//Bullet calls this so I can copy bullet data to unity
public override void SetWorldTransform(ref BM.Matrix m)
{
transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref m);
}
// Object A has the constraint compontent and is constrainted to object B
// The constraint frame is defined relative to A by three vectors.
// This method calculates the frames A and B that need to be passed to bullet
public bool CreateFramesA_B(UnityEngine.Vector3 forwardInA, UnityEngine.Vector3 upInA, UnityEngine.Vector3 constraintPivotInA, out BM.Matrix frameInA, out BM.Matrix frameInB, ref string errorMsg)
{
frameInA = BM.Matrix.Identity;
if (!CreateFrame(forwardInA, upInA, constraintPivotInA, ref frameInA, ref errorMsg))
{
frameInB = BM.Matrix.Identity;
return false;
}
BM.Vector4 x = frameInA.Row1;
BM.Vector4 y = frameInA.Row2;
BM.Vector4 z = frameInA.Row3;
Vector3 xx = new Vector3(x.X, x.Y, x.Z);
Vector3 yy = new Vector3(y.X, y.Y, y.Z);
Vector3 zz = new Vector3(z.X, z.Y, z.Z);
Quaternion q = transform.localRotation * Quaternion.Inverse(m_otherRigidBody.transform.localRotation);
xx = q * xx;
yy = q * yy;
zz = q * zz;
frameInB = BM.Matrix.Identity;
frameInB.Row1 = new BM.Vector4(xx.ToBullet(), 0f);
frameInB.Row2 = new BM.Vector4(yy.ToBullet(), 0f);
frameInB.Row3 = new BM.Vector4(zz.ToBullet(), 0f);
frameInB.Origin = m_otherRigidBody.transform.InverseTransformPoint(transform.TransformPoint(constraintPivotInA)).ToBullet();
return true;
}
//Bullet wants me to fill in worldTrans
//This is called by bullet once when rigid body is added to the the world
//For kinematic rigid bodies it is called every simulation step
//[MonoPInvokeCallback(typeof(GetTransformDelegate))]
public override void GetWorldTransform(out BM.Matrix worldTrans)
{
BulletSharp.Math.Vector3 pos = transform.position.ToBullet();
BulletSharp.Math.Quaternion rot = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.AffineTransformation(1f, ref rot, ref pos, out worldTrans);
}