public void Draw()
{
foreach (var sensor in space.Sensors)
{
if (sensor.IsCompound)
{
((MultiSensor)sensor).Attachments.ForEach(a => Draw(a.Shape));
}
else
{
Draw(sensor.Shape);
}
}
primitives.Flush();
}
public void Draw(Camera3D camera)
{
if (!IsEnabled)
{
return;
}
foreach (RigidBody body in world.RigidBodies)
{
// TODO: Incorporate soft bodies into this visualizer.
if (body is SoftBody.MassPoint)
{
continue;
}
var shape = body.Shape;
var color = GetColor(body);
switch (shape.GetType().Name)
{
case "BoxShape": Draw((BoxShape)shape, body, color);
break;
case "CapsuleShape": Draw((CapsuleShape)shape, body, color);
break;
case "CylinderShape": Draw((CylinderShape)shape, body, color);
break;
case "SphereShape": Draw((SphereShape)shape, body, color);
break;
case "TriangleMeshShape": Draw((TriangleMeshShape)shape, color);
break;
}
}
primitives.Flush();
}
