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Last change
on this file since 8098 was
7983,
checked in by rgrieder, 14 years ago
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Updated Bullet Physics Engine from v2.74 to v2.77
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-
Property svn:eol-style set to
native
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File size:
1.2 KB
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| 1 | #ifndef DEFAULT_MOTION_STATE_H |
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| 2 | #define DEFAULT_MOTION_STATE_H |
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| 3 | |
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| 4 | #include "btMotionState.h" |
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| 5 | |
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| 6 | ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. |
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| 7 | struct btDefaultMotionState : public btMotionState |
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| 8 | { |
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| 9 | btTransform m_graphicsWorldTrans; |
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| 10 | btTransform m_centerOfMassOffset; |
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| 11 | btTransform m_startWorldTrans; |
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| 12 | void* m_userPointer; |
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| 13 | |
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| 14 | btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity()) |
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| 15 | : m_graphicsWorldTrans(startTrans), |
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| 16 | m_centerOfMassOffset(centerOfMassOffset), |
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| 17 | m_startWorldTrans(startTrans), |
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| 18 | m_userPointer(0) |
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| 19 | |
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| 20 | { |
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| 21 | } |
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| 22 | |
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| 23 | ///synchronizes world transform from user to physics |
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| 24 | virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const |
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| 25 | { |
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| 26 | centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ; |
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| 27 | } |
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| 28 | |
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| 29 | ///synchronizes world transform from physics to user |
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| 30 | ///Bullet only calls the update of worldtransform for active objects |
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| 31 | virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) |
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| 32 | { |
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| 33 | m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ; |
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| 34 | } |
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| 35 | |
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| 36 | |
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| 37 | |
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| 38 | }; |
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| 39 | |
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| 40 | #endif //DEFAULT_MOTION_STATE_H |
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