public static void DrawDebugHull(NativeHull hull, RigidTransform t, DebugHullFlags options = DebugHullFlags.All, Color BaseColor = default)
{
if (!hull.IsValid)
{
throw new ArgumentException("Hull is not valid", nameof(hull));
}
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)
{
for (int i = 0; i < hull.FaceCount; i++)
{
var centroid = math.transform(t, hull.CalculateFaceCentroid(hull.GetFace(i)));
var normal = math.rotate(t, hull.GetPlane(i).Normal);
DebugDrawer.DrawArrow(centroid, normal * 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.DrawArrow(center + tPlane.Normal * faceExplosionDistance, dir * 0.2f, Color.black);
}
else
{
DebugDrawer.DrawArrow(center + tPlane.Normal * faceExplosionDistance + insetDir * 0.1f, dir * 0.2f, Color.black);
}
edge = nextEdge;
} while (edge.Origin != startOrigin);
}
}
}
public void DrawHullCollision(GameObject a, GameObject b, RigidTransform t1, NativeHull hull1, RigidTransform t2, NativeHull hull2)
{
var collision = HullCollision.GetDebugCollisionInfo(t1, hull1, t2, hull2);
if (collision.IsColliding)
{
if (DrawIntersection) // Visualize all faces of the intersection
{
HullIntersection.DrawNativeHullHullIntersection(t1, hull1, t2, hull2);
}
if (DrawContact || LogContact) // Visualize the minimal contact calcluation for physics
{
//var manifold = HullOperations.GetContact.Invoke(t1, hull1, t2, hull2);
var sw1 = System.Diagnostics.Stopwatch.StartNew();
var tmp = new NativeManifold(Allocator.Persistent);
var normalResult = HullIntersection.NativeHullHullContact(ref tmp, t1, hull1, t2, hull2);
sw1.Stop();
tmp.Dispose();
var sw2 = System.Diagnostics.Stopwatch.StartNew();
var burstResult = HullOperations.TryGetContact.Invoke(out NativeManifold manifold, t1, hull1, t2, hull2);
sw2.Stop();
if (LogContact)
{
Debug.Log($"GetContact between '{a.name}'/'{b.name}' took: {sw1.Elapsed.TotalMilliseconds:N4}ms (Normal), {sw2.Elapsed.TotalMilliseconds:N4}ms (Burst)");
}
if (DrawContact && burstResult)
{
// Do something with manifold
HullDrawingUtility.DebugDrawManifold(manifold);
//var points = manifold.Points;
for (int i = 0; i < manifold.Length; i++)
{
var point = manifold[i];
DebugDrawer.DrawSphere(point.Position, 0.02f);
DebugDrawer.DrawArrow(point.Position, manifold.Normal * 0.2f);
var penentrationPoint = point.Position + manifold.Normal * point.Distance;
DebugDrawer.DrawLabel(penentrationPoint, $"{point.Distance:N2}");
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge1, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge1, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge2, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge2, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge1, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge1, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge2, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge2, t2, hull2);
DebugDrawer.DrawDottedLine(point.Position, penentrationPoint);
}
manifold.Dispose();
}
}
if (DrawIsCollided)
{
DebugDrawer.DrawSphere(t1.pos, 0.1f, UnityColors.GhostDodgerBlue);
DebugDrawer.DrawSphere(t2.pos, 0.1f, UnityColors.GhostDodgerBlue);
}
}
if (DrawClosestFace)
{
var color1 = collision.Face1.Distance > 0 ? UnityColors.Red.ToOpacity(0.3f) : UnityColors.Yellow.ToOpacity(0.3f);
HullDrawingUtility.DrawFaceWithOutline(collision.Face1.Index, t1, hull1, color1, UnityColors.Black);
var color2 = collision.Face2.Distance > 0 ? UnityColors.Red.ToOpacity(0.3f) : UnityColors.Yellow.ToOpacity(0.3f);
HullDrawingUtility.DrawFaceWithOutline(collision.Face2.Index, t2, hull2, color2, UnityColors.Black);
}
}
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);
}
}
}
