public virtual void drawAabb( ref btVector3 from, ref btVector3 to, ref btVector3 color )
{
btVector3 halfExtents; to.SubAndScale( ref from, 0.5f, out halfExtents );
btVector3 center; to.AddAndScale( ref from, 0.5f, out center );
int i, j;
btVector3 edgecoord = new btVector3( 1f, 1f, 1f ), pa, pb;
for( i = 0; i < 4; i++ )
{
for( j = 0; j < 3; j++ )
{
edgecoord.Mult( ref halfExtents, out pa );
pa.Add( ref center, out pa );
int othercoord = j % 3;
edgecoord[othercoord] *= -1f;
edgecoord.Mult( ref halfExtents, out pb );
pb.Add( ref center, out pb );
drawLine( ref pa, ref pb, ref color );
}
edgecoord.setValue( -1, -1, -1 );
if( i < 3 )
edgecoord[i] *= -1;
}
}