private static unsafe void DrawConvex(
Collider *collider,
ref PhysicsTransform worldTransform,
ref PhysicsDebugStreamSystem.Context outputStream,
Color colliderColor)
{
var convexCollider = (ConvexCollider *)collider;
var vertexCount = convexCollider->VertexCount;
var vertices = convexCollider->Vertices;
var convexRadius = convexCollider->m_ConvexHull.ConvexRadius;
switch (collider->ColliderType)
{
case ColliderType.Box:
case ColliderType.Polygon:
{
Assert.IsTrue(vertexCount >= 3, "ConvexCollider must have >= 3 vertices.");
outputStream.Polygon(vertices, vertexCount, worldTransform, colliderColor);
return;
}
case ColliderType.Circle:
{
Assert.AreEqual(1, vertexCount, "CircleCollider must have 1 vertex.");
var position = PhysicsMath.mul(worldTransform, vertices[0]);
outputStream.Circle(position, convexRadius, colliderColor);
return;
}
case ColliderType.Capsule:
{
Assert.AreEqual(2, vertexCount, "CapsuleCollider must have 2 vertices.");
var vertex0 = PhysicsMath.mul(worldTransform, vertices[0]);
var vertex1 = PhysicsMath.mul(worldTransform, vertices[1]);
var offset = PhysicsMath.perp(math.normalizesafe(vertex1 - vertex0)) * new float2(convexRadius);
// Side Edges.
{
outputStream.Line(vertex0 - offset, vertex1 - offset, colliderColor);
outputStream.Line(vertex0 + offset, vertex1 + offset, colliderColor);
}
// End Caps.
{
var startAngle = math.atan2(offset.y, offset.x);
var endAngle = startAngle + math.PI;
outputStream.Arc(vertex0, convexRadius, startAngle, endAngle, colliderColor);
outputStream.Arc(vertex1, convexRadius, startAngle + math.PI, endAngle + math.PI, colliderColor);
}
return;
}
default:
return;
}
}
public static unsafe void DrawCollider(
Collider *collider,
ref PhysicsTransform worldTransform,
ref PhysicsDebugStreamSystem.Context outputStream,
Color colliderColor)
{
switch (collider->CollisionType)
{
case CollisionType.Convex:
{
DrawConvex(collider, ref worldTransform, ref outputStream, colliderColor);
return;
}
case CollisionType.Composite:
{
DrawComposite(collider, ref worldTransform, ref outputStream, colliderColor);
return;
}
}
}
private static unsafe void DrawComposite(
Collider *collider,
ref PhysicsTransform worldTransform,
ref PhysicsDebugStreamSystem.Context outputStream,
Color colliderColor)
{
switch (collider->ColliderType)
{
case ColliderType.Compound:
{
var compoundCollider = (PhysicsCompoundCollider *)collider;
var children = compoundCollider->Children;
for (var i = 0; i < children.Length; ++i)
{
ref PhysicsCompoundCollider.Child child = ref children[i];
var colliderWorldTransform = PhysicsMath.mul(worldTransform, child.CompoundFromChild);
DrawCollider(children[i].Collider, ref colliderWorldTransform, ref outputStream, colliderColor);
}
return;
}
}
