39 lines
1.2 KiB
C
39 lines
1.2 KiB
C
#ifndef DEFAULT_MOTION_STATE_H
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#define DEFAULT_MOTION_STATE_H
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///btDefaultMotionState provides a common implementation to synchronize world transforms with offsets
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struct btDefaultMotionState : public btMotionState
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{
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btTransform m_graphicsWorldTrans;
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btTransform m_centerOfMassOffset;
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btTransform m_startWorldTrans;
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void* m_userPointer;
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btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
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: m_graphicsWorldTrans(startTrans),
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m_centerOfMassOffset(centerOfMassOffset),
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m_startWorldTrans(startTrans),
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m_userPointer(0)
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{
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}
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///synchronizes world transform from user to physics
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virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const
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{
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centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
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}
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///synchronizes world transform from physics to user
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///Bullet only calls the update of worldtransform for active objects
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virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
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{
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m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
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}
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};
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#endif //DEFAULT_MOTION_STATE_H
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