本文整理汇总了C#中IDebugDraw.drawLine方法的典型用法代码示例。如果您正苦于以下问题：C# IDebugDraw.drawLine方法的具体用法？C# IDebugDraw.drawLine怎么用？C# IDebugDraw.drawLine使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类IDebugDraw的用法示例。
在下文中一共展示了IDebugDraw.drawLine方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: CalcPenDepth
//.........这里部分代码省略.........
seperatingAxisInB = Vector3.TransformNormal(norm, transB);
pInA = convexA.localGetSupportVertexWithoutMarginNonVirtual(ref seperatingAxisInA);
qInB = convexB.localGetSupportVertexWithoutMarginNonVirtual(ref seperatingAxisInB);
pWorld = Vector3.Transform(pInA, transA);
qWorld = Vector3.Transform(qInB, transB);
if (check2d)
{
pWorld.Z = 0.0f;
qWorld.Z = 0.0f;
}
w = qWorld - pWorld;
float delta = Vector3.Dot(norm, w);
//find smallest delta
if (delta < minProj)
{
minProj = delta;
minNorm = norm;
minA = pWorld;
minB = qWorld;
}
}
}
#endif //USE_BATCHED_SUPPORT
//add the margins
minA += minNorm * convexA.GetMarginNonVirtual();
minB -= minNorm * convexB.GetMarginNonVirtual();
//no penetration
if (minProj < 0f)
{
return false;
}
float extraSeparation = 0.5f;///scale dependent
minProj += extraSeparation + (convexA.GetMarginNonVirtual() + convexB.GetMarginNonVirtual());
#if DEBUG_DRAW
if (debugDraw)
{
Vector3 color = new Vector3(0,1,0);
debugDraw.drawLine(minA,minB,color);
color = new Vector3(1,1,1);
Vector3 vec = minB-minA;
float prj2 = Vector3.Dot(minNorm,vec);
debugDraw.drawLine(minA,minA+(minNorm*minProj),color);
}
#endif //DEBUG_DRAW
GjkPairDetector gjkdet = new GjkPairDetector(convexA, convexB, simplexSolver, null);
float offsetDist = minProj;
Vector3 offset = minNorm * offsetDist;
ClosestPointInput input = new ClosestPointInput();
Vector3 newOrg = transA.Translation + offset;
Matrix displacedTrans = transA;
displacedTrans.Translation = newOrg;
input.m_transformA = displacedTrans;
input.m_transformB = transB;
input.m_maximumDistanceSquared = float.MaxValue;
MinkowskiIntermediateResult res = new MinkowskiIntermediateResult();
Vector3 temp = -minNorm;
gjkdet.SetCachedSeperatingAxis(-minNorm);
gjkdet.GetClosestPoints(input, res, debugDraw,false);
float correctedMinNorm = minProj - res.m_depth;
//the penetration depth is over-estimated, relax it
float penetration_relaxation = 1f;
minNorm *= penetration_relaxation;
if (res.m_hasResult)
{
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
pb = res.m_pointInWorld;
v = minNorm;
#if DEBUG_DRAW
if (debugDraw != null)
{
Vector3 color = new Vector3(1,0,0);
debugDraw.drawLine(pa,pb,color);
}
#endif//DEBUG_DRAW
}
return res.m_hasResult;
}示例2: CalcPenDepth
//.........这里部分代码省略.........
qInB = convexB.LocalGetSupportVertexWithoutMarginNonVirtual(ref seperatingAxisInB);
pWorld = IndexedVector3.Transform(pInA, transA);
qWorld = IndexedVector3.Transform(qInB, transB);
if (check2d)
{
pWorld.Z = 0.0f;
qWorld.Z = 0.0f;
}
w = qWorld - pWorld;
float delta = IndexedVector3.Dot(norm, w);
//find smallest delta
if (delta < minProj)
{
minProj = delta;
minNorm = norm;
minA = pWorld;
minB = qWorld;
}
}
}
#endif //USE_BATCHED_SUPPORT
//add the margins
minA += minNorm * convexA.GetMarginNonVirtual();
minB -= minNorm * convexB.GetMarginNonVirtual();
//no penetration
if (minProj < 0f)
{
return false;
}
float extraSeparation = 0.5f;///scale dependent
minProj += extraSeparation + (convexA.GetMarginNonVirtual() + convexB.GetMarginNonVirtual());
#if DEBUG_DRAW
if (debugDraw)
{
IndexedVector3 color = new IndexedVector3(0,1,0);
debugDraw.drawLine(minA,minB,color);
color = new IndexedVector3(1,1,1);
IndexedVector3 vec = minB-minA;
float prj2 = IndexedVector3.Dot(minNorm,vec);
debugDraw.drawLine(minA,minA+(minNorm*minProj),color);
}
#endif //DEBUG_DRAW
GjkPairDetector gjkdet = BulletGlobals.GjkPairDetectorPool.Get();
gjkdet.Initialize(convexA, convexB, simplexSolver, null);
float offsetDist = minProj;
IndexedVector3 offset = minNorm * offsetDist;
ClosestPointInput input = ClosestPointInput.Default();
IndexedVector3 newOrg = transA._origin + offset;
IndexedMatrix displacedTrans = transA;
displacedTrans._origin = newOrg;
input.m_transformA = displacedTrans;
input.m_transformB = transB;
input.m_maximumDistanceSquared = float.MaxValue;
MinkowskiIntermediateResult res = new MinkowskiIntermediateResult();
gjkdet.SetCachedSeperatingAxis(-minNorm);
gjkdet.GetClosestPoints(ref input, res, debugDraw, false);
float correctedMinNorm = minProj - res.m_depth;
//the penetration depth is over-estimated, relax it
float penetration_relaxation = 1f;
minNorm *= penetration_relaxation;
if (res.m_hasResult)
{
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
pb = res.m_pointInWorld;
v = minNorm;
#if DEBUG_DRAW
if (debugDraw != null)
{
IndexedVector3 color = new IndexedVector3(1,0,0);
debugDraw.drawLine(pa,pb,color);
}
#endif//DEBUG_DRAW
}
BulletGlobals.GjkPairDetectorPool.Free(gjkdet);
return res.m_hasResult;
}