DOTSSample/Assets/Unity.Sample.Core/Scripts/GameDebug/DebugDraw.cs

using UnityEngine;
using Unity.Burst;
using Unity.Mathematics;
using static Unity.Mathematics.math;


namespace Unity.Sample.Core
{
    public class DebugDraw
    {
        [BurstDiscard]
        public static void Circle(Vector3 center, Vector3 normal, float radius, Color color)
        {
            Vector3 v1;
            Vector3 v2;
            CalculatePlaneVectorsFromNormal(normal, out v1, out v2);
            CircleInternal(center, v1, v2, radius, color);
        }

        [BurstDiscard]
        public static void Line(float3 from, float3 to, Color color, float duration = 0)
        {
            Debug.DrawLine(from, to, color, duration);
        }

        [BurstDiscard]
        public static void Sphere(Vector3 center, float radius)
        {
            Sphere(center, radius, Color.white);
        }

        [BurstDiscard]
        public static void Sphere(Vector3 center, float radius, Color color, float duration = 0)
        {
            CircleInternal(center, Vector3.right, Vector3.up, radius, color, duration);
            CircleInternal(center, Vector3.forward, Vector3.up, radius, color, duration);
            CircleInternal(center, Vector3.right, Vector3.forward, radius, color, duration);
        }

//        [BurstDiscard]
//        public static void Prim(sphere sphere, Color color, float duration = 0)
//        {
//            Sphere(sphere.center, sphere.radius, color, duration);
//        }
//
//        [BurstDiscard]
//        public static void Prim(ray ray, Color color, float duration = 0)
//        {
//            Debug.DrawLine(ray.origin, ray.origin + ray.direction * 1000, color, duration);
//            Sphere(ray.origin, 0.03f, color, duration);
//        }

        [BurstDiscard]
        public static void Capsule(Vector3 center, Vector3 dir, float radius, float height, Color color, float duration = 0)
        {
            var cylinderHeight = height - radius * 2;
            var v = Vector3.Angle(dir, Vector3.up) > 0.001 ? Vector3.Cross(dir, Vector3.up) : Vector3.Cross(dir, Vector3.left);

            CircleInternal(center + dir * cylinderHeight * 0.5f, dir, v, radius, color, duration);
            CircleInternal(center - dir * cylinderHeight * 0.5f, dir, v, radius, color, duration);

            Cylinder(center, dir, radius, cylinderHeight * 0.5f, color, duration);
        }

//        [BurstDiscard]
//        public static void Prim(capsule capsule, Color color, float duration = 0)
//        {
//            var v = capsule.p2 - capsule.p1;
//            Capsule(capsule.p1 + v * 0.5f, math.normalize(v), capsule.radius, math.length(v) + 2 * capsule.radius, color, duration);
//        }

        [BurstDiscard]
        public static void Cylinder(Vector3 center, Vector3 normal, float radius, float halfHeight, Color color, float duration = 0)
        {
            Vector3 v1;
            Vector3 v2;
            CalculatePlaneVectorsFromNormal(normal, out v1, out v2);

            var offset = normal * halfHeight;
            CircleInternal(center - offset, v1, v2, radius, color, duration);
            CircleInternal(center + offset, v1, v2, radius, color, duration);

            const int segments = 20;
            float arc = Mathf.PI * 2.0f / segments;
            for (var i = 0; i < segments; i++)
            {
                Vector3 p = center + v1 * Mathf.Cos(arc * i) * radius + v2 * Mathf.Sin(arc * i) * radius;
                Debug.DrawLine(p - offset, p + offset, color, duration);
            }
        }

