Last change
on this file since 7983 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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