public void Test_Matrix()
{
var bullet = new BulletSharp.Matrix ();
bullet.M11 = 1;
bullet.M12 = 2;
bullet.M13 = 3;
bullet.M14 = 4;
bullet.M21 = 5;
bullet.M22 = 6;
bullet.M23 = 7;
bullet.M24 = 8;
bullet.M31 = 9;
bullet.M32 = 10;
bullet.M33 = 11;
bullet.M34 = 12;
bullet.M41 = 13;
bullet.M42 = 14;
bullet.M43 = 15;
bullet.M44 = 16;
var dd = new Matrix4x4(1,5,9,13,
2,6,10,14,
3,7,11,15,
4,8,12,16);
Assert.AreEqual (dd, bullet.ToDD());
Assert.AreEqual (bullet, dd.ToBullet ());
}
public static Matrix4 Convert(ref BulletSharp.Matrix m)
{
return(new Matrix4(
m.M11, m.M12, m.M13, m.M14,
m.M21, m.M22, m.M23, m.M24,
m.M31, m.M32, m.M33, m.M34,
m.M41, m.M42, m.M43, m.M44));
}
public static BulletSharp.Matrix Convert(ref Matrix4 m)
{
BulletSharp.Matrix r = new BulletSharp.Matrix();
r.M11 = m.M11; r.M12 = m.M12; r.M13 = m.M13; r.M14 = m.M14;
r.M21 = m.M21; r.M22 = m.M22; r.M23 = m.M23; r.M24 = m.M24;
r.M31 = m.M31; r.M32 = m.M32; r.M33 = m.M33; r.M34 = m.M34;
r.M41 = m.M41; r.M42 = m.M42; r.M43 = m.M43; r.M44 = m.M44;
return(r);
}
public static BulletSharp.Matrix Convert(Matrix m)
{
BulletSharp.Matrix r = new BulletSharp.Matrix();
r.M11 = m.M11; r.M12 = m.M12; r.M13 = m.M13; r.M14 = m.M14;
r.M21 = m.M21; r.M22 = m.M22; r.M23 = m.M23; r.M24 = m.M24;
r.M31 = m.M31; r.M32 = m.M32; r.M33 = m.M33; r.M34 = m.M34;
r.M41 = m.M41; r.M42 = m.M42; r.M43 = m.M43; r.M44 = m.M44;
return r;
}
void Start ()
{
Matrix4x4 unityMatrix = Matrix4x4.TRS (transform.localPosition, transform.localRotation, UnityEngine.Vector3.one);
BulletSharp.Matrix bulletMatrix = new BulletSharp.Matrix (
unityMatrix.m00, unityMatrix.m10, unityMatrix.m20, unityMatrix.m30,
unityMatrix.m01, unityMatrix.m11, unityMatrix.m21, unityMatrix.m31,
unityMatrix.m02, unityMatrix.m12, unityMatrix.m22, unityMatrix.m32,
unityMatrix.m03, unityMatrix.m13, unityMatrix.m23, unityMatrix.m33);
BtCompoundShape c = transform.parent.GetComponent<BtCompoundShape> ();
c.AddChildShape (bulletMatrix, shape.Shape);
}
/// <summary>
/// DDの行列をBulletPhysicsの行列に変更
/// </summary>
/// <param name="m">DDの行列</param>
/// <returns>BulletPhysicsの行列</returns>
public static BulletSharp.Matrix ToBullet(this Matrix4x4 m)
{
var mat = new BulletSharp.Matrix ();
mat.M11 = m[0];
mat.M12 = m[4];
mat.M13 = m[8];
mat.M14 = m[12];
mat.M21 = m[1];
mat.M22 = m[5];
mat.M23 = m[9];
mat.M24 = m[13];
mat.M31 = m[2];
mat.M32 = m[6];
mat.M33 = m[10];
mat.M34 = m[14];
mat.M41 = m[3];
mat.M42 = m[7];
mat.M43 = m[11];
mat.M44 = m[15];
return mat;
}
