protected Matrix GetTransformMatrix(GameObject go)
{
UnityEngine.Vector3 pos = go.transform.localPosition;
Quaternion rot = go.transform.localRotation;
Matrix4x4 m = Matrix4x4.TRS(pos, rot, UnityEngine.Vector3.one);
return(m.ToBullet());
}
/// <summary>
/// Get translation matrix.
/// </summary>
/// <param name="offset">Translation offset.</param>
/// <returns>
/// The translation transform matrix.
/// </returns>
public static Matrix4x4 TranslationMatrix(UnityEngine.Vector3 offset)
{
var matrix = IdentityMatrix;
matrix.m03 = offset.x;
matrix.m13 = offset.y;
matrix.m23 = offset.z;
return(matrix);
}
protected void Add(PhyBody phyBody, UnityEngine.Vector3 pos)
{
Add(phyBody, pos, Quaternion.identity);
}
protected void Add(PhyBody phyBody, UnityEngine.Vector3 pos, Quaternion rot)
{
Add(phyBody, Matrix4x4.TRS(pos, rot, UnityEngine.Vector3.one).ToBullet());
}
/// <summary>
/// Convert a Unity Vector3 to BulletSharp
/// </summary>
/// <param name="v">Vector3 to be converted</param>
/// <returns></returns>
public static Vector3 ToBullet(this UnityEngine.Vector3 v)
{
return(new Vector3(v.x, v.y, v.z));
}
/// <summary>
/// Extract position, rotation and scale from TRS matrix.
/// </summary>
/// <param name="matrix">Transform matrix. This parameter is passed by reference
/// to improve performance; no changes will be made to it.</param>
/// <param name="localPosition">Output position.</param>
/// <param name="localRotation">Output rotation.</param>
/// <param name="localScale">Output scale.</param>
public static void DecomposeMatrix(ref Matrix4x4 matrix, out UnityEngine.Vector3 localPosition, out UnityEngine.Quaternion localRotation, out UnityEngine.Vector3 localScale)
{
localPosition = ExtractTranslationFromMatrix(ref matrix);
localRotation = ExtractRotationFromMatrix(ref matrix);
localScale = ExtractScaleFromMatrix(ref matrix);
}
//Transform point without scaling
public static UnityEngine.Vector3 TransformPointUnscaled(this Transform transform, UnityEngine.Vector3 position)
{
var localToWorldMatrix = Matrix4x4.TRS(transform.position, transform.rotation, UnityEngine.Vector3.one);
return(localToWorldMatrix.MultiplyPoint3x4(position));
}
