public void Sketch(Matrix4x4[] transformations, Color color)
{
UltiDraw.Begin();
if (transformations.Length != Bones.Length)
{
Debug.Log("Number of given transformations does not match number of bones.");
}
else
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
Matrix4x4 current = transformations[bone.Index];
if (bone.GetParent() != null)
{
Matrix4x4 parent = transformations[bone.GetParent().Index];
UltiDraw.DrawLine(parent.GetPosition(), current.GetPosition(), color);
}
UltiDraw.DrawCube(current.GetPosition(), current.GetRotation(), 0.02f, color);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
UltiDraw.End();
}
public void Draw(Color color)
{
float max = Distances.Max();
float[] distances = new float[Distances.Length];
for (int i = 0; i < distances.Length; i++)
{
distances[i] = Distances[i].Normalize(0f, max, 1f, 0f);
}
Vector3 position = Pivot.GetPosition();
Quaternion rotation = Pivot.GetRotation();
UltiDraw.Begin();
Vector3 step = GetStep();
if (Size != Vector3.zero)
{
UltiDraw.DrawWireCuboid(position, rotation, Size, color);
for (int i = 0; i < Points.Length; i++)
{
if (distances[i] > 0f)
{
UltiDraw.DrawCuboid(References[i], rotation, step, Color.Lerp(UltiDraw.None, color, distances[i]));
}
}
}
UltiDraw.End();
}
void OnRenderObject()
{
for (int i = 0; i < Values.Length; i++)
{
Values[i].Dequeue();
Values[i].Enqueue(NN.Model.GetTensor("BY").GetValue(i, 0));
}
UltiDraw.Begin();
Vector2 center = new Vector2(X, Y);
float border = 0.0025f;
UltiDraw.DrawGUIRectangle(
center,
new Vector2(W + 2f * border / Screen.width * Screen.height, H + 2f * border),
UltiDraw.Black.Transparent(0.5f));
UltiDraw.DrawGUIRectangle(
center,
new Vector2(W, H),
UltiDraw.White.Transparent(0.5f));
Color[] colors = UltiDraw.GetRainbowColors(Values.Length);
for (int i = 0; i < colors.Length; i++)
{
DrawControlPoint(center.x - W / 2f, center.y + H / 2f, W, H, Values[i], colors[i]);
}
//for(int i=0; i<colors.Length; i++) {
// Vector2 start = center - new Vector2(width/2f, -height/2f);
// UltiDraw.DrawGUIRectangle(start + (float)i/(float)(colors.Length-1)*new Vector2(width, 0f), new Vector2(0.025f, 0.025f), colors[i]);
//}
UltiDraw.End();
}
void OnRenderObject()
{
if (Root == null)
{
Root = transform;
}
/*
* UnityGL.Start();
* UnityGL.DrawGUICircle(0.5f, 0.85f, 0.075f, Utility.Black.Transparent(0.5f));
* Quaternion rotation = Quaternion.AngleAxis(-360f * Phase / (2f * Mathf.PI), Vector3.forward);
* Vector2 a = rotation * new Vector2(-0.005f, 0f);
* Vector2 b = rotation *new Vector3(0.005f, 0f);
* Vector3 c = rotation * new Vector3(0f, 0.075f);
* UnityGL.DrawGUITriangle(0.5f + a.x/Screen.width*Screen.height, 0.85f + a.y, 0.5f + b.x/Screen.width*Screen.height, 0.85f + b.y, 0.5f + c.x/Screen.width*Screen.height, 0.85f + c.y, Utility.Cyan);
* UnityGL.Finish();
*/
if (ShowTrajectory)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
}
if (!Application.isPlaying)
{
Character.FetchTransformations(Root);
}
Character.Draw();
if (ShowVelocities)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
for (int i = 0; i < Joints.Length; i++)
{
Character.Segment segment = Character.FindSegment(Joints[i].name);
