public static void Draw <C>(QuaternionMsg message, Drawing3d drawing, GameObject drawAtPosition = null, float size = 0.1f, bool drawUnityAxes = false)
where C : ICoordinateSpace, new()
{
Vector3 position = drawAtPosition != null ? drawAtPosition.transform.position : Vector3.zero;
VisualizationUtils.DrawAxisVectors <C>(drawing, position.To <C>(), message, size, drawUnityAxes);
}
public void OnChanged(TFStream stream)
{
Drawing3d drawing;
if (!drawings.TryGetValue(stream.Name, out drawing))
{
drawing = Drawing3d.Create();
drawings[stream.Name] = drawing;
if (stream.Parent != null)
{
OnChanged(stream.Parent);
Drawing3d parentStream;
if (drawings.TryGetValue(stream.Parent.Name, out parentStream))
{
drawing.transform.parent = parentStream.transform;
}
}
}
TFFrame frame = stream.GetLocalTF();
drawing.transform.localPosition = frame.translation;
drawing.transform.localRotation = frame.rotation;
drawing.Clear();
EnsureSettings(stream);
if (m_ShowAxes[stream])
{
VisualizationUtils.DrawAxisVectors <FLU>(drawing, Vector3.zero.To <FLU>(), Quaternion.identity.To <FLU>(), axesScale, false);
}
if (m_ShowLinks[stream])
{
drawing.DrawLine(Quaternion.Inverse(frame.rotation) * -frame.translation, Vector3.zero, color, lineThickness);
}
if (m_ShowNames[stream])
{
drawing.DrawLabel(stream.Name, Vector3.zero, color);
}
}
public static void Draw <C>(QuaternionMsg message, Drawing3d drawing, Vector3 position, float size = 0.1f, bool drawUnityAxes = false)
where C : ICoordinateSpace, new()
{
VisualizationUtils.DrawAxisVectors <C>(drawing, position.To <C>(), message, size, drawUnityAxes);
}
