public static void Draw <C>(SolidPrimitiveMsg message, Drawing3d drawing, Color color, GameObject origin = null)
where C : ICoordinateSpace, new()
{
Vector3 originPosition = origin != null ? origin.transform.position : Vector3.zero;
Quaternion originRotation = origin != null ? origin.transform.rotation : Quaternion.identity;
switch (message.type)
{
case SolidPrimitiveMsg.BOX:
drawing.DrawCuboid(
originPosition,
new Vector3 <C>(
(float)message.dimensions[SolidPrimitiveMsg.BOX_X] * 0.5f,
(float)message.dimensions[SolidPrimitiveMsg.BOX_Y] * 0.5f,
(float)message.dimensions[SolidPrimitiveMsg.BOX_Z] * 0.5f).toUnity,
originRotation,
color
);
break;
case SolidPrimitiveMsg.SPHERE:
drawing.DrawSphere(originPosition, color, (float)message.dimensions[SolidPrimitiveMsg.SPHERE_RADIUS]);
break;
case SolidPrimitiveMsg.CYLINDER:
Vector3 cylinderAxis = originRotation * Vector3.up * (float)message.dimensions[SolidPrimitiveMsg.CYLINDER_HEIGHT] * 0.5f;
drawing.DrawCylinder(originPosition - cylinderAxis, originPosition + cylinderAxis, color, (float)message.dimensions[SolidPrimitiveMsg.CYLINDER_RADIUS]);
break;
case SolidPrimitiveMsg.CONE:
Vector3 coneAxis = originRotation * Vector3.up * (float)message.dimensions[SolidPrimitiveMsg.CONE_HEIGHT] * 0.5f;
drawing.DrawCone(originPosition - coneAxis, originPosition + coneAxis, color, (float)message.dimensions[SolidPrimitiveMsg.CONE_RADIUS]);
break;
}
}
public static void Draw <C>(RangeMsg message, Drawing3d drawing, Color color, float size = 0.1f, bool drawUnityAxes = false)
where C : ICoordinateSpace, new()
{
var asin = Mathf.Asin(message.field_of_view);
var acos = Mathf.Acos(message.field_of_view);
Color col = Color.HSVToRGB(Mathf.InverseLerp(message.min_range, message.max_range, message.range), 1, 1);
Vector3 end = new Vector3 <C>(message.range * acos, 0, message.range * asin).toUnity;
drawing.DrawCone(end, Vector3.zero, col, Mathf.Rad2Deg * message.field_of_view / 2);
}