//Bullet callback updates Unity transform
public override void SetWorldTransform(ref Matrix m)
{
UnityEngine.Vector3 position = BulletExtensionMethods.ExtractTranslationFromMatrix(ref m);
UnityEngine.Quaternion rotation = BulletExtensionMethods.GetUnityRotationFromMatrix(ref m);
_transform.SetPositionAndRotation(position, rotation);
}
public override void DrawSphere(float radius, ref BM.Matrix trans, ref BM.Vector3 color)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var scale = BulletExtensionMethods.ExtractScaleFromMatrix(ref trans);
var c = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawSphere(pos, rot, scale, Vector3.one * radius, c);
}
public override void DrawPlane(ref BM.Vector3 planeNormal, float planeConst, ref BM.Matrix trans, ref BM.Vector3 color)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var scale = BulletExtensionMethods.ExtractScaleFromMatrix(ref trans);
var c = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawPlane(pos, rot, scale, planeNormal.ToUnity(), planeConst, c);
}
public override void DrawCylinder(float radius, float halfHeight, int upAxis, ref BM.Matrix trans, ref BM.Vector3 color)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var scale = BulletExtensionMethods.ExtractScaleFromMatrix(ref trans);
var c = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawCylinder(pos, rot, scale, radius, halfHeight, upAxis, c);
}
public override void DrawBox(ref BM.Vector3 bbMin, ref BM.Vector3 bbMax, ref BM.Matrix trans, ref BM.Vector3 color)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var scale = BulletExtensionMethods.ExtractScaleFromMatrix(ref trans);
var size = (bbMax - bbMin).ToUnity();
var c = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawBox(pos, rot, scale, size, c);
}
public override void DrawTransform(ref BM.Matrix trans, float orthoLen)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var p1 = pos + rot * Vector3.up * orthoLen;
var p2 = pos - rot * Vector3.up * orthoLen;
Gizmos.DrawLine(p1, p2);
p1 = pos + rot * Vector3.right * orthoLen;
p2 = pos - rot * Vector3.right * orthoLen;
Gizmos.DrawLine(p1, p2);
p1 = pos + rot * Vector3.forward * orthoLen;
p2 = pos - rot * Vector3.forward * orthoLen;
Gizmos.DrawLine(p1, p2);
}
