public override void OnDrawGizmosSelected()
{
if (!drawGizmo)
{
return;
}
Vector3 position = transform.position;
Quaternion rotation = transform.rotation;
Vector3 scale = m_localScaling;
Gizmos.color = Color.yellow;
BoxShape shape = GetCollisionShape() as BoxShape;
Gizmos.matrix = this.transform.localToWorldMatrix * Matrix4x4.Scale(transform.lossyScale).inverse;
for (int i = 0; i < shape.NumEdges; i++)
{
BulletSharp.Math.Vector3 vertex1;
BulletSharp.Math.Vector3 vertex2;
shape.GetEdge(i, out vertex1, out vertex2);
Vector3 vertexUnity1 = BSExtensionMethods2.ToUnity(vertex1);
Vector3 vertexUnity2 = BSExtensionMethods2.ToUnity(vertex2);
Gizmos.DrawLine(vertexUnity1, vertexUnity2);
}
//BUtility.DebugDrawBox(position, rotation, scale, extents, Color.yellow);
}
public override void OnDrawGizmosSelected()
{
if (!drawGizmo)
{
return;
}
Gizmos.color = Color.yellow;
CollisionShape shape = GetCollisionShape();
ConvexHullShape convexShape = shape as ConvexHullShape;
Gizmos.matrix = transform.localToWorldMatrix * Matrix4x4.Scale(transform.lossyScale).inverse;
if (convexShape != null)
{
//BulletSharp.Math.Matrix childShapeTransform = this.transform;
//childShapeTransform.Invert();
//BulletSharp.Math.Matrix shapeTransform = childShapeTransform * this.transform.localToWorldMatrix.ToBullet();
int nbEdges = convexShape.NumEdges;
for (int j = 0; j < nbEdges; j++)
{
BulletSharp.Math.Vector3 vertex1;
BulletSharp.Math.Vector3 vertex2;
convexShape.GetEdge(j, out vertex1, out vertex2);
Vector3 vertexUnity1 = BSExtensionMethods2.ToUnity(vertex1);
Vector3 vertexUnity2 = BSExtensionMethods2.ToUnity(vertex2);
Gizmos.DrawLine(vertexUnity1, vertexUnity2);
}
}
BvhTriangleMeshShape triangleShape = shape as BvhTriangleMeshShape;
if (triangleShape != null)
{
DisplayTriangleCallback cb = new DisplayTriangleCallback();
triangleShape.MeshInterface.InternalProcessAllTriangles(cb, triangleShape.LocalAabbMin, triangleShape.LocalAabbMax);
}
}
public override void InternalProcessTriangleIndex(ref BulletSharp.Math.Vector3 point0, ref BulletSharp.Math.Vector3 point1, ref BulletSharp.Math.Vector3 point2, int partId, int triangleIndex)
{
Vector3 point0Unity = BSExtensionMethods2.ToUnity(point0);
Vector3 point1Unity = BSExtensionMethods2.ToUnity(point1);
Vector3 point2Unity = BSExtensionMethods2.ToUnity(point2);
Gizmos.DrawLine(point0Unity, point1Unity);
Gizmos.DrawLine(point1Unity, point2Unity);
Gizmos.DrawLine(point2Unity, point0Unity);
}
//todo draw the hull when not in the world
public override void OnDrawGizmosSelected()
{
Gizmos.color = Color.yellow;
// Gizmos.matrix =
ConvexHullShape cs = GetCollisionShape() as ConvexHullShape;
Matrix4x4 matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
Gizmos.matrix = matrix;
int nbEdges = cs.NumEdges;
for (int i = 0; i < nbEdges; i++)
{
BulletSharp.Math.Vector3 vertex1;
BulletSharp.Math.Vector3 vertex2;
cs.GetEdge(i, out vertex1, out vertex2);
Vector3 vertexUnity1 = BSExtensionMethods2.ToUnity(vertex1);
Vector3 vertexUnity2 = BSExtensionMethods2.ToUnity(vertex2);
Gizmos.DrawLine(vertexUnity1, vertexUnity2);
}
//Gizmos.DrawWireMesh(hullMesh, transform.position, transform.rotation, transform.lossyScale);
}
public override void OnDrawGizmosSelected()
{
if (!drawGizmo)
{
return;
}
Gizmos.color = Color.yellow;
CompoundShape compoundShape = GetCollisionShape() as CompoundShape;
for (int i = 0; i < compoundShape.NumChildShapes; i++)
{
CollisionShape collisionShape = compoundShape.GetChildShape(i);
ConvexHullShape convexShape = collisionShape as ConvexHullShape;
if (convexShape != null)
{
BulletSharp.Math.Matrix childShapeTransform = compoundShape.GetChildTransform(i);
//childShapeTransform.Invert();
BulletSharp.Math.Matrix shapeTransform = childShapeTransform * this.transform.localToWorldMatrix.ToBullet();
Gizmos.matrix = shapeTransform.ToUnity();
int nbEdges = convexShape.NumEdges;
for (int j = 0; j < nbEdges; j++)
{
BulletSharp.Math.Vector3 vertex1;
BulletSharp.Math.Vector3 vertex2;
convexShape.GetEdge(j, out vertex1, out vertex2);
Vector3 vertexUnity1 = BSExtensionMethods2.ToUnity(vertex1);
Vector3 vertexUnity2 = BSExtensionMethods2.ToUnity(vertex2);
Gizmos.DrawLine(vertexUnity1, vertexUnity2);
}
/*Mesh collisionMesh = new Mesh();
* Vector3[] newVertices = new Vector3[convexShape.NumVertices];
* int[] triangles = new int[convexShape.NumVertices * 3];
* for (int j = 0; j < convexShape.NumVertices; j++)
* {
* BulletSharp.Math.Vector3 vertex1;
* convexShape.GetVertex(j, out vertex1);
* newVertices[j] = vertex1.ToUnity();
* triangles[j] = j;
* }
* collisionMesh.vertices = newVertices;
* collisionMesh.triangles = triangles;
* collisionMesh.RecalculateNormals();
* Gizmos.color = Color.blue;
* Gizmos.DrawMesh(collisionMesh); */
}
BvhTriangleMeshShape triangleShape = collisionShape as BvhTriangleMeshShape;
if (triangleShape != null)
{
BulletSharp.Math.Matrix shapeTransform = this.transform.localToWorldMatrix.ToBullet() * compoundShape.GetChildTransform(i);
Gizmos.matrix = BSExtensionMethods2.ToUnity(shapeTransform);
/*int nbEdges = triangleShape.;
* for (int j = 0; j < nbEdges; j++)
* {
* BulletSharp.Math.Vector3 vertex1;
* BulletSharp.Math.Vector3 vertex2;
* triangleShape.GetEdge(j, out vertex1, out vertex2);
* Vector3 vertexUnity1 = BSExtensionMethods2.ToUnity(vertex1);
* Vector3 vertexUnity2 = BSExtensionMethods2.ToUnity(vertex2);
* Gizmos.DrawLine(vertexUnity1, vertexUnity2);
* }*/
}
}
}
