forked from mirror/DotRecast
71 lines
2.9 KiB
C#
71 lines
2.9 KiB
C#
using System;
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using DotRecast.Core.Numerics;
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using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
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namespace DotRecast.Recast.Toolset.Gizmos
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{
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public class RcCapsuleGizmo : IRcGizmoMeshFilter
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{
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public readonly float[] vertices;
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public readonly int[] triangles;
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public readonly float[] center;
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public readonly float[] gradient;
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public RcCapsuleGizmo(RcVec3f start, RcVec3f end, float radius)
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{
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center = new float[]
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{
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0.5f * (start.X + end.X), 0.5f * (start.Y + end.Y),
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0.5f * (start.Z + end.Z)
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};
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RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
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RcVec3f[] normals = new RcVec3f[3];
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normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
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normals[1] = RcVec3f.Normalize(normals[1]);
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normals[0] = GetSideVector(axis);
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normals[2] = RcVec3f.Zero;
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RcVec3f.Cross(ref normals[2], normals[0], normals[1]);
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normals[2] = RcVec3f.Normalize(normals[2]);
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triangles = GenerateSphericalTriangles();
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var trX = new RcVec3f(normals[0].X, normals[1].X, normals[2].X);
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var trY = new RcVec3f(normals[0].Y, normals[1].Y, normals[2].Y);
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var trZ = new RcVec3f(normals[0].Z, normals[1].Z, normals[2].Z);
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float[] spVertices = GenerateSphericalVertices();
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float halfLength = 0.5f * axis.Length();
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vertices = new float[spVertices.Length];
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gradient = new float[spVertices.Length / 3];
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RcVec3f v = new RcVec3f();
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for (int i = 0; i < spVertices.Length; i += 3)
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{
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float offset = (i >= spVertices.Length / 2) ? -halfLength : halfLength;
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float x = radius * spVertices[i];
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float y = radius * spVertices[i + 1] + offset;
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float z = radius * spVertices[i + 2];
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vertices[i] = x * trX.X + y * trX.Y + z * trX.Z + center[0];
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vertices[i + 1] = x * trY.X + y * trY.Y + z * trY.Z + center[1];
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vertices[i + 2] = x * trZ.X + y * trZ.Y + z * trZ.Z + center[2];
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v.X = vertices[i] - center[0];
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v.Y = vertices[i + 1] - center[1];
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v.Z = vertices[i + 2] - center[2];
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v = RcVec3f.Normalize(v);
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gradient[i / 3] = Math.Clamp(0.57735026f * (v.X + v.Y + v.Z), -1, 1);
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}
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}
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private RcVec3f GetSideVector(RcVec3f axis)
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{
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RcVec3f side = new RcVec3f(1, 0, 0);
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if (axis.X > 0.8)
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{
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side = new RcVec3f(0, 0, 1);
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}
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RcVec3f forward = new RcVec3f();
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RcVec3f.Cross(ref forward, side, axis);
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RcVec3f.Cross(ref side, axis, forward);
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side = RcVec3f.Normalize(side);
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return side;
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}
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}
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} |