if (segment != null)
{
UltiDraw.DrawArrow(
Joints[i].position,
Joints[i].position + Velocities[i] * 60f,
0.75f,
0.0075f,
0.05f,
UltiDraw.Cyan.Transparent(0.5f)
);
}
}
UltiDraw.End();
}
}
}
public void Draw(Color color, bool references = false, bool distribution = false)
{
if (Size == 0f)
{
return;
}
Vector3 position = Pivot.GetPosition();
Quaternion rotation = Pivot.GetRotation();
float height = GetHeight();
UltiDraw.Begin();
UltiDraw.DrawWireCylinder(position + rotation * new Vector3(0f, 0.25f * height, 0f), rotation, new Vector3(Size, 0.5f * height, Size), UltiDraw.Black);
if (references)
{
Color reference = UltiDraw.Black.Opacity(0.05f);
for (int i = 0; i < Points.Length; i++)
{
UltiDraw.DrawSphere(References[i], Quaternion.identity, 2f * Radius[i], reference);
}
}
for (int i = 0; i < Points.Length; i++)
{
if (Occupancies[i] > 0f)
{
UltiDraw.DrawSphere(References[i], rotation, 2f * Radius[i], Color.Lerp(UltiDraw.None, color, Occupancies[i]));
}
}
if (distribution)
{
UltiDraw.PlotFunction(new Vector2(0.5f, 0.15f), new Vector2(0.8f, 0.2f), Occupancies, yMin: 0f, yMax: 1f, backgroundColor: UltiDraw.White, lineColor: color);
}
UltiDraw.End();
}
void Draw()
{
UltiDraw.Begin();
float window = 0.25f;
MotionData.Frame[] frames = GetEditor().Data.GetFrames(Mathf.Clamp(GetEditor().GetState().Timestamp - window / 2f, 0f, GetEditor().Data.GetTotalTime()), Mathf.Clamp(GetEditor().GetState().Timestamp + window / 2f, 0f, GetEditor().Data.GetTotalTime()));
List <float[]> values = new List <float[]>();
for (int i = 0; i < States.Count; i++)
{
values.Add(new float[frames.Length]);
}
for (int i = 0; i < frames.Length; i++)
{
float[] stateVector = GetStateVector(frames[i]);
for (int j = 0; j < States.Count; j++)
{
values[j][i] = stateVector[j];
}
}
UltiDraw.DrawGUIFunctions(0.5f * Vector2.one, Vector2.one, values, 0f, 1f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(States.Count));
UltiDraw.End();
}
void OnRenderObject()
{
if (!Application.isPlaying)
{
return;
}
if (!Visualise)
{
return;
}
if (!Setup())
{
return;
}
if (Background.GetSize() != Vector2.zero)
{
UltiDraw.Begin();
UltiDraw.DrawGUIRectangle(Background.GetPosition(), Background.GetSize(), Color.white);
UltiDraw.End();
}
switch (Mode)
{
case MODE.Function:
DrawFunction();
break;
case MODE.Graph:
DrawGraph();
break;
}
}
private void DrawControlPoint(float x, float y, float width, float height, Queue <float> values, Color color)
{
int _index = 0;
float _x = 0f;
float _xPrev = 0f;
float _y = 0f;
float _yPrev = 0f;
foreach (float value in values)
{
_x = x + (float)(_index) / (float)(Frames - 1) * width;
_y = y - height + value * height;
if (_index > 0)
{
UltiDraw.DrawGUILine(
new Vector2(_xPrev, _yPrev),
new Vector2(_x, _y),
0.002f,
color
);
}
_xPrev = _x;
_yPrev = _y;
_index += 1;
}
}
protected override void OnRenderObjectDerived()
{
RootSeries.DrawScene = DrawDebug;
StyleSeries.DrawScene = DrawDebug;
DribbleSeries.DrawScene = DrawDebug;
ContactSeries.DrawScene = DrawDebug;
PhaseSeries.DrawScene = DrawDebug;
RootSeries.Draw(GetCamera());
StyleSeries.Draw(GetCamera());
