public static void Run()
{
{
btTransform planeObjWorld = new btTransform( new btQuaternion( 0.2, 0.1, 0.3, 1 ), new btVector3( 3, 4, 5 ) );
btTransform convexWorldTransform = new btTransform( new btQuaternion( 0.2, 0.3, 0, 1 ), new btVector3( 3, 4, 5 ) );
btTransform convexInPlaneTrans;
btTransform tmp;
planeObjWorld.inverse( out tmp );
tmp.Apply( ref convexWorldTransform, out convexInPlaneTrans );
PrintTransform( ref convexInPlaneTrans );
planeObjWorld.inverseTimes( ref convexWorldTransform, out convexInPlaneTrans );
PrintTransform( ref convexInPlaneTrans );
//convexInPlaneTrans = planeObjWorld( convexWorldTransform;
//PrintTransform( &convexInPlaneTrans );
}
{
btTransform planeObjWorld = new btTransform( new btQuaternion( 0.2, 0.1, 0.3, 1 ), new btVector3( 5, 2, 1 ) );
btTransform convexWorldTransform = new btTransform( new btQuaternion( 0.2, 0.3, 0, 1 ), new btVector3( 3, 4, 5 ) );
btTransform convexInPlaneTrans;
btTransform tmp;
planeObjWorld.inverse( out tmp );
tmp.Apply( ref convexWorldTransform, out convexInPlaneTrans );
PrintTransform( ref convexInPlaneTrans );
planeObjWorld.inverseTimes( ref convexWorldTransform, out convexInPlaneTrans );
PrintTransform( ref convexInPlaneTrans );
//convexInPlaneTrans = planeObjWorld( convexWorldTransform;
//PrintTransform( &convexInPlaneTrans );
btQuaternion perturbeRot = new btQuaternion( 0.1, 0.5, 0.25, 0.8 );
perturbeRot.normalize();
btTransform planeObjWrapTrans = new btTransform( new btQuaternion( 0.2, 0.1, 0.3, 1 ), new btVector3( 4, 7, 2 ) );
planeObjWrapTrans.inverseTimes( ref convexWorldTransform, out convexInPlaneTrans );
//now perturbe the convex-world transform
btMatrix3x3 perturbeMat = new btMatrix3x3( ref perturbeRot );
btMatrix3x3 tmpPerturbe; convexWorldTransform.m_basis.Apply( ref perturbeMat, out tmpPerturbe );
convexWorldTransform.m_basis = tmpPerturbe;
btTransform planeInConvex;
convexWorldTransform.inverseTimes( ref planeObjWrapTrans, out planeInConvex );
PrintTransform( ref planeInConvex );
}
Console.Read();
}
