Tom Erez
117 lines
4.9 KiB
C#
117 lines
4.9 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using UnityEngine;
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namespace Mujoco {
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// Additional Debug Gizmos.
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public static class MjGizmos {
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private const float _vectorPerpendicularityMagnitudeThreshold = 1e-6f;
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public static int NumCircleSegments = 32;
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private static Vector3[] _circumferenceVertices = new Vector3[] {
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Vector3.right, -Vector3.right, Vector3.forward, -Vector3.forward,
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};
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public static Action<Vector3 /*from*/, Vector3 /*to*/> DrawLine { get; set; } = Gizmos.DrawLine;
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public static Action<Vector3 /*position*/, float /*radius*/, Vector3 /*axis*/, float /*length*/,
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float /*startAngle*/> DrawArc { get; set; } = MjGizmos.DrawArcInternal;
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// Draws a wireframe capsule of the specified radius and height.
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// The capsule's height will be aligned with the global Y axis.
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// The specified height represents the height of the cylinder between two hemisphere bases.
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public static void DrawWireCapsule(Vector3 position, float radius, float height) {
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var offset = DrawHollowWireCylinder(position, radius, height);
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// Arches marking the bases of the capsule.
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DrawArc(position - offset, radius, Vector3.right, 0.5f, 0.0f);
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DrawArc(position + offset, radius, Vector3.right, 0.5f, 180.0f);
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DrawArc(position + offset, radius, Vector3.forward, 0.5f, -90.0f);
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DrawArc(position - offset, radius, Vector3.forward, 0.5f, 90.0f);
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}
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// Draws a wireframe cylinder of the specified radius and height.
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// The cylinder's height will be aligned with the global Y axis.
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public static void DrawWireCylinder(Vector3 position, float radius, float height) {
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var offset = DrawHollowWireCylinder(position, radius, height);
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// Lines marking the bases of the cylinder.
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for (var i = 0; i < _circumferenceVertices.Length / 2; ++i) {
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var vertex = _circumferenceVertices[i * 2] * radius;
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var nextVertex = _circumferenceVertices[i * 2 + 1] * radius;
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DrawLine(position + offset + vertex, position + offset + nextVertex);
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DrawLine(position - offset + vertex, position - offset + nextVertex);
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}
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}
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private static Vector3 DrawHollowWireCylinder(Vector3 position, float radius, float height) {
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var offset = Vector3.up * (height * 0.5f);
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// Cylinder bases.
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DrawArc(position + offset, radius, Vector3.up, 1.0f, 0.0f);
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DrawArc(position - offset, radius, Vector3.up, 1.0f, 0.0f);
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// Lines marking the sides of the cylinder.
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for (var i = 0; i < _circumferenceVertices.Length; ++i) {
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// Lines marking the sides of the cylinder.
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var vertex = _circumferenceVertices[i] * radius;
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DrawLine(position + offset + vertex, position - offset + vertex);
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}
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return offset;
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}
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// Draws an arc in the XZ plane.
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// 'length' parameter, in range (0, 1], allows to define how much of the circumference should be
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// drawn. In other words, it allows to draw arbitrary arcs.
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// Two additional parameters, 'axis' and 'startAngle', allow to orient the figure without having
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// to manipulate the value of Gizmos.matrix.
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public static void DrawArcInternal(
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Vector3 position, float radius, Vector3 axis, float length, float startAngle) {
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var deltaAngle = 360.0f / NumCircleSegments;
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var numSegments = Math.Ceiling(length * NumCircleSegments);
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var perpendicular = Vector3.Cross(axis, Vector3.right);
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if (perpendicular.magnitude <= _vectorPerpendicularityMagnitudeThreshold) {
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perpendicular = Vector3.Cross(axis, Vector3.up);
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}
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perpendicular.Normalize();
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var offset = perpendicular * radius;
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var start = Quaternion.AngleAxis(startAngle, axis) * offset;
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var angle = startAngle + deltaAngle;
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for (var segment = 0; segment < numSegments; ++segment, angle += deltaAngle) {
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var end = Quaternion.AngleAxis(angle, axis) * offset;
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DrawLine(position + start, position + end);
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start = end;
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}
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}
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public static void DrawWirePlane(Vector3 position, float width, float height) {
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var quadPoints = new Vector3[] {
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new Vector3(-0.5f * width, 0, -0.5f * height),
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new Vector3(0.5f * width, 0, -0.5f * height),
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new Vector3(0.5f * width, 0, 0.5f * height),
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new Vector3(-0.5f * width, 0, 0.5f * height),
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new Vector3(-0.5f * width, 0, -0.5f * height),
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new Vector3(0.5f * width, 0, 0.5f * height),
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};
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for (var i = 0; i < quadPoints.Length - 1; ++i) {
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DrawLine(position + quadPoints[i], position + quadPoints[i + 1]);
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}
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}
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}
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}
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