private void DrawRod(Vector3 pos, Quaternion rot)
{
Vector3 axisX = rot * Vector3.right;
Vector3 axisY = rot * Vector3.up;
Vector3 axisZ = rot * Vector3.forward;
Vector3 offsetX = 0.5f * kRodThickness * axisX;
Vector3 offsetY = 0.5f * (kRodLegnth - kRodThickness) * axisY;
Vector3 offsetZ = 0.5f * kRodThickness * axisZ;
Vector2 dimsSide = new Vector2(kRodThickness, kRodLegnth);
Vector2 dimsCap = new Vector2(kRodThickness, kRodThickness);
Quaternion q = Quaternion.AngleAxis(90.0f, Vector3.right);
Quaternion r = Quaternion.AngleAxis(90.0f, Vector3.up);
// sides
DebugUtil.DrawRect(pos + offsetZ + offsetY, rot * q, dimsSide, Color.red, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos + offsetX + offsetY, rot * r * q, dimsSide, Color.green, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos - offsetZ + offsetY, rot * r * r * q, dimsSide, Color.red, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos - offsetX + offsetY, rot * r * r * r * q, dimsSide, Color.green, true, DebugUtil.Style.FlatShaded);
// caps
DebugUtil.DrawRect(pos - (0.5f * kRodThickness) * axisY, rot, dimsCap, Color.yellow, true, DebugUtil.Style.FlatShaded);
DebugUtil.DrawRect(pos + (kRodLegnth - 0.5f * kRodThickness) * axisY, rot, dimsCap, Color.yellow, true, DebugUtil.Style.FlatShaded);
// rotationAxis
DebugUtil.DrawArrow(pos, pos + 1.2f * m_rotDiffAxis, 0.1f, 0.3f, 32, 0.03f, Color.cyan, true, DebugUtil.Style.SmoothShaded);
}