DribbleSeries.Draw(GetCamera());
ContactSeries.Draw(GetCamera());
PhaseSeries.Draw(GetCamera());
if (DrawDebug)
{
if (Carrier && Controller.QueryLogic("Hold") && !Controller.QueryLogic("Move"))
{
UltiDraw.Begin();
int resolution = 100;
for (int i = 0; i < resolution; i++)
{
Vector3 target = ToHoldTarget(Quaternion.AngleAxis(360f * (float)i / (float)resolution, Vector3.up) * Vector3.forward);
UltiDraw.DrawSphere(target.GetRelativePositionFrom(transform.GetWorldMatrix(true)), Quaternion.identity, 0.05f, Color.cyan);
}
UltiDraw.DrawSphere(ToHoldTarget(Controller.QueryRightJoystickVector()).GetRelativePositionFrom(transform.GetWorldMatrix(true)), Quaternion.identity, 0.1f, Color.black);
UltiDraw.End();
}
}
//Debug Collider
// UltiDraw.Begin();
// UltiDraw.DrawWireCylinder(Collider.transform.position + new Vector3(0f, Collider.height/4f, 0f), Collider.transform.rotation, 2f*Collider.radius, Collider.height/2f, UltiDraw.Black);
// UltiDraw.End();
}
public void Sketch(Matrix4x4[] transformations, Color color)
{
if (Bones.Length == 0)
{
return;
}
UltiDraw.Begin();
if (transformations.Length != Bones.Length)
{
for (int i = 0; i < transformations.Length; i++)
{
UltiDraw.DrawCube(transformations[i], 0.02f, color);
}
}
else
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
UltiDraw.DrawLine(transformations[bone.GetParent().Index].GetPosition(), transformations[bone.Index].GetPosition(), color);
}
UltiDraw.DrawCube(transformations[bone.Index], 0.02f, color);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
recursion(Bones[0]);
}
UltiDraw.End();
}
protected override void DerivedDraw(MotionEditor editor)
{
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Sensors.Length);
if (ShowSensors)
{
for (int i = 0; i < Sensors.Length; i++)
{
for (int j = 0; j < Sensors[i].Bones.Length; j++)
{
Quaternion rot = editor.GetActor().FindTransform(Sensors[i].GetBoneName(j)).rotation;
Vector3 pos = editor.GetActor().FindTransform(Sensors[i].GetBoneName(j)).position + rot * Sensors[i].Offset;
UltiDraw.DrawCube(pos, rot, 0.025f, UltiDraw.Black);
UltiDraw.DrawWireSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Opacity(0.25f));
if (Sensors[i].GetContact(editor.GetCurrentFrame(), editor.Mirror) == 1f)
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i]);
}
else
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Opacity(0.125f));
}
}
}
}
UltiDraw.End();
}
void OnRenderObject()
{
UltiDraw.Begin();
if (Selected != null && Collider != null)
{
if (Collider is BoxCollider)
{
BoxCollider c = (BoxCollider)Collider;
if (Input.GetKey(Translate))
{
UltiDraw.DrawWiredCuboid(c.bounds.center, c.transform.rotation, Vector3.Scale(c.transform.lossyScale, c.size), UltiDraw.Black.Transparent(0.25f), UltiDraw.Purple);
UltiDraw.DrawTranslateGizmo(c.bounds.center, c.transform.rotation, c.size.magnitude);
}
if (Input.GetKey(Rotate))
{
UltiDraw.DrawWiredCuboid(c.bounds.center, c.transform.rotation, Vector3.Scale(c.transform.lossyScale, c.size), UltiDraw.Black.Transparent(0.25f), UltiDraw.Purple);
UltiDraw.DrawRotateGizmo(c.bounds.center, c.transform.rotation, c.size.magnitude);
}
