public void DrawLeavesRecursive(NativeArray <BoundingVolumeHierarchy.Node> nodes, Color color, int nodeIndex)
{
if (nodes[nodeIndex].IsLeaf)
{
bool4 leavesValid = nodes[nodeIndex].AreLeavesValid;
for (int l = 0; l < 4; l++)
{
if (leavesValid[l])
{
Aabb aabb = nodes[nodeIndex].Bounds.GetAabb(l);
float3 center = aabb.Center;
OutputStream.Box(aabb.Extents, center, Quaternion.identity, color);
}
}
return;
}
for (int i = 0; i < 4; i++)
{
if (nodes[nodeIndex].IsChildValid(i))
{
DrawLeavesRecursive(nodes, color, nodes[nodeIndex].Data[i]);
}
}
}
public void Execute()
{
OutputStream.Begin(0);
for (int b = 0; b < Bodies.Length; b++)
{
if (Bodies[b].Collider.IsCreated)
{
Aabb aabb = Bodies[b].Collider.Value.CalculateAabb(Bodies[b].WorldFromBody);
float3 center = aabb.Center;
OutputStream.Box(aabb.Extents, center, Quaternion.identity, DebugDisplay.ColorIndex.BrightRed);
}
}
OutputStream.End();
}
public void Execute()
{
OutputStream.Begin(0);
for (int b = 0; b < Bodies.Length; b++)
{
if (Bodies[b].Collider != null)
{
Aabb aabb = Bodies[b].Collider->CalculateAabb(Bodies[b].WorldFromBody);
float3 center = aabb.Center;
OutputStream.Box(aabb.Extents, center, Quaternion.identity, new Color(0.7f, 0.125f, 0.125f));
}
}
OutputStream.End();
}
public void Execute()
{
OutputStream.Begin(0);
for (int m = 0; m < MotionDatas.Length; m++)
{
float3 com = MotionDatas[m].WorldFromMotion.pos;
quaternion o = MotionDatas[m].WorldFromMotion.rot;
float3 invInertiaLocal = MotionVelocities[m].InverseInertiaAndMass.xyz;
float3 il = new float3(1.0f / invInertiaLocal.x, 1.0f / invInertiaLocal.y, 1.0f / invInertiaLocal.z);
float invMass = MotionVelocities[m].InverseInertiaAndMass.w;
// Reverse the inertia tensor computation to build a box which has the inerta tensor 'il'
// The diagonal inertia of a box with dimensions h,w,d and mass m is:
// Ix = 1/12 m (ww + dd)
// Iy = 1/12 m (dd + hh)
// Iz = 1/12 m (ww + hh)
//
// For simplicity, set K = I * 12 / m
// Then K = (ww + dd, dd + hh, ww + hh)
// => ww = Kx - dd, dd = Ky - hh, hh = Kz - ww
// By manipulation:
// 2ww = Kx - Ky + Kz
// => w = ((0.5)(Kx - Ky + Kz))^-1
// Then, substitution gives h and d.
float3 k = new float3(il.x * 12 * invMass, il.y * 12 * invMass, il.z * 12 * invMass);
float w = math.sqrt((k.x - k.y + k.z) * 0.5f);
float h = math.sqrt(k.z - w * w);
float d = math.sqrt(k.y - h * h);
float3 boxSize = new float3(h, w, d);
OutputStream.Box(boxSize, com, o, Color.magenta);
}
OutputStream.End();
}