public static void DrawDebugHull(NativeHull hull, RigidTransform t, DebugHullFlags options = DebugHullFlags.All, Color BaseColor = default)
{
if (options == DebugHullFlags.None)
{
return;
}
if (BaseColor == default)
{
BaseColor = Color.yellow;
}
float faceExplosionDistance = (options & DebugHullFlags.ExplodeFaces) != 0 ? 0.3f : 0;
// Iterate each twin pair at the same time.
for (int j = 0; j < hull.edgeCount; j = j + 2)
{
var edge = hull.GetEdge(j);
var twin = hull.GetEdge(j + 1);
var edgePlane = edge.face != -1 ? hull.GetPlane(edge.face) : new NativePlane();
var twinPlane = twin.face != -1 ? hull.GetPlane(twin.face) : new NativePlane();
var rotatedEdgeNormal = math.rotate(t, edgePlane.Normal);
var rotatedTwinNormal = math.rotate(t, twinPlane.Normal);
var edgeVertex1 = math.transform(t, hull.GetVertex(edge.origin));
var twinVertex1 = math.transform(t, hull.GetVertex(twin.origin));
var edgeVertex2 = math.transform(t, hull.GetVertex(edge.origin));
var twinVertex2 = math.transform(t, hull.GetVertex(twin.origin));
if ((options & DebugHullFlags.Outline) != 0)
{
Debug.DrawLine(edgeVertex1 + rotatedEdgeNormal * faceExplosionDistance, twinVertex1 + rotatedEdgeNormal * faceExplosionDistance, BaseColor);
Debug.DrawLine(edgeVertex2 + rotatedTwinNormal * faceExplosionDistance, twinVertex2 + rotatedTwinNormal * faceExplosionDistance, BaseColor);
}
if ((options & DebugHullFlags.EdgeLinks) != 0)
{
Debug.DrawLine((edgeVertex1 + twinVertex1) / 2 + rotatedEdgeNormal * faceExplosionDistance, (edgeVertex2 + twinVertex2) / 2 + rotatedTwinNormal * faceExplosionDistance, Color.gray);
}
}
if ((options & DebugHullFlags.PlaneNormals) != 0)
{
hull.IterateFaces((int index, ref NativePlane plane, ref NativeHalfEdge firstEdge) =>
{
var tPlane = plane.Transform(t);
DebugDrawer.DebugArrow(tPlane.Position, tPlane.Rotation * 0.2f, BaseColor);
});
}
if ((options & DebugHullFlags.Indices) != 0)
{
var dupeCheck = new HashSet <Vector3>();
for (int i = 0; i < hull.vertexCount; i++)
{
// Offset the label if multiple verts are on the same position.
var v = math.transform(t, hull.GetVertex(i));
var offset = dupeCheck.Contains(v) ? (float3)Vector3.forward * 0.05f : 0;
DebugDrawer.DrawLabel(v + offset, i.ToString());
dupeCheck.Add(v);
}
}
if ((options & DebugHullFlags.FaceWinding) != 0)
{
for (int i = 0; i < hull.faceCount; i++)
{
var face = hull.GetFace(i);
var plane = hull.GetPlane(i);
var tPlane = t * plane;
var edge = hull.GetEdge(face.edge);
var startOrigin = edge.origin;
do
{
var nextEdge = hull.GetEdge(edge.next);
var startVert = math.transform(t, hull.GetVertex(edge.origin));
var endVert = math.transform(t, hull.GetVertex(nextEdge.origin));
var center = (endVert + startVert) / 2;
var dir = math.normalize(endVert - startVert);
var insetDir = math.normalize(math.cross(tPlane.Normal, dir));
if ((options & DebugHullFlags.ExplodeFaces) != 0)
{
DebugDrawer.DebugArrow(center + tPlane.Normal * faceExplosionDistance, dir * 0.2f, Color.black);
}
else
{
DebugDrawer.DebugArrow(center + tPlane.Normal * faceExplosionDistance + insetDir * 0.1f, dir * 0.2f, Color.black);
}
edge = nextEdge;
} while (edge.origin != startOrigin);
}
}
}
