public static void btTransformAabb( ref btVector3 halfExtents, double margin, btITransform t
, out btVector3 aabbMinOut, out btVector3 aabbMaxOut )
{
btVector3 halfExtentsWithMargin; halfExtents.AddScale( ref btVector3.One, margin, out halfExtentsWithMargin );
btMatrix3x3 abs_b; t.getBasis().absolute( out abs_b );
btVector3 extent; halfExtentsWithMargin.dot3( ref abs_b.m_el0, ref abs_b.m_el1, ref abs_b.m_el2, out extent );
t.m_origin.Sub( ref extent, out aabbMinOut );
t.m_origin.Add( ref extent, out aabbMaxOut );
}
public void inverseTimes( btITransform t, out btTransform result )
{
btVector3 v;
t.getOrigin().Sub( ref m_origin, out v );
btMatrix3x3 m;
t.getBasis( out m );
m_basis.transposeTimes( ref m, out result.m_basis );
m_basis.ApplyInverse( ref v, out result.m_origin );
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version void getAabb( btITransform t, out btVector3 aabbMin, out btVector3 aabbMax );
public void Apply( btITransform t2, out btTransform result )
{
m_basis.Apply( t2.getBasis(), out result.m_basis );
Apply( t2.getOrigin(), out result.m_origin );
}