        [BurstDiscard]
//        public static void Prim(box box, Color color, float duration = 0)
//        {
//            var size = box.size;
//            var axisX = mul(box.rotation, float3(1, 0, 0)) * size.x;
//            var axisY = mul(box.rotation, float3(0, 1, 0)) * size.y;
//            var axisZ = mul(box.rotation, float3(0, 0, 1)) * size.z;
//
//            var A = box.center + (axisX + axisY + axisZ) * 0.5f;
//            var B = A - axisY;
//            var C = B - axisZ;
//            var D = C + axisY;
//
//            var E = A - axisX;
//            var F = B - axisX;
//            var G = C - axisX;
//            var H = D - axisX;
//
//            Debug.DrawLine(A, B, color, duration);
//            Debug.DrawLine(B, C, color, duration);
//            Debug.DrawLine(C, D, color, duration);
//            Debug.DrawLine(D, A, color, duration);
//
//            Debug.DrawLine(E, F, color, duration);
//            Debug.DrawLine(F, G, color, duration);
//            Debug.DrawLine(G, H, color, duration);
//            Debug.DrawLine(H, E, color, duration);
//
//            Debug.DrawLine(A, E, color, duration);
//            Debug.DrawLine(B, F, color, duration);
//            Debug.DrawLine(C, G, color, duration);
//            Debug.DrawLine(H, D, color, duration);
//        }


        static void CircleInternal(Vector3 center, Vector3 v1, Vector3 v2, float radius, Color color, float duration = 0)
        {
            const int segments = 20;
            float arc = Mathf.PI * 2.0f / segments;
            Vector3 p1 = center + v1 * radius;
            for (var i = 1; i <= segments; i++)
            {
                Vector3 p2 = center + v1 * Mathf.Cos(arc * i) * radius + v2 * Mathf.Sin(arc * i) * radius;
                Debug.DrawLine(p1, p2, color, duration);
                p1 = p2;
            }
        }

        static void CalculatePlaneVectorsFromNormal(Vector3 normal, out Vector3 v1, out Vector3 v2)
        {
            if (Mathf.Abs(Vector3.Dot(normal, Vector3.up)) < 0.99)
            {
                v1 = Vector3.Cross(Vector3.up, normal).normalized;
                v2 = Vector3.Cross(normal, v1);
            }
            else
            {
                v1 = Vector3.Cross(Vector3.left, normal).normalized;
                v2 = Vector3.Cross(normal, v1);
            }
        }

        public static void Arrow(Vector3 pos, float angle, Color color, float length = 1f, float tipSize = 0.25f, float width = 0.5f)
        {
            var angleRot = Quaternion.AngleAxis(angle, Vector3.up);
            var dir = angleRot * Vector3.forward;
            Arrow(pos, dir, color, length, tipSize, width);
        }

        public static void Arrow(Vector3 pos, Vector2 direction, Color color, float length = 1f, float tipSize = 0.25f, float width = 0.5f)
        {
            var dir = new Vector3(direction.x, 0f, direction.y);
            Arrow(pos, dir, color, length, tipSize, width);
        }

        public static void Arrow(Vector3 pos, Vector3 direction, Color color, float length = 1f, float tipSize = 0.25f, float width = 0.5f)
        {
            direction.Normalize();

            var sideLen = length - length * tipSize;
            var widthOffset = Vector3.Cross(direction, Vector3.up) * width;

            var baseLeft = pos + widthOffset * 0.3f;
            var baseRight = pos - widthOffset * 0.3f;
            var tip = pos + direction * length;
            var upCornerInRight = pos - widthOffset * 0.3f + direction * sideLen;
            var upCornerInLeft = pos + widthOffset * 0.3f + direction * sideLen;
            var upCornerOutRight = pos - widthOffset * 0.5f + direction * sideLen;
            var upCornerOutLeft = pos + widthOffset * 0.5f + direction * sideLen;

            Debug.DrawLine(baseLeft, baseRight, color);
            Debug.DrawLine(baseRight, upCornerInRight, color);
            Debug.DrawLine(upCornerInRight, upCornerOutRight, color);
            Debug.DrawLine(upCornerOutRight, tip, color);
            Debug.DrawLine(tip, upCornerOutLeft, color);
            Debug.DrawLine(upCornerOutLeft, upCornerInLeft, color);
            Debug.DrawLine(upCornerInLeft, baseLeft, color);
        }
    }
}