}
}
else
{
Collider collider = Utility.GetSelectedCollider();
if (collider.gameObject == gameObject)
{
if (collider is BoxCollider)
{
BoxCollider c = (BoxCollider)collider;
UltiDraw.DrawWireCuboid(c.bounds.center, c.transform.rotation, Vector3.Scale(c.transform.lossyScale, c.size), UltiDraw.Black.Transparent(0.5f));
}
}
}
UltiDraw.End();
}
public void Draw(bool gui = true)
{
UltiDraw.Begin();
if (gui)
{
List <float[]> functions = new List <float[]>();
for (int i = 0; i < Actions.Length; i++)
{
float[] function = new float[TimeSeries.Samples.Length];
for (int j = 0; j < function.Length; j++)
{
function[j] = Values[TimeSeries.Samples[j].Index][i];
}
functions.Add(function);
}
UltiDraw.DrawGUIFunctions(new Vector2(0.875f, 0.875f), new Vector2(0.2f, 0.1f), functions, 0f, 1f, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(Actions.Length), 0.0025f, UltiDraw.Black);
UltiDraw.DrawGUIRectangle(new Vector2(0.875f, 0.875f), new Vector2(0.005f, 0.1f), UltiDraw.White.Transparent(0.5f));
}
for (int i = 0; i < TimeSeries.KeyCount; i++)
{
// if(i == TimeSeries.KeyCount-1) {
float size = Utility.Normalise((float)i / (float)(TimeSeries.KeyCount - 1), 0f, 1f, 0.5f, 1f);
Matrix4x4 transformation = Transformations[TimeSeries.GetKey(i).Index]; UltiDraw.DrawWiredSphere(transformation.GetPosition(), Quaternion.LookRotation(transformation.GetForward(), Vector3.up), size * 0.2f, UltiDraw.Magenta.Transparent(0.5f), UltiDraw.Black);
UltiDraw.DrawTranslateGizmo(transformation.GetPosition(), Quaternion.LookRotation(transformation.GetForward(), Vector3.up), size * 0.4f);
// }
}
UltiDraw.End();
}
public void DrawSimple(Color color, Matrix4x4[] transformations)
{
UltiDraw.Begin();
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
UltiDraw.DrawLine(transformations[bone.GetParent().Index].GetPosition(), transformations[bone.Index].GetPosition(), color);
}
UltiDraw.DrawCircle(transformations[bone.Index].GetPosition(), 0.02f, Color.Lerp(color, UltiDraw.Black, 0.25f));
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
UltiDraw.End();
}
protected override void DerivedDraw(MotionEditor editor)
{
DepthMap sensor = GetDepthMap(editor.GetCurrentFrame(), editor.Mirror);
sensor.Draw();
if (ShowImage)
{
UltiDraw.Begin();
UltiDraw.DrawGUIRectangle(Vector2.one / 2f, Vector2.one, UltiDraw.Mustard);
Vector2 size = new Vector2(0.5f, 0.5f * Screen.width / Screen.height);
for (int x = 0; x < sensor.GetResolution(); x++)
{
for (int y = 0; y < sensor.GetResolution(); y++)
{
float distance = Vector3.Distance(sensor.Points[sensor.GridToArray(x, y)], sensor.Pivot.GetPosition());
float intensity = 1f - distance / sensor.GetDistance();
UltiDraw.DrawGUIRectangle(
Vector2.one / 2f - size / 2f + new Vector2((float)x * size.x,
(float)y * size.y) / (sensor.GetResolution() - 1),
size / (sensor.GetResolution() - 1),
Color.Lerp(Color.black, Color.white, intensity)
);
}
}
UltiDraw.End();
}
}
void OnRenderObject() {
if(Application.isPlaying) {
if(NN.Parameters == null) {
return;
}
if(ShowTrajectory) {
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if(ShowVelocities) {
UltiDraw.Begin();
