public static void DrawFaceWithOutline(int faceIndex, RigidTransform t, NativeHull hull, Color fillColor, Color outlineColor)
{
var verts = hull.GetVertices(faceIndex).Select(cp => (Vector3)cp).ToArray();
var tVerts = new List <Vector3>();
for (int i = 0; i < verts.Length; i++)
{
var v = math.transform(t, verts[i]);
tVerts.Add(v);
var nextIndex = i + 1 < verts.Length ? i + 1 : 0;
var next = math.transform(t, verts[nextIndex]);
Debug.DrawLine(v, next, outlineColor);
}
DebugDrawer.DrawAAConvexPolygon(tVerts.ToArray(), fillColor);
}
public static void DebugDrawManifold(NativeManifold manifold, Color color = default)
{
if (!manifold.IsCreated || manifold.Points.Length == 0)
{
return;
}
if (color == default)
{
color = UnityColors.Blue.ToOpacity(0.3f);
}
for (int i = 0; i < manifold.Points.Length; i++)
{
var start = manifold.Points[i];
if (manifold.Points.Length >= 2)
{
var end = i > 0 ? manifold.Points[i - 1] : manifold.Points[manifold.Points.Length - 1];
Debug.DrawLine(start.position, end.position, color);
}
DebugDrawer.DrawSphere(start.position, 0.02f, color.ToOpacity(0.8f));
}
DebugDrawer.DrawAAConvexPolygon(manifold.Points.ToArray().Select(cp => (Vector3)cp.position).ToArray(), color);
}
private static unsafe void DrawTests(int threadIndex, float3 start, float3 end, NativeString512 text, DrawingMethods methods, NativeArray <float3> polygon)
{
float3 offset = Vector3.up * 0.05f + Vector3.left * 0.05f;
float3 center = (start + (end - start) / 2);
if (methods.Sphere)
{
DebugDrawer.DrawSphere(start, 0.75f, UnityColors.GhostDodgerBlue);
}
if (methods.RectangleWithOutline)
{
var size = 0.25f;
var points = stackalloc[]
{
center + offset + new float3(0, 0, 0),
center + offset + new float3(0, size, 0),
center + offset + new float3(0, size, size),
center + offset + new float3(0, 0, size)
};
DebugDrawer.DrawSolidRectangleWithOutline(points, UnityColors.LightYellow, UnityColors.Yellow);
}
if (methods.Polygon)
{
DebugDrawer.DrawAAConvexPolygon(polygon, center + (float3)Vector3.down * 0.25f, UnityColors.GhostDodgerBlue);
}
if (methods.Line)
{
DebugDrawer.DrawLine(start + offset, end + offset);
}
if (methods.Ray)
{
DebugDrawer.DrawRay(center, Vector3.up, UnityColors.MediumBlue);
}
if (methods.Cone)
{
DebugDrawer.DrawCone(center + (float3)Vector3.up * 0.5f, Vector3.up, UnityColors.DarkKhaki, 22.5f);
}
if (methods.Circle)
{
DebugDrawer.DrawCircle(center, Vector3.up, 0.25f, UnityColors.AliceBlue);
}
if (methods.DottedLine)
{
DebugDrawer.DrawDottedLine(start, end, Color.yellow);
}
if (methods.WireCube)
{
DebugDrawer.DrawWireCube(end, Vector3.one / 2, Color.yellow);
}
if (methods.DottedWireCube)
{
DebugDrawer.DrawDottedWireCube(end, Vector3.one, Color.black);
}
if (methods.Label)
{
DebugDrawer.DrawLabel(center + (float3)Vector3.down * 0.25f, text);
}
if (methods.Arrow)
{
DebugDrawer.DrawArrow(start + (float3)Vector3.up * 0.5f, Vector3.up, Color.blue);
}
if (methods.Log)
{
DebugDrawer.Log(threadIndex, text);
}
if (methods.LogWarning)
{
DebugDrawer.LogWarning(text);
}
if (methods.LogError)
{
DebugDrawer.LogError(text);
}
if (methods.Point)
{
DebugDrawer.DrawPoint(center + (float3)Vector3.forward, UnityColors.Lavender, 0.25f);
}
}
}
