-static void debug_capsule( m4x3f m, float radius, float h, u32 colour )
-{
- v3f ly = { 0.0f, 0.0f, radius },
- lx = { 0.0f, radius, 0.0f },
- lz = { 0.0f, 0.0f, radius };
-
- float s0 = sinf(0.0f)*radius,
- c0 = cosf(0.0f)*radius;
-
- v3f p0, p1, up, right, forward;
- m3x3_mulv( m, (v3f){0.0f,1.0f,0.0f}, up );
- m3x3_mulv( m, (v3f){1.0f,0.0f,0.0f}, right );
- m3x3_mulv( m, (v3f){0.0f,0.0f,-1.0f}, forward );
- v3_muladds( m[3], up, -h*0.5f+radius, p0 );
- v3_muladds( m[3], up, h*0.5f-radius, p1 );
-
- v3f a0, a1, b0, b1;
- v3_muladds( p0, right, radius, a0 );
- v3_muladds( p1, right, radius, a1 );
- v3_muladds( p0, forward, radius, b0 );
- v3_muladds( p1, forward, radius, b1 );
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- v3_muladds( p0, right, -radius, a0 );
- v3_muladds( p1, right, -radius, a1 );
- v3_muladds( p0, forward, -radius, b0 );
- v3_muladds( p1, forward, -radius, b1 );
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- for( int i=0; i<16; i++ )
- {
- float t = ((float)(i+1) * (1.0f/16.0f)) * VG_PIf * 2.0f,
- s1 = sinf(t)*radius,
- c1 = cosf(t)*radius;
-
- v3f e0 = { s0, 0.0f, c0 },
- e1 = { s1, 0.0f, c1 },
- e2 = { s0, c0, 0.0f },
- e3 = { s1, c1, 0.0f },
- e4 = { 0.0f, c0, s0 },
- e5 = { 0.0f, c1, s1 };
-
- m3x3_mulv( m, e0, e0 );
- m3x3_mulv( m, e1, e1 );
- m3x3_mulv( m, e2, e2 );
- m3x3_mulv( m, e3, e3 );
- m3x3_mulv( m, e4, e4 );
- m3x3_mulv( m, e5, e5 );
-
- v3_add( p0, e0, a0 );
- v3_add( p0, e1, a1 );
- v3_add( p1, e0, b0 );
- v3_add( p1, e1, b1 );
-
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- if( c0 < 0.0f )
- {
- v3_add( p0, e2, a0 );
- v3_add( p0, e3, a1 );
- v3_add( p0, e4, b0 );
- v3_add( p0, e5, b1 );
- }
- else
- {
- v3_add( p1, e2, a0 );
- v3_add( p1, e3, a1 );
- v3_add( p1, e4, b0 );
- v3_add( p1, e5, b1 );
- }