normal), {sw2.Elapsed.TotalMilliseconds:N4}ms (Burst)");
}
if (DrawContact && burstResult)
{
// Do something with manifold
HullDrawingUtility.DebugDrawManifold(manifold);
//var points = manifold.Points;
for (int i = 0; i < manifold.Length; i++)
{
var point = manifold[i];
DebugDrawer.DrawSphere(point.Position, 0.02f);
DebugDrawer.DrawArrow(point.Position, manifold.Normal * 0.2f);
var penentrationPoint = point.Position + manifold.Normal * point.Distance;
DebugDrawer.DrawLabel(penentrationPoint, $"{point.Distance:N2}");
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge1, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge1, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge2, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge2, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge1, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge1, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge2, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge2, t2, hull2);
DebugDrawer.DrawDottedLine(point.Position, penentrationPoint);
}
manifold.Dispose();
}
}
if (DrawIsCollided)
{
DebugDrawer.DrawSphere(t1.pos, 0.1f, UnityColors.GhostDodgerBlue);
DebugDrawer.DrawSphere(t2.pos, 0.1f, UnityColors.GhostDodgerBlue);
}
}
if (DrawClosestFace)
{
var color1 = collision.Face1.Distance > 0 ? UnityColors.Red.ToOpacity(0.3f) : UnityColors.Yellow.ToOpacity(0.3f);
HullDrawingUtility.DrawFaceWithOutline(collision.Face1.Index, t1, hull1, color1, UnityColors.Black);
var color2 = collision.Face2.Distance > 0 ? UnityColors.Red.ToOpacity(0.3f) : UnityColors.Yellow.ToOpacity(0.3f);
HullDrawingUtility.DrawFaceWithOutline(collision.Face2.Index, t2, hull2, color2, UnityColors.Black);
}
}
