Method drawCapsule

src/utils/DebugRenderer.cpp:194–296

Draw a capsule

// Draw a capsule
void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, decimal height, uint32 color) {

    Vector3 vertices[(NB_SECTORS_SPHERE + 1) * (NB_STACKS_SPHERE + 1) + (NB_SECTORS_SPHERE + 1)];

    const decimal halfHeight = decimal(0.5) * height;

	// Use an even number of stacks
    const uint32 nbStacks = NB_STACKS_SPHERE % 2 == 0 ? NB_STACKS_SPHERE : NB_STACKS_SPHERE - 1;
    const uint32 nbHalfStacks = nbStacks / 2;
	
	// Vertices
    const decimal sectorStep = 2 * PI_RP3D / NB_SECTORS_SPHERE;
    const decimal stackStep = PI_RP3D / nbStacks;
	
    uint32 vertexIndex = 0;
	
	// Top cap sphere vertices
    for (uint32 i = 0; i <= nbHalfStacks; i++) {

        const decimal stackAngle = PI_RP3D / 2 - i * stackStep;
		const decimal radiusCosStackAngle = radius * std::cos(stackAngle);
        const decimal y = radius * std::sin(stackAngle);

        for (uint32 j = 0; j <= NB_SECTORS_SPHERE; j++) {
		
			const decimal sectorAngle = j * sectorStep;
            const decimal x = radiusCosStackAngle * std::sin(sectorAngle);
            const decimal z = radiusCosStackAngle * std::cos(sectorAngle);

            assert(vertexIndex < (NB_SECTORS_SPHERE + 1) * (nbStacks + 1) + (NB_SECTORS_SPHERE + 1));
			vertices[vertexIndex] = transform * Vector3(x, y + halfHeight, z);

			vertexIndex++;
		}
	}

	// Bottom cap sphere vertices
    for (uint32 i = 0; i <= nbHalfStacks; i++) {

        const decimal stackAngle = PI_RP3D / 2 - (nbHalfStacks + i) * stackStep;
		const decimal radiusCosStackAngle = radius * std::cos(stackAngle);
        const decimal y = radius * std::sin(stackAngle);

        for (uint32 j = 0; j <= NB_SECTORS_SPHERE; j++) {
		
			const decimal sectorAngle = j * sectorStep;
            const decimal x = radiusCosStackAngle * std::sin(sectorAngle);
            const decimal z = radiusCosStackAngle * std::cos(sectorAngle);

            assert(vertexIndex < (NB_SECTORS_SPHERE + 1) * (nbStacks + 1) + (NB_SECTORS_SPHERE + 1));
            vertices[vertexIndex] = transform * Vector3(x, y - halfHeight, z);

			vertexIndex++;
		}
	}

	// Faces of the top cap sphere
    for (uint32 i = 0; i < nbHalfStacks; i++) {