public BoxCollider(RigidBody body)
{
var shape = (BoxShape)body.CollisionShape;
if (shape == null)
{
throw new ArgumentException("The body shape does not match the collider!", "body.CollisionShape");
}
Model = Primitives.Cube(shape.HalfExtentsWithMargin.X, shape.HalfExtentsWithMargin.Y, shape.HalfExtentsWithMargin.Z, MeshMaterial.Green);
Body = body;
_size = new Vector3(shape.HalfExtentsWithMargin.X, shape.HalfExtentsWithMargin.Y, shape.HalfExtentsWithMargin.Z);
}
Polytope GenerateCube() => Primitives.Cube(2);