/// <summary>
/// Render the camera's overlay
/// </summary>
/// <param name="width">The width of the overlay</param>
/// <param name="height">The height of the overlay</param>
public void renderOverlay(float width, float height)
{
this.width = width;
this.height = height;
GL.PushAttrib(AttribMask.AllAttribBits);
{
GL.LineWidth(2);
GL.LogicOp(LogicOp.Invert);
GL.Enable(EnableCap.ColorLogicOp);
if (currentMode == Mode.ORBIT)
{
float radius = Math.Min(width, height) * 0.3f;
GL.PushMatrix();
{
GL.Translate(width / 2, height / 2, 0);
OGLDrawing.drawArc(new BXDVector3(0, 0, 1), new BXDVector3(0, 1, 0), 0, 6.28f, radius, Color4.Gray, Color4.Gray);
GL.Begin(PrimitiveType.Lines);
{
// Center crosshairs
GL.Vertex2(-radius / 4.0f, 0);
GL.Vertex2(radius / 4.0f, 0);
GL.Vertex2(0, -radius / 4.0f);
GL.Vertex2(0, radius / 4.0f);
//Other things
GL.Vertex2(-radius, 0);
GL.Vertex2(-radius - (radius / 8.0f), 0);
GL.Vertex2(radius, 0);
GL.Vertex2(radius + (radius / 8.0f), 0);
GL.Vertex2(0, -radius);
GL.Vertex2(0, -radius - (radius / 8.0f));
GL.Vertex2(0, radius);
GL.Vertex2(0, radius + (radius / 8.0f));
}
GL.End();
}
GL.PopMatrix();
}
}
GL.PopAttrib();
}
/// <summary>
/// Render the node's center of mass and limits of motion along the joint it is connected to (If any)
/// </summary>
public void renderDebug(bool drawAxes)
{
// Debug Settings
GL.UseProgram(0);
GL.Disable(EnableCap.Lighting);
GL.LineWidth(2f);
GL.PushMatrix();
{
GL.MultMatrix(ref myTrans);
GL.PushAttrib(AttribMask.AllAttribBits);
{
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
float lerp = 0;
foreach (VBOMesh mesh in colliders)
{
GL.Color4(0f, lerp, 1f - lerp, 1f);
lerp += (1f / colliders.Count);
mesh.draw();
}
}
GL.PopAttrib();
if (GetSkeletalJoint() != null && drawAxes)
{
float crosshairLength = 100;
bool hasLinearDOF = GetSkeletalJoint().GetLinearDOF().GetEnumerator().MoveNext();
#region ROTATIONAL_SPEC
foreach (AngularDOF dof in GetSkeletalJoint().GetAngularDOF())
{
BXDVector3 dirCOM = centerOfMass.Copy().Subtract(dof.basePoint);
float offset = BXDVector3.DotProduct(dirCOM, dof.rotationAxis);
BXDVector3 baseCOM = dof.basePoint.Copy();
if (BXDVector3.CrossProduct(dirCOM, dof.rotationAxis).Magnitude() < 1E-10) // COM is on the axis. (>.>) Pick randomlyish.
{
dirCOM = new BXDVector3(.123213, 123213, 0.82134); // Certain to be random.
