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();
}
void OnDrawGizmos()
{
UltiDraw.Begin();
//
UltiDraw.DrawBone(
transform.position,
Quaternion.FromToRotation(-transform.parent.forward, transform.position - transform.parent.position) * transform.parent.rotation,
0.5f,
(transform.position - transform.parent.position).magnitude, UltiDraw.IndianRed);
//
UltiDraw.End();
}
void Draw()
{
UltiDraw.Begin();
Action <Transform, Transform> recursion = null;
recursion = new Action <Transform, Transform>((segment, parent) => {
if (segment == null)
{
return;
}
if (parent != null)
{
UltiDraw.DrawSphere(
parent.position,
parent.rotation,
5f / 8f * BoneSize,
JointColor
);
float distance = Vector3.Distance(parent.position, segment.position);
if (distance > 0.05f)
{
UltiDraw.DrawBone(
parent.position,
Quaternion.FromToRotation(parent.forward, segment.position - parent.position) * parent.rotation,
4f * BoneSize, distance,
BoneColor
);
}
}
parent = segment;
for (int i = 0; i < segment.childCount; i++)
{
recursion(segment.GetChild(i), parent);
}
});
recursion(transform, null);
if (DrawTransforms)
{
Action <Transform> f = null;
f = new Action <Transform>((segment) => {
UltiDraw.DrawTranslateGizmo(segment.position, segment.rotation, 0.075f);
for (int i = 0; i < segment.childCount; i++)
{
f(segment.GetChild(i));
}
});
f(transform);
}
UltiDraw.End();
}
public void Draw(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.DrawBone(
parent.GetPosition(),
Quaternion.FromToRotation(parent.GetForward(), current.GetPosition() - parent.GetPosition()) * parent.GetRotation(),
12.5f * BoneSize * bone.GetLength(), bone.GetLength(),
color
);
}
UltiDraw.DrawSphere(
current.GetPosition(),
Quaternion.identity,
5f / 8f * BoneSize,
color
);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
UltiDraw.End();
}
void OnDrawGizmos()
{
UltiDraw.Begin();
UltiDraw.DrawBone(transform.position, Quaternion.identity, 0.5f, (transform.position - transform.parent.position).magnitude, UltiDraw.IndianRed);
UltiDraw.End();
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) =>
{
if (bone.Visiable)
{
if (bone.GetParent() != null)
{
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,
3f / 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 (DrawVelocities)
{
for (int i = 0; i < Bones.Length; i++)
{
if (Bones[i].Visiable)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.25f,
0.025f,
0.2f,
UltiDraw.DarkGreen.Transparent(0.5f)
);
}
}
}
if (DrawTransforms)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) =>
{
if (bone.Visiable)
{
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();
}
void OnDrawGizmos()
{
UltiDraw.Begin();
UltiDraw.DrawBone(transform.position, Quaternion.LookRotation(-(transform.localPosition).normalized, transform.parent.up), 0.5f, (transform.position - transform.parent.position).magnitude, UltiDraw.Blue.Transparent(0.8f));
UltiDraw.End();
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawRoot)
{
UltiDraw.DrawWiredSphere(GetRoot().position, GetRoot().rotation, 0.1f, UltiDraw.DarkRed, UltiDraw.Black);
UltiDraw.DrawTranslateGizmo(GetRoot().position, GetRoot().rotation, 0.1f);
}
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 (DrawVelocities)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkGreen.Transparent(0.5f)
);
}
}
if (DrawAccelerations)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Acceleration,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkBlue.Transparent(0.5f)
);
}
}
if (DrawForces)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Force,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkRed.Transparent(0.5f)
);
}
}
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();
if (DrawHistory)
{
if (DrawSkeleton)
{
for (int i = 0; i < History.Count; i++)
{
Sketch(History[i].Transformations, UltiDraw.GetRainbowColor(Index, 2).Transparent(0.5f));
}
}
if (DrawVelocities)
{
float max = 0f;
List <float[]> functions = new List <float[]>();
for (int i = 0; i < Bones.Length; i++)
{
float[] function = new float[History.Count];
for (int j = 0; j < function.Length; j++)
{
function[j] = History[j].Velocities[i].magnitude;
max = Mathf.Max(max, function[j]);
}
functions.Add(function);
}
UltiDraw.Begin();
UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.05f), new Vector2(0.9f, 0.1f), functions, 0f, max, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(functions.Count));
UltiDraw.End();
}
if (DrawAccelerations)
{
float max = 0f;
List <float[]> functions = new List <float[]>();
for (int i = 0; i < Bones.Length; i++)
{
float[] function = new float[History.Count];
for (int j = 0; j < function.Length; j++)
{
function[j] = History[j].Accelerations[i].magnitude;
max = Mathf.Max(max, function[j]);
}
functions.Add(function);
}
UltiDraw.Begin();
UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.175f), new Vector2(0.9f, 0.1f), functions, 0f, max, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(functions.Count));
UltiDraw.End();
}
}
}
void Draw()
{
float speed = 100f;
float spacing = 1.5f;
float height = 1f;
int index = 0;
Color[] colors = UltiDraw.GetRainbowColors(9);
UltiDraw.Begin();
UltiDraw.SetDepthRendering(DepthRendering);
UltiDraw.SetCurvature(0f);
