43 lines
1.2 KiB
C
43 lines
1.2 KiB
C
|
#ifndef BT_DEFAULT_MOTION_STATE_H
|
||
|
|
#define BT_DEFAULT_MOTION_STATE_H
|
||
|
|
|
||
|
|
#include "btMotionState.h"
|
||
|
|
|
||
|
|
///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
|
||
|
|
ATTRIBUTE_ALIGNED16(struct) btDefaultMotionState : public btMotionState
|
||
|
|
{
|
||
|
|
btTransform m_graphicsWorldTrans;
|
||
|
|
btTransform m_centerOfMassOffset;
|
||
|
|
btTransform m_startWorldTrans;
|
||
|
|
void* m_userPointer;
|
||
|
|
|
||
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||
|
|
|
||
|
|
btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
|
||
|
|
: m_graphicsWorldTrans(startTrans),
|
||
|
|
m_centerOfMassOffset(centerOfMassOffset),
|
||
|
|
m_startWorldTrans(startTrans),
|
||
|
|
m_userPointer(0)
|
||
|
|
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
///synchronizes world transform from user to physics
|
||
|
|
virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const
|
||
|
|
{
|
||
|
|
centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ;
|
||
|
|
}
|
||
|
|
|
||
|
|
///synchronizes world transform from physics to user
|
||
|
|
///Bullet only calls the update of worldtransform for active objects
|
||
|
|
virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
|
||
|
|
{
|
||
|
|
m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_DEFAULT_MOTION_STATE_H
|