}
dirCOM.Multiply(1f / dirCOM.Magnitude());
baseCOM.Add(dof.rotationAxis.Copy().Multiply(offset / dof.rotationAxis.Magnitude()));
BXDVector3 direction = BXDVector3.CrossProduct(dirCOM, dof.rotationAxis);
direction = BXDVector3.CrossProduct(direction, dof.rotationAxis);
if (BXDVector3.DotProduct(dirCOM, direction) < 0)
{
direction.Multiply(-1f);
}
GL.PushMatrix();
{
GL.Translate(baseCOM.x, baseCOM.y, baseCOM.z);
if (!hasLinearDOF) // Linear limits show the axis anyways, and clipping is UGLY
{
// Rotational Axis
GL.Begin(PrimitiveType.Lines);
{
GL.Color3(1f, 0f, 0f);
GL.Vertex3(-dof.rotationAxis.x * crosshairLength, -dof.rotationAxis.y * crosshairLength,
-dof.rotationAxis.z * crosshairLength);
GL.Vertex3(dof.rotationAxis.x * crosshairLength, dof.rotationAxis.y * crosshairLength,
dof.rotationAxis.z * crosshairLength);
}
GL.End();
}
// Current
GL.Begin(PrimitiveType.Lines);
{
GL.Color3(1f, 0f, 1f);
GL.Vertex3(0, 0, 0);
GL.Vertex3(direction.x * crosshairLength, direction.y * crosshairLength, direction.z * crosshairLength);
}
GL.End();
#region ROTATIONAL_LIMITS
if (dof.hasAngularLimits())
{
// Minpos
GL.PushMatrix();
{
GL.Rotate(180.0f / 3.14f * (dof.lowerLimit - requestedRotation), dof.rotationAxis.ToTK());
GL.Begin(PrimitiveType.Lines);
{
GL.Color3(0f, 1f, 1f);
GL.Vertex3(0, 0, 0);
GL.Vertex3(direction.x * crosshairLength, direction.y * crosshairLength, direction.z * crosshairLength);
}
GL.End();
OGLDrawing.drawArc(dof.rotationAxis, direction, dof.lowerLimit, dof.upperLimit, crosshairLength,
Color4.Cyan, Color4.Green);
}
GL.PopMatrix(); // Begin limit matrix
// Maxpos
GL.PushMatrix();
{
GL.Rotate(180.0f / 3.14f * (dof.upperLimit - requestedRotation), dof.rotationAxis.ToTK());
GL.Begin(PrimitiveType.Lines);
{
GL.Color3(0f, 1f, 0f);
GL.Vertex3(0, 0, 0);
GL.Vertex3(direction.x * crosshairLength, direction.y * crosshairLength, direction.z * crosshairLength);
}
GL.End();
}
GL.PopMatrix(); // End limit matrix
}
else
{
// Full arc!
OGLDrawing.drawArc(dof.rotationAxis, direction, 0, 6.28f, crosshairLength, Color4.Cyan, Color4.Green);
}
#endregion
}
GL.PopMatrix(); // part -> COM-basepoint
}
#endregion
#region LINEAR_SPEC
foreach (LinearDOF dof in GetSkeletalJoint().GetLinearDOF())
{
float lower = (dof.hasLowerLinearLimit() ? dof.lowerLimit : -crosshairLength) - requestedTranslation;
float upper = (dof.hasUpperLinearLimit() ? dof.upperLimit : crosshairLength) - requestedTranslation;
BXDVector3 dirCOM = centerOfMass.Copy().Subtract(dof.basePoint);
float offset = BXDVector3.DotProduct(dirCOM, dof.translationalAxis);
BXDVector3 baseCOM = dof.basePoint.Copy();
if (BXDVector3.CrossProduct(dirCOM, dof.translationalAxis).Magnitude() < 1E-10) // COM is on the axis. (>.>) Pick randomlyish.
{
dirCOM = new BXDVector3(.123213, 123213, 0.82134); // Certain to be random.
}
dirCOM.Multiply(1f / dirCOM.Magnitude());
baseCOM.Add(dof.translationalAxis.Copy().Multiply(offset / dof.translationalAxis.Magnitude()));
BXDVector3 direction = BXDVector3.CrossProduct(dirCOM, dof.translationalAxis);
direction = BXDVector3.CrossProduct(direction, dof.translationalAxis);
if (BXDVector3.DotProduct(dirCOM, direction) < 0)
{
direction.Multiply(-1f);
}
GL.PushMatrix();
{
GL.Translate(baseCOM.x, baseCOM.y, baseCOM.z);
#region LIMITS
BXDVector3 otherDirection = BXDVector3.CrossProduct(dof.translationalAxis, direction);
GL.Begin(PrimitiveType.Lines);
{
GL.Color3(0f, 1f, 0f);
GL.Vertex3(dof.translationalAxis.ToTK() * lower);
GL.Vertex3(dof.translationalAxis.ToTK() * upper);
}
GL.End();
if (dof.hasLowerLinearLimit())
{
GL.PushMatrix();
{
GL.Translate(dof.translationalAxis.ToTK() * lower);
OGLDrawing.drawCrossHair(dof.translationalAxis, direction, crosshairLength);
}
GL.PopMatrix();
}
if (dof.hasUpperLinearLimit())
{
GL.PushMatrix();
{
GL.Translate(dof.translationalAxis.ToTK() * upper);
OGLDrawing.drawCrossHair(dof.translationalAxis, direction, crosshairLength);
}
GL.PopMatrix();
}
#endregion
}
GL.PopMatrix(); // part -> COM-basepoint
}
#endregion
}
}
GL.PopMatrix(); // World -> part matrix
// Revert Debug Settings
GL.Enable(EnableCap.Lighting);
}
