public void refreshShape()
{
Mesh m = GetComponent <MeshFilter>().mesh;
Vector3[] v = m.vertices;
int[] f = m.triangles;
float[] shape = new float[f.Length * 3];
for (int i = 0; i < f.Length; i++)
{
Vector3 vert = v[f[i]];
vert.Scale(transform.localScale);
vert.Scale(device_scale);
// vert = transform.localRotation*vert;
shape[i * 3] = vert.x;
shape[i * 3 + 1] = vert.y;
shape[i * 3 + 2] = vert.z;
}
Vector3 localPosition = transform.localPosition;
localPosition.Scale(device_scale);
FalconUnity.sendDynamicShape(bodyId, shape, f.Length / 3, mass, k, localPosition, transform.localRotation, linearFactors, angularFactors, friction);
FalconUnity.addSpringToShape(bodyId, springId, max_force, dampingFactor, springPos, springOrientation, posConstraintLower, posConstraintUpper, orientConstraintCCW, orientConstraintCW, directionality);
}