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.
ATTRIBUTE_ALIGNED16(struct)7 ATTRIBUTE_ALIGNED16(struct)	btDefaultMotionState : public btMotionState
8 {
9 	btTransform m_graphicsWorldTrans;
10 	btTransform	m_centerOfMassOffset;
11 	btTransform m_startWorldTrans;
12 	void*		m_userPointer;
13 
14 	BT_DECLARE_ALIGNED_ALLOCATOR();
15 
16 	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
17 		: m_graphicsWorldTrans(startTrans),
18 		m_centerOfMassOffset(centerOfMassOffset),
19 		m_startWorldTrans(startTrans),
20 		m_userPointer(0)
21 
22 	{
23 	}
24 
25 	///synchronizes world transform from user to physics
26 	virtual void	getWorldTransform(btTransform& centerOfMassWorldTrans ) const
27 	{
28 			centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ;
29 	}
30 
31 	///synchronizes world transform from physics to user
32 	///Bullet only calls the update of worldtransform for active objects
33 	virtual void	setWorldTransform(const btTransform& centerOfMassWorldTrans)
34 	{
35 			m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
36 	}
37 
38 
39 
40 };
41 
42 #endif //BT_DEFAULT_MOTION_STATE_H
43