for(int i=0; i<Actor.Bones.Length; i++) {
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
UltiDraw.Begin();
UltiDraw.DrawGUIHorizontalBar(new Vector2(0.5f, 0.74f), new Vector2(0.25f, 0.025f), UltiDraw.DarkGrey.Transparent(0.5f), 0.0025f, UltiDraw.Black, Trajectory.Points[RootPointIndex].GetVelocity().magnitude / 4f, UltiDraw.DarkGreen);
UltiDraw.End();
}
}
void Draw()
{
UltiDraw.Begin();
UltiDraw.SetCurvature(0f);
UltiDraw.SetDepthRendering(false);
UltiDraw.DrawWiredQuad(new Vector3(0f, 1.5f, 1f), Quaternion.identity, 4.25f, 4.25f, UltiDraw.DarkGrey, UltiDraw.White);
UltiDraw.SetCurvature(0.5f);
for (int i = 0; i < 5; i++)
{
UltiDraw.DrawWireSphere(new Vector3(0f, 1.5f, 0f), Quaternion.identity, i * 0.25f, UltiDraw.White);
}
UltiDraw.DrawSphere(new Vector3(0f, 1.5f, 0f), Quaternion.identity, 2.625f, UltiDraw.Grey.Transparent(0.5f));
UltiDraw.DrawSphere(new Vector3(0f, 1.5f, 0f), Quaternion.identity, 1.95f, UltiDraw.Mustard.Transparent(0.5f));
UltiDraw.DrawSphere(new Vector3(0f, 1.5f, 0f), Quaternion.identity, 1.125f, UltiDraw.Cyan);
for (int i = 0; i < 10; i++)
{
UltiDraw.DrawWireCube(new Vector3(0f, 1.5f, 0f), Quaternion.Euler(0f, 0f, i * 36f + 45f), 1.5f, UltiDraw.White);
}
UltiDraw.End();
}
public override void GUI(Camera canvas = null)
{
if (DrawGUI)
{
UltiDraw.Begin(canvas);
UltiDraw.OnGUILabel(Rect.GetCenter() + new Vector2(Rect.W / 2f, Rect.H + 0.04f), Rect.ToScreen(new Vector2(1f, 0.25f)), 0.02f, "Phases", UltiDraw.Black);
float xMin = Rect.X;
float xMax = Rect.X + Rect.W;
float yMin = Rect.Y;
float yMax = Rect.Y + Rect.H;
for (int b = 0; b < Bones.Length; b++)
{
float w = (float)b / (float)(Bones.Length - 1);
float vertical = w.Normalize(0f, 1f, yMax, yMin);
float height = 0.95f * (yMax - yMin) / (Bones.Length - 1);
float border = 0.025f * (yMax - yMin) / (Bones.Length - 1);
if (!Active[b])
{
UltiDraw.OnGUILabel(new Vector2(0.5f * (xMin + xMax), vertical), new Vector2(xMax - xMin, height), 0.015f, "Disabled", UltiDraw.White, UltiDraw.None);
}
}
UltiDraw.End();
}
}
void Draw()
{
UltiDraw.Begin();
UltiDraw.SetCurvature(0f);
UltiDraw.DrawQuad(new Vector3(0f, 1f, 3f), Quaternion.identity, 10f, 10f, UltiDraw.DarkGrey);
UltiDraw.SetCurvature(0.25f);
UltiDraw.SetFilling(1f);
UltiDraw.DrawCube(new Vector3(-2f, 1f, 2f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.SetFilling(0f);
UltiDraw.DrawCube(new Vector3(0f, 1f, 2f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.SetFilling(1f);
UltiDraw.DrawSphere(new Vector3(-2f, 1f, 0f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.SetFilling(0f);
UltiDraw.DrawSphere(new Vector3(0f, 1f, 0f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.End();
Gizmos.color = UltiDraw.Cyan;
Gizmos.DrawCube(new Vector3(2f, 1f, 2f), Vector3.one);
Gizmos.DrawSphere(new Vector3(2f, 1f, 0f), 0.5f);
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawRoot)
{
UltiDraw.DrawTranslateGizmo(GetRoot().position, GetRoot().rotation, 0.1f);
UltiDraw.DrawSphere(GetRoot().position, GetRoot().rotation, 0.025f, UltiDraw.Black);
UltiDraw.DrawLine(Bones[0].Transform.position, GetRoot().position, UltiDraw.Mustard);
}
