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Last change
on this file since 5778 was
5738,
checked in by landauf, 15 years ago
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merged libraries2 back to trunk
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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 | ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. |
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| 5 | struct btDefaultMotionState : public btMotionState |
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| 6 | { |
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| 7 | btTransform m_graphicsWorldTrans; |
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| 8 | btTransform m_centerOfMassOffset; |
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| 9 | btTransform m_startWorldTrans; |
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| 10 | void* m_userPointer; |
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| 11 | |
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| 12 | btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity()) |
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| 13 | : m_graphicsWorldTrans(startTrans), |
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| 14 | m_centerOfMassOffset(centerOfMassOffset), |
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| 15 | m_startWorldTrans(startTrans), |
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| 16 | m_userPointer(0) |
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| 17 | |
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| 18 | { |
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| 19 | } |
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| 20 | |
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| 21 | ///synchronizes world transform from user to physics |
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| 22 | virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const |
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| 23 | { |
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| 24 | centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ; |
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| 25 | } |
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| 26 | |
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| 27 | ///synchronizes world transform from physics to user |
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| 28 | ///Bullet only calls the update of worldtransform for active objects |
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| 29 | virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) |
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| 30 | { |
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| 31 | m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ; |
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| 32 | } |
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| 33 | |
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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 | #endif //DEFAULT_MOTION_STATE_H |
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