UltiDraw.DrawQuad(Vector3.zero, Quaternion.Euler(90f, 0f, 0f), 100f, 100f, UltiDraw.DarkGrey);
UltiDraw.SetCurvature(0.25f);
UltiDraw.DrawGrid(Vector3.zero, Quaternion.identity, 100, 100, 1f, 1f, UltiDraw.DarkGreen.Transparent(0.5f));
UltiDraw.DrawWireCube(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawCube(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawWiredCube(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireSphere(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawSphere(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawWiredSphere(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCapsule(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawCapsule(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawWiredCapsule(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireBone(new Vector3(index * spacing, height - 0.5f, 0f * spacing), Quaternion.Euler(-90f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawBone(new Vector3(index * spacing, height - 0.5f, 1f * spacing), Quaternion.Euler(-90f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawWiredBone(new Vector3(index * spacing, height - 0.5f, 2f * spacing), Quaternion.Euler(-90f, speed * Time.time, 0f), 1f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCylinder(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawCylinder(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawWiredCylinder(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWirePyramid(new Vector3(index * spacing, height - 0.5f, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawPyramid(new Vector3(index * spacing, height - 0.5f, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawWiredPyramid(new Vector3(index * spacing, height - 0.5f, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCone(new Vector3(index * spacing, height - 0.5f, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.75f, 1f, colors[index]);
UltiDraw.DrawCone(new Vector3(index * spacing, height - 0.5f, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.75f, 1f, colors[index]);
UltiDraw.DrawWiredCone(new Vector3(index * spacing, height - 0.5f, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.75f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCuboid(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), new Vector3(0.5f, 1f, 0.5f), colors[index]);
UltiDraw.DrawCuboid(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), new Vector3(0.5f, 1f, 0.5f), colors[index]);
UltiDraw.DrawWiredCuboid(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), new Vector3(0.5f, 1f, 0.5f), colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireEllipsoid(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawEllipsoid(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawWiredEllipsoid(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.End();
}
void OnRenderObject()
{
UltiDraw.Begin();
UltiDraw.DrawBone(transform.position, Quaternion.LookRotation((transform.localPosition - transform.parent.localPosition).normalized), 0.5f, (transform.position - transform.parent.position).magnitude, UltiDraw.Purple.Transparent(0.5f));
UltiDraw.End();
}
void OnDrawGizmos()
{
UltiDraw.Begin();
UltiDraw.DrawBone(transform.position, Quaternion.LookRotation(-(transform.localPosition).normalized), 0.5f, (transform.position - transform.parent.position).magnitude, UltiDraw.IndianRed);
UltiDraw.End();
}
void OnRenderObject()
{
UltiDraw.Begin();
UltiDraw.DrawBone(transform.position, Quaternion.LookRotation(transform.position - parentJoint.position).normalized, 0.5f, , UltiDraw.Purple.Transparent(0.5f));
UltiDraw.End();
}
public void Draw()
{
UltiDraw.Begin();
if (DrawRoot)
{
UltiDraw.DrawCube(GetRoot().position, GetRoot().rotation, 0.1f, UltiDraw.Black);
UltiDraw.DrawTranslateGizmo(GetRoot().position, GetRoot().rotation, 0.1f);
}
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
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(),
bone.Color == UltiDraw.None ? BoneColor : bone.Color
);
}
UltiDraw.DrawSphere(
bone.Transform.position,
Quaternion.identity,
5f / 8f * BoneSize,
JointColor
);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
if (DrawVelocities)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkGreen.Opacity(0.5f)
);
}
}
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));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
UltiDraw.End();
if (DrawSketch)
{
Sketch(GetBoneTransformations(), BoneColor);
}
if (DrawHistory)
{
if (DrawSkeleton)
{
int step = Mathf.Max(Sampling, 1);
for (int i = 0; i < History.Count; i += step)
{
Sketch(History[i].Transformations, BoneColor.Darken(1f - (float)i / (float)History.Count));
}
}
if (DrawVelocities)
{
float max = 0f;
float[][] functions = new float[History.Count][];
for (int i = 0; i < History.Count; i++)
{
functions[i] = new float[Bones.Length];
for (int j = 0; j < Bones.Length; j++)
{
functions[i][j] = History[i].Velocities[j].magnitude;
max = Mathf.Max(max, functions[i][j]);
}
}
UltiDraw.Begin();
UltiDraw.PlotFunctions(new Vector2(0.5f, 0.05f), new Vector2(0.9f, 0.1f), functions, UltiDraw.Dimension.Y, yMin: 0f, yMax: max, thickness: 0.0025f);
UltiDraw.End();
}
}
}
