// draw the edges of a box with a given position, orientation, size
// and color. The box edges are aligned with the axes of the given
// LocalSpace, and it is centered at the origin of that LocalSpace.
// "size" is the main diagonal of the box.
//
// use gGlobalSpace to draw a box aligned with global space
public static void DrawBoxOutline(ILocalSpaceBasis localSpace, Vector3 size, Color color)
{
Vector3 s = size / 2.0f; // half of main diagonal
Vector3 a = localSpace.GlobalizePosition(new Vector3(+s.X, +s.Y, +s.Z));
Vector3 b = localSpace.GlobalizePosition(new Vector3(+s.X, -s.Y, +s.Z));
Vector3 c = localSpace.GlobalizePosition(new Vector3(-s.X, -s.Y, +s.Z));
Vector3 d = localSpace.GlobalizePosition(new Vector3(-s.X, +s.Y, +s.Z));
Vector3 e = localSpace.GlobalizePosition(new Vector3(+s.X, +s.Y, -s.Z));
Vector3 f = localSpace.GlobalizePosition(new Vector3(+s.X, -s.Y, -s.Z));
Vector3 g = localSpace.GlobalizePosition(new Vector3(-s.X, -s.Y, -s.Z));
Vector3 h = localSpace.GlobalizePosition(new Vector3(-s.X, +s.Y, -s.Z));
iDrawLine(a, b, color);
iDrawLine(b, c, color);
iDrawLine(c, d, color);
iDrawLine(d, a, color);
iDrawLine(a, e, color);
iDrawLine(b, f, color);
iDrawLine(c, g, color);
iDrawLine(d, h, color);
iDrawLine(e, f, color);
iDrawLine(f, g, color);
iDrawLine(g, h, color);
iDrawLine(h, e, color);
}
public void GlobalizePositionTest()
{
Matrix4x4 m = Matrix4x4.CreateRotationX(-PiOver2) * Matrix4x4.CreateTranslation(10, 20, 30);
ILocalSpaceBasis basis = Basis(m);
var v = Vector3.Normalize(new Vector3(1, 2, 3));
Assert.AreEqual(Vector3.Transform(v, m), basis.GlobalizePosition(v));
}
// draw the three axes of a LocalSpace: three lines parallel to the
// basis vectors of the space, centered at its origin, of lengths
// given by the coordinates of "size".
public static void DrawAxes(ILocalSpaceBasis ls, Vector3 size, Color color)
{
Vector3 x = new Vector3(size.X / 2, 0, 0);
Vector3 y = new Vector3(0, size.Y / 2, 0);
Vector3 z = new Vector3(0, 0, size.Z / 2);
iDrawLine(ls.GlobalizePosition(x), ls.GlobalizePosition(x * -1), color);
iDrawLine(ls.GlobalizePosition(y), ls.GlobalizePosition(y * -1), color);
iDrawLine(ls.GlobalizePosition(z), ls.GlobalizePosition(z * -1), color);
}
// used to detect if vehicle body is on any obstacles
public bool ScanLocalXZRectangle(ILocalSpaceBasis localSpace, float xMin, float xMax, float zMin, float zMax)
{
float spacing = MinSpacing() / 2;
for (float x = xMin; x < xMax; x += spacing)
{
for (float z = zMin; z < zMax; z += spacing)
{
Vector3 sample = new Vector3(x, 0, z);
Vector3 global = localSpace.GlobalizePosition(sample);
if (GetMapValue(global))
{
return(true);
}
}
}
return(false);
}
// used to detect if vehicle body is on any obstacles
public bool ScanLocalXZRectangle(ILocalSpaceBasis localSpace, float xMin, float xMax, float zMin, float zMax)
{
float spacing = MinSpacing() / 2;
for (float x = xMin; x < xMax; x += spacing)
{
for (float z = zMin; z < zMax; z += spacing)
{
Vector3 sample = new Vector3(x, 0, z);
Vector3 global = localSpace.GlobalizePosition(sample);
if (GetMapValue(global)) return true;
}
}
return false;
}
// draw the edges of a box with a given position, orientation, size
// and color. The box edges are aligned with the axes of the given
// LocalSpace, and it is centered at the origin of that LocalSpace.
// "size" is the main diagonal of the box.
//
// use gGlobalSpace to draw a box aligned with global space
public static void DrawBoxOutline(ILocalSpaceBasis localSpace, Vector3 size, Color color)
{
Vector3 s = size / 2.0f; // half of main diagonal
Vector3 a = localSpace.GlobalizePosition(new Vector3(+s.X, +s.Y, +s.Z));
Vector3 b = localSpace.GlobalizePosition(new Vector3(+s.X, -s.Y, +s.Z));
Vector3 c = localSpace.GlobalizePosition(new Vector3(-s.X, -s.Y, +s.Z));
Vector3 d = localSpace.GlobalizePosition(new Vector3(-s.X, +s.Y, +s.Z));
Vector3 e = localSpace.GlobalizePosition(new Vector3(+s.X, +s.Y, -s.Z));
Vector3 f = localSpace.GlobalizePosition(new Vector3(+s.X, -s.Y, -s.Z));
Vector3 g = localSpace.GlobalizePosition(new Vector3(-s.X, -s.Y, -s.Z));
Vector3 h = localSpace.GlobalizePosition(new Vector3(-s.X, +s.Y, -s.Z));
iDrawLine(a, b, color);
iDrawLine(b, c, color);
iDrawLine(c, d, color);
iDrawLine(d, a, color);
iDrawLine(a, e, color);
iDrawLine(b, f, color);
iDrawLine(c, g, color);
iDrawLine(d, h, color);
iDrawLine(e, f, color);
iDrawLine(f, g, color);
iDrawLine(g, h, color);
iDrawLine(h, e, color);
}
// draw the three axes of a LocalSpace: three lines parallel to the
// basis vectors of the space, centered at its origin, of lengths
// given by the coordinates of "size".
public static void DrawAxes(ILocalSpaceBasis ls, Vector3 size, Color color)
{
Vector3 x = new Vector3(size.X / 2, 0, 0);
Vector3 y = new Vector3(0, size.Y / 2, 0);
Vector3 z = new Vector3(0, 0, size.Z / 2);
iDrawLine(ls.GlobalizePosition(x), ls.GlobalizePosition(x * -1), color);
iDrawLine(ls.GlobalizePosition(y), ls.GlobalizePosition(y * -1), color);
iDrawLine(ls.GlobalizePosition(z), ls.GlobalizePosition(z * -1), color);
}