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btDefaultMotionState.h @ 10163

Last change on this file since 10163 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File size: 1.2 KB

Line
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	struct btDefaultMotionState : public btMotionState
8	{
9	btTransform m_graphicsWorldTrans;
10	btTransform m_centerOfMassOffset;
11	btTransform m_startWorldTrans;
12	void* m_userPointer;
13
14	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
15	: m_graphicsWorldTrans(startTrans),
16	m_centerOfMassOffset(centerOfMassOffset),
17	m_startWorldTrans(startTrans),
18	m_userPointer(0)
19
20	{
21	}
22
23	///synchronizes world transform from user to physics
24	virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const
25	{
26	centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
27	}
28
29	///synchronizes world transform from physics to user
30	///Bullet only calls the update of worldtransform for active objects
31	virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
32	{
33	m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
34	}
35
36
37
38	};
39
40	#endif //BT_DEFAULT_MOTION_STATE_H

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