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
//if(bone.GetLength() > 0.05f) {
UltiDraw.DrawBone(
bone.GetParent().Transform.position,
Quaternion.FromToRotation(bone.GetParent().Transform.forward, bone.Transform.position - bone.GetParent().Transform.position) * bone.GetParent().Transform.rotation,
12.5f * BoneSize * bone.GetLength(), bone.GetLength(),
boneColor.Transparent(alpha)
);
//}
}
UltiDraw.DrawSphere(
bone.Transform.position,
Quaternion.identity,
5f / 8f * BoneSize,
jointColor.Transparent(alpha)
);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
if (DrawTransforms)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
UltiDraw.DrawTranslateGizmo(bone.Transform.position, bone.Transform.rotation, 0.05f);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
UltiDraw.End();
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawSkeleton)
{
Action <Segment, Segment> recursion = null;
recursion = new Action <Segment, Segment>((segment, parent) => {
if (segment == null)
{
return;
}
if (parent != null)
{
UltiDraw.DrawSphere(
parent.GetTransformation().GetPosition(),
Quaternion.identity,
5f / 8f * BoneSize,
jointColor.Transparent(alpha)
);
float distance = Vector3.Distance(parent.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition());
if (distance > 0.05f)
{
UltiDraw.DrawBone(
parent.GetTransformation().GetPosition(),
Quaternion.FromToRotation(parent.GetTransformation().GetForward(), segment.GetTransformation().GetPosition() - parent.GetTransformation().GetPosition()) * parent.GetTransformation().GetRotation(),
4f * BoneSize, distance,
boneColor.Transparent(alpha)
);
}
}
parent = segment;
for (int i = 0; i < segment.GetChildCount(); i++)
{
recursion(segment.GetChild(Hierarchy, i), parent);
}
});
recursion(GetRoot(), null);
}
if (DrawTransforms)
{
Action <Segment> recursion = null;
recursion = new Action <Segment>((segment) => {
//UltiDraw.DrawArrow(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition() + 0.05f * (segment.GetTransformation().GetRotation() * Vector3.forward), 0.75f, 0.005f, 0.025f, Color.blue);
//UltiDraw.DrawArrow(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition() + 0.05f * (segment.GetTransformation().GetRotation() * Vector3.up), 0.75f, 0.005f, 0.025f, Color.green);
//UltiDraw.DrawArrow(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition() + 0.05f * (segment.GetTransformation().GetRotation() * Vector3.right), 0.75f, 0.005f, 0.025f, Color.red);
UltiDraw.DrawTranslateGizmo(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetRotation(), 0.05f);
for (int i = 0; i < segment.GetChildCount(); i++)
{
recursion(segment.GetChild(Hierarchy, i));
}
});
recursion(GetRoot());
}
UltiDraw.End();
}
public override void GUI(Camera canvas = null)
{
if (DrawGUI)
{
UltiDraw.Begin(canvas);
UltiDraw.OnGUILabel(Rect.GetCenter() + new Vector2(0f, 0.13f), Rect.GetSize(), 0.0175f, "Contacts", UltiDraw.Black);
UltiDraw.End();
}
}
void OnDrawGizmos() // visualise the joint location
{
if (Visualise)
{
UltiDraw.Begin();
UltiDraw.DrawSphere(transform.position, Quaternion.identity, 0.25f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
