1 #ifndef BT_DEFAULT_MOTION_STATE_H 2 #define BT_DEFAULT_MOTION_STATE_H 3 4 #include "btMotionState.h" 5 6 ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. 7 ATTRIBUTE_ALIGNED16(struct) btDefaultMotionState : public btMotionState 8 { 9 btTransform m_graphicsWorldTrans; 10 btTransform m_centerOfMassOffset; 11 btTransform m_startWorldTrans; 12 void* m_userPointer; 13 14 BT_DECLARE_ALIGNED_ALLOCATOR(); 15 16 btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity()) 17 : m_graphicsWorldTrans(startTrans), 18 m_centerOfMassOffset(centerOfMassOffset), 19 m_startWorldTrans(startTrans), 20 m_userPointer(0) 21 22 { 23 } 24 25 ///synchronizes world transform from user to physics 26 virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const 27 { 28 centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ; 29 } 30 31 ///synchronizes world transform from physics to user 32 ///Bullet only calls the update of worldtransform for active objects 33 virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) 34 { 35 m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset; 36 } 37 38 39 40 }; 41 42 #endif //BT_DEFAULT_MOTION_STATE_H 43
