private void OnDrawGizmosSelected()
{
if (!m_doDrawGizmos)
{
return;
}
Vector3 rperp = Vector3.up;
Vector3 forward = rotationAxis;
if (jointType == FeatherstoneJointType.Planar ||
jointType == FeatherstoneJointType.Prismatic ||
jointType == FeatherstoneJointType.Revolute)
{
//uses axis of rotation
if (rotationAxis != Vector3.zero)
{
BUtility.GetPerpendicularVector(forward, out rperp);
Vector3 axisOfRotation;
if (axesAreFrozen)
{
axisOfRotation = transform.parent.TransformDirection(rotationAxisInParentFrame);
rperp = transform.parent.TransformDirection(jointToThisCOMInParentFrame);
}
else
{
axisOfRotation = transform.TransformDirection(rotationAxis);
rperp = transform.TransformDirection(-localPivotPosition);
if (rperp.magnitude < 10E-7f)
{
rperp = transform.parent.position - transform.TransformPoint(localPivotPosition);
}
rperp = Vector3.ProjectOnPlane(rperp, axisOfRotation);
}
rperp.Normalize();
}
}
else
{
rotationAxis = transform.forward;
rperp = transform.up;
}
BUtility.DebugDrawTransform(transform, localPivotPosition, rotationAxis, rperp, gizmoScale);
}
