btDefaultMotionState.h

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#ifndef BT_DEFAULT_MOTION_STATE_H
#define BT_DEFAULT_MOTION_STATE_H
 
#include "btMotionState.h"
 
ATTRIBUTE_ALIGNED16(struct)
btDefaultMotionState : public btMotionState
{
        btTransform m_graphicsWorldTrans;
        btTransform m_centerOfMassOffset;
        btTransform m_startWorldTrans;
        void* m_userPointer;
 
        BT_DECLARE_ALIGNED_ALLOCATOR();
 
        btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(), const btTransform& centerOfMassOffset = btTransform::getIdentity())
                : m_graphicsWorldTrans(startTrans),
                  m_centerOfMassOffset(centerOfMassOffset),
                  m_startWorldTrans(startTrans),
                  m_userPointer(0)
 
        {
        }
 
        virtual void getWorldTransform(btTransform & centerOfMassWorldTrans) const
        {
                centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse();
        }
 
        virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
        {
                m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
        }
};
 
#endif  //BT_DEFAULT_MOTION_STATE_H