/// <summary>
/// Draw axes of the bot's local coordinate system.
/// </summary>
public static void DrawLocalCoordinateAxes(Matrix worldMatrix)
{
// Short-hand references.
Matrix botWorld = worldMatrix;
Vector3 botPos = worldMatrix.Translation;
// Draw red X, green Y, and blue Z world axes.
const float axisLength = 15;
// X
Vector3 startX = botPos;
Vector3 endX = botPos + (botWorld.Right * axisLength);
MyDebugDraw.DrawLine3D(startX, endX, Color.Red, Color.Red);
// Y
Vector3 startY = botPos;
Vector3 endY = botPos + (botWorld.Up * axisLength);
MyDebugDraw.DrawLine3D(startY, endY, Color.Green, Color.Green);
// Z
Vector3 startZ = botPos;
Vector3 endZ = botPos + (botWorld.Backward * axisLength);
MyDebugDraw.DrawLine3D(startZ, endZ, Color.Blue, Color.Blue);
}
public static void DrawCurve()
{
Vector3 previousCoord = new Vector3();
const int CURVE_INTERPOLATION_POINTS = 30;
const float CURVE_X_LENGTH_IN_METRES = 10;
for (int i = 0; i <= CURVE_INTERPOLATION_POINTS; i++)
{
// Right now we are in <0..1> range
Vector3 coord;
coord.X = i / (float)CURVE_INTERPOLATION_POINTS;
coord.Y = GetCurveY(coord.X);
coord.Z = 0;
// This is just magnification so we can see the curve
coord *= CURVE_X_LENGTH_IN_METRES;
if (i > 0)
{
MyDebugDraw.DrawLine3D(previousCoord, coord, Color.GreenYellow, Color.GreenYellow);
}
previousCoord = coord;
}
// Display boundings for a curve
MyDebugDraw.DrawLine3D(Vector3.Zero, new Vector3(CURVE_X_LENGTH_IN_METRES, 0, 0), Color.White, Color.White);
MyDebugDraw.DrawLine3D(Vector3.Zero, new Vector3(0, CURVE_X_LENGTH_IN_METRES, 0), Color.White, Color.White);
MyDebugDraw.DrawLine3D(new Vector3(0, CURVE_X_LENGTH_IN_METRES, 0), new Vector3(CURVE_X_LENGTH_IN_METRES, CURVE_X_LENGTH_IN_METRES, 0), Color.White, Color.White);
MyDebugDraw.DrawLine3D(new Vector3(CURVE_X_LENGTH_IN_METRES, CURVE_X_LENGTH_IN_METRES, 0), new Vector3(CURVE_X_LENGTH_IN_METRES, 0, 0), Color.White, Color.White);
}
public static void DrawAABBLine(ref BoundingBox worldAABB, ref Vector4 color, float fScale)
{
Color colorC = new Color(color);
Vector3 center = worldAABB.GetCenter();
Vector3 halfSize = worldAABB.Size() * fScale * 0.5f;
Vector3 v0 = new Vector3(center.X - halfSize.X, center.Y - halfSize.Y, center.Z - halfSize.Z);
Vector3 v1 = new Vector3(center.X + halfSize.X, center.Y - halfSize.Y, center.Z - halfSize.Z);
Vector3 v2 = new Vector3(center.X - halfSize.X, center.Y + halfSize.Y, center.Z - halfSize.Z);
Vector3 v3 = new Vector3(center.X + halfSize.X, center.Y + halfSize.Y, center.Z - halfSize.Z);
Vector3 v4 = new Vector3(center.X - halfSize.X, center.Y - halfSize.Y, center.Z + halfSize.Z);
Vector3 v5 = new Vector3(center.X + halfSize.X, center.Y - halfSize.Y, center.Z + halfSize.Z);
Vector3 v6 = new Vector3(center.X - halfSize.X, center.Y + halfSize.Y, center.Z + halfSize.Z);
Vector3 v7 = new Vector3(center.X + halfSize.X, center.Y + halfSize.Y, center.Z + halfSize.Z);
MyDebugDraw.DrawLine3D(ref v0, ref v1, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v0, ref v2, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v2, ref v3, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v3, ref v1, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v4, ref v5, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v4, ref v6, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v6, ref v7, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v5, ref v7, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v0, ref v4, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v1, ref v5, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v2, ref v6, ref colorC, ref colorC);
MyDebugDraw.DrawLine3D(ref v3, ref v7, ref colorC, ref colorC);
}
public static void DrawAxis(Matrix matrix, float axisLength, float alpha)
{
Vector3 pos = matrix.Translation;
MyDebugDraw.DrawLine3D(pos, pos + (matrix.Right * axisLength), Color.Red, Color.Red);
MyDebugDraw.DrawLine3D(pos, pos + (matrix.Up * axisLength), Color.Green, Color.Green);
MyDebugDraw.DrawLine3D(pos, pos + (matrix.Forward * axisLength), Color.Blue, Color.Blue);
}
/// <summary>
/// Draw the world axes, at the specified current position.
/// </summary>
/// <param name="pos"></param>
/// <param name="length">Default: 15f</param>
public static void DrawWorldCoordinatesAtBot(Vector3 pos, float length)
{
// Draw red X, green Y, and blue Z world axes.
const float axisLength = 15;
MyDebugDraw.DrawLine3D(pos, (pos + new Vector3(axisLength, 0, 0)), Color.Red, Color.Red);
MyDebugDraw.DrawLine3D(pos, (pos + new Vector3(0, axisLength, 0)), Color.Green, Color.Green);
MyDebugDraw.DrawLine3D(pos, (pos + new Vector3(0, 0, axisLength)), Color.Blue, Color.Blue);
}
public static void Draw()
{
const float axisLength = 100;
MyDebugDraw.DrawLine3D(new Vector3(0, 0, 0), new Vector3(axisLength, 0, 0), Color.Black, Color.Red);
MyDebugDraw.DrawLine3D(new Vector3(0, 0, 0), new Vector3(0, axisLength, 0), Color.Black, Color.Green);
MyDebugDraw.DrawLine3D(new Vector3(0, 0, 0), new Vector3(0, 0, axisLength), Color.Black, Color.Blue);
MyDebugDrawCurve.DrawCurve();
}
/// <summary>
/// For debugging, draw the local forward axis (-Z) of the bot.
/// </summary>
public static void DrawForward(Matrix worldMatrix)
{
Vector3 forward = worldMatrix.Forward * 100.0f;
MyDebugDraw.DrawLine3D(worldMatrix.Translation, (worldMatrix.Translation + forward), Color.White, Color.White);
}
