Draw Class Reference

Draws stuff, useful for displaying debug data in the simulation. Note that GL implementations require that this Monobehaviour be attached to a the rendering camera (OnPostRender event) More...

Inheritance diagram for Draw:

Collaboration diagram for Draw:

Classes
class	CubeData
class	LineData

Public Member Functions
void	Line (Vector3 start, Vector3 end, Color color, Space relativeTo=Space.World)
	Draw a line between two positions, start and end, in a specified color. More...
void	Bearing (Vector3 origin, Vector3 direction, Color color)
	Draw a line in a direction starting at a specified location, in a specified color. More...
void	Cube (Vector3 center, Vector3 size, Color color)
	Draw any sized cube at a location in any color. More...

Static Public Attributes
static Draw	Instance
	Reference to the MonoBehaviour instance. More...

Private Member Functions
void	Awake ()
void	Update ()
void	GLLine (LineData line)
void	GLCube (CubeData cube)
void	OnPostRender ()
	Raises the post render event. Use this for GL stuff. More...

Private Attributes
Material	glLineMaterial
List< LineData >	gl_lines = new List<LineData>()
List< CubeData >	gl_cubes = new List<CubeData>()

Detailed Description

Draws stuff, useful for displaying debug data in the simulation. Note that GL implementations require that this Monobehaviour be attached to a the rendering camera (OnPostRender event)

Definition at line 10 of file Draw.cs.

Member Function Documentation

void Draw.Awake ( )

private

Definition at line 49 of file Draw.cs.

                 {
        if (Instance == null){
            Instance = this;
        }
        else {  
            Destroy(this);
        }

        glLineMaterial = Resources.Load<Material>("Materials/Line");
    }

void Draw.Bearing	(	Vector3	origin,
		Vector3	direction,
		Color	color
	)

Draw a line in a direction starting at a specified location, in a specified color.

Parameters

origin	Origin.
direction	Direction.
color	Color.

Definition at line 90 of file Draw.cs.

                                                                        {
        Vector3 end = origin + direction;
        gl_lines.Add(new LineData(origin, end, color));
    }

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void Draw.Cube	(	Vector3	center,
		Vector3	size,
		Color	color
	)

Draw any sized cube at a location in any color.

Parameters

center	Center.
size	Size.
color	Color.

Definition at line 101 of file Draw.cs.

                                                                {
        //if (Simulation.robot.navigation.spaceRelativeTo == Space.Self) {
        //  center = Simulation.robot.transform.TransformPoint(center);
        //}
        gl_cubes.Add(new CubeData(size, center, color));
    }

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void Draw.GLCube ( CubeData  cube )

private

Definition at line 116 of file Draw.cs.

                                       {
        float w = cube.size.x;
        float h = cube.size.y;
        float d = cube.size.z;
        float x = cube.center.x;
        float y = cube.center.y;
        float z = cube.center.z;
        
        GL.Color(cube.color);
        
        GL.Vertex3(x - w/2f, y - h/2f, z - d/2f); // 4
        GL.Vertex3(x - w/2f, y - h/2f, z + d/2f); // 1
        GL.Vertex3(x - w/2f, y + h/2f, z + d/2f); // 2
        GL.Vertex3(x - w/2f, y + h/2f, z - d/2f); // 3

        GL.Vertex3(x + w/2f, y - h/2f, z - d/2f); // 5
        GL.Vertex3(x - w/2f, y - h/2f, z - d/2f); // 4
        GL.Vertex3(x - w/2f, y + h/2f, z - d/2f); // 3
        GL.Vertex3(x + w/2f, y + h/2f, z - d/2f); // 8

        GL.Vertex3(x + w/2f, y - h/2f, z + d/2f); // 6
        GL.Vertex3(x + w/2f, y - h/2f, z - d/2f); // 5
        GL.Vertex3(x + w/2f, y + h/2f, z - d/2f); // 8
        GL.Vertex3(x + w/2f, y + h/2f, z + d/2f); // 7
        
        GL.Vertex3(x - w/2f, y - h/2f, z + d/2f); // 1
        GL.Vertex3(x + w/2f, y - h/2f, z + d/2f); // 6
        GL.Vertex3(x + w/2f, y + h/2f, z + d/2f); // 7
        GL.Vertex3(x - w/2f, y + h/2f, z + d/2f); // 2
    }

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void Draw.GLLine ( LineData  line )

private

Definition at line 109 of file Draw.cs.

                                       {
        GL.Color(line.color);
        GL.Vertex(line.start);
        GL.Vertex(line.end);
    }

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void Draw.Line	(	Vector3	start,
		Vector3	end,
		Color	color,
		Space	relativeTo = Space.World
	)

Draw a line between two positions, start and end, in a specified color.

Parameters

start	Start.
end	End.
color	Color.
relativeTo	Choose world-space or Robot local-space.

Definition at line 76 of file Draw.cs.

                                                                                              {
        if (relativeTo == Space.Self && Simulation.robot != null) {
            start = Simulation.robot.transform.TransformPoint(start);
            end = Simulation.robot.transform.TransformPoint(end);
        }
        gl_lines.Add(new LineData(start, end, color));
    }

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void Draw.OnPostRender ( )

private

Raises the post render event. Use this for GL stuff.

Definition at line 150 of file Draw.cs.

                        {
        if (CamController.renderMode == CamController.RenderMode.Normal) return;
        GL.PushMatrix();
        glLineMaterial.SetPass(0);
        GL.Begin(GL.LINES);
        foreach(LineData line in gl_lines) {
            GLLine(line);
        }
        foreach(CubeData cube in gl_cubes) {
            GLCube(cube);
        }
        GL.End();
        GL.PopMatrix();
        gl_lines.Clear();
        gl_cubes.Clear();
    }

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void Draw.Update ( )

private

Definition at line 61 of file Draw.cs.

                  {
        // clear lists while the camera isn't being rendered
        if (Camera.current != camera) {
            gl_lines.Clear();
            gl_cubes.Clear();
        }
    }

Member Data Documentation

List<CubeData> Draw.gl_cubes = new List<CubeData>()

private

Definition at line 46 of file Draw.cs.

List<LineData> Draw.gl_lines = new List<LineData>()

private

Definition at line 45 of file Draw.cs.

Material Draw.glLineMaterial

private

Definition at line 44 of file Draw.cs.

Draw Draw.Instance

static

Reference to the MonoBehaviour instance.

Definition at line 39 of file Draw.cs.

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The documentation for this class was generated from the following file:

• Assets/botnavsim/Scripts/Camera/Draw.cs