forked from mirror/DotRecast
87 lines
2.9 KiB
C#
87 lines
2.9 KiB
C#
using DotRecast.Core;
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using DotRecast.Detour.Dynamic.Colliders;
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using DotRecast.Recast.Demo.Draw;
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namespace DotRecast.Recast.Demo.Tools.Gizmos;
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public class BoxGizmo : ColliderGizmo
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{
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private static readonly int[] TRIANLGES =
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{
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0, 1, 2, 0, 2, 3, 4, 7, 6, 4, 6, 5, 0, 4, 5, 0, 5, 1, 1, 5, 6, 1, 6, 2,
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2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7
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};
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private static readonly Vector3f[] VERTS =
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{
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Vector3f.Of( -1f, -1f, -1f),
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Vector3f.Of( 1f, -1f, -1f),
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Vector3f.Of( 1f, -1f, 1f),
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Vector3f.Of( -1f, -1f, 1f),
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Vector3f.Of( -1f, 1f, -1f),
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Vector3f.Of( 1f, 1f, -1f),
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Vector3f.Of( 1f, 1f, 1f),
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Vector3f.Of( -1f, 1f, 1f),
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};
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private readonly float[] vertices = new float[8 * 3];
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private readonly Vector3f center;
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private readonly Vector3f[] halfEdges;
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public BoxGizmo(Vector3f center, Vector3f extent, Vector3f forward, Vector3f up) :
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this(center, BoxCollider.getHalfEdges(up, forward, extent))
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{
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}
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public BoxGizmo(Vector3f center, Vector3f[] halfEdges)
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{
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this.center = center;
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this.halfEdges = halfEdges;
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for (int i = 0; i < 8; ++i)
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{
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float s0 = (i & 1) != 0 ? 1f : -1f;
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float s1 = (i & 2) != 0 ? 1f : -1f;
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float s2 = (i & 4) != 0 ? 1f : -1f;
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vertices[i * 3 + 0] = center.x + s0 * halfEdges[0].x + s1 * halfEdges[1].x + s2 * halfEdges[2].x;
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vertices[i * 3 + 1] = center.y + s0 * halfEdges[0].y + s1 * halfEdges[1].y + s2 * halfEdges[2].y;
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vertices[i * 3 + 2] = center.z + s0 * halfEdges[0].z + s1 * halfEdges[1].z + s2 * halfEdges[2].z;
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}
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}
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public void render(RecastDebugDraw debugDraw)
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{
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var trX = Vector3f.Of(halfEdges[0].x, halfEdges[1].x, halfEdges[2].x);
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var trY = Vector3f.Of(halfEdges[0].y, halfEdges[1].y, halfEdges[2].y);
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var trZ = Vector3f.Of(halfEdges[0].z, halfEdges[1].z, halfEdges[2].z);
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float[] vertices = new float[8 * 3];
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for (int i = 0; i < 8; i++)
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{
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vertices[i * 3 + 0] = RecastVectors.dot(VERTS[i], trX) + center.x;
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vertices[i * 3 + 1] = RecastVectors.dot(VERTS[i], trY) + center.y;
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vertices[i * 3 + 2] = RecastVectors.dot(VERTS[i], trZ) + center.z;
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}
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debugDraw.begin(DebugDrawPrimitives.TRIS);
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for (int i = 0; i < 12; i++)
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{
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int col = DebugDraw.duRGBA(200, 200, 50, 160);
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if (i == 4 || i == 5 || i == 8 || i == 9)
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{
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col = DebugDraw.duRGBA(160, 160, 40, 160);
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}
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else if (i > 4)
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{
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col = DebugDraw.duRGBA(120, 120, 30, 160);
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}
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for (int j = 0; j < 3; j++)
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{
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int v = TRIANLGES[i * 3 + j] * 3;
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debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col);
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}
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}
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debugDraw.end();
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}
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}
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