void OnRenderObject()
{
UltiDraw.Begin();
UltiDraw.DrawArrow(transform.position, parentJoint.position, 0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f));
UltiDraw.End();
}
void OnGUI()
{
if (Draw)
{
UltiDraw.Begin(Camera);
UltiDraw.OnGUILabel(Rect.GetCenter() + new Vector2(0f, 0.175f), new Vector2(0f, 0.2f), 0.02f, "Expert Activation", Color.black);
UltiDraw.End();
}
}
void OnRenderObject()
{
if (IsInvalid())
{
return;
}
if (HasChanged())
{
for (int i = 0; i < ControlPoints.Length; i++)
{
ControlPoints[i].position = Utility.ProjectGround(ControlPoints[i].position, LayerMask.GetMask("Ground"));
}
Create();
}
Trajectory.Draw(10);
UltiDraw.Begin();
if (Positions.Count > 1)
{
for (int i = 1; i < Positions.Count; i++)
{
UltiDraw.DrawLine(Positions[i - 1], Positions[i], 0.025f, UltiDraw.DarkGreen.Transparent(0.75f));
}
}
UltiDraw.End();
if (Visualise)
{
UltiDraw.Begin();
for (int i = 10; i < Trajectory.Points.Length - 60; i += 10)
{
UltiDraw.DrawLine(Trajectory.Points[i - 10].GetPosition(), Trajectory.Points[i].GetPosition(), 0.075f, UltiDraw.Magenta);
}
//for(int i=0; i<ControlPoints.Length; i++) {
// UnityGL.DrawSphere(ControlPoints[i].position, 0.05f, Utility.Cyan.Transparent(0.75f));
//}
UltiDraw.End();
}
/*
* Trajectory.Point pivot = GetClosestTrajectoryPoint(Target.transform.position);
* Trajectory.Point[] future = GetFutureTrajectory(pivot);
* UnityGL.Start();
* UnityGL.DrawSphere(pivot.GetPosition(), 0.05f, Utility.DarkRed.Transparent(0.75f));
* for(int i=0; i<future.Length; i++) {
* UnityGL.DrawSphere(future[i].GetPosition(), 0.025f, Utility.DarkGreen.Transparent(0.75f));
* }
* UnityGL.Finish();
*/
for (int i = 0; i < ControlPoints.Length; i++)
{
ControlPoints[i].hasChanged = false;
}
}
public override void Draw(Camera canvas = null)
{
if (DrawGUI)
{
UltiDraw.Begin(canvas);
UltiDraw.PlotFunctions(Rect.GetCenter(), Rect.GetSize(), Values, UltiDraw.Dimension.Y, yMin: 0f, yMax: 1f, thickness: 0.0025f);
// UltiDraw.GUIRectangle(new Vector2(0.875f, 0.685f), new Vector2(0.005f, 0.1f), UltiDraw.White.Opacity(0.5f));
UltiDraw.End();
}
}
void OnDrawGizmos() // visualise the joint location
{
if (Visualise)
{
UltiDraw.Begin();
UltiDraw.DrawSphere(transform.position, Quaternion.identity, 0.25f, UltiDraw.Purple.Transparent(0.5f));
UltiDraw.DrawArrow(transform.position, transform.position + (directionToCheck.normalized * distanceToCheck), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
void OnDrawGizmos()
{
if (Visualise)
{
UltiDraw.Begin();
UltiDraw.DrawSphere(transform.position, Quaternion.identity, 0.25f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawArrow(GetPivotPosition(), GetPivotPosition() + 0.25f * (transform.rotation), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
public void Draw()
{
UltiDraw.Begin();
UltiDraw.DrawTranslateGizmo(Pivot.GetPosition(), Pivot.GetRotation(), 0.1f);
for (int i = 0; i < Points.Length; i++)
{
UltiDraw.DrawLine(Pivot.GetPosition(), Points[i], UltiDraw.DarkGreen.Transparent(0.1f));
UltiDraw.DrawCircle(Points[i], 0.025f, UltiDraw.Orange.Transparent(0.5f));
}
UltiDraw.End();
}
