public void DrawPath()
{
if (GoalReached)
{
return;
}
float pathLength = pathSpline.ComputeCurveLength(nextControlPoint);
if (pathLength <= 0.0f)
{
return;
}
float stepDist = 0.2f;
int lines = (int)math.floor(pathLength / stepDist);
float3 position = pathSpline.EvaluatePointAtDistance(0.0f, nextControlPoint).position;
for (int i = 0; i < lines; ++i)
{
float distance = ((i + 1) / (float)lines) * pathLength;
float3 nextPosition = pathSpline.EvaluatePointAtDistance(distance, nextControlPoint).position;
DebugDraw.DrawLine(position, nextPosition, Color.white);
position = nextPosition;
}
for (int i = 0; i < pathSpline.segments.Length; ++i)
{
float radius = (i == pathSpline.segments.Length - 1) ? navParams.finalControlPointRadius : navParams.intermediateControlPointRadius;
DebugDraw.DrawSphere(pathSpline.segments[i].OutPosition, quaternion.identity, radius, (nextControlPoint <= i) ? Color.red : Color.white);
}
}
/// <summary>
/// Displays the trajectory model in world space.
/// </summary>
/// <param name="worldRootTransform">Anchor transform to be used as a reference for the trajectory display.</param>
/// <param name="color">The color to be used for the trajectory display.</param>
public void Display(AffineTransform worldRootTransform, Color color)
{
Color fillColor = color;
Color linesAndContourColor = color;
linesAndContourColor.a = 0.9f;
int trajectoryLength = TrajectoryLength;
Binary.DebugDrawTransform(worldRootTransform, 0.1f);
var previousRootTransform = worldRootTransform * this[0];
for (int i = 1; i < trajectoryLength; ++i)
{
var currentRootTransform =
worldRootTransform * this[i];
DebugDraw.DrawLine(previousRootTransform.t,
currentRootTransform.t, color);
previousRootTransform = currentRootTransform;
}
void DrawArrow(AffineTransform transform)
{
DebugDraw.DrawArrow(
worldRootTransform * transform,
fillColor, linesAndContourColor, 0.25f);
}
int stepSize = Missing.truncToInt(Binary.SampleRate / 3);
int numSteps = trajectoryLength / stepSize;
for (int i = 0; i < numSteps; ++i)
{
DrawArrow(this[i * stepSize]);
}
DrawArrow(this[trajectoryLength - 1]);
}