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#ifndef DEFAULT_MOTION_STATE_H
#define DEFAULT_MOTION_STATE_H
///btDefaultMotionState provides a common implementation to synchronize world transforms with offsets
struct btDefaultMotionState : public btMotionState
{
btTransform m_graphicsWorldTrans;
btTransform m_centerOfMassOffset;
btTransform m_startWorldTrans;
void* m_userPointer;
btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
: m_graphicsWorldTrans(startTrans),
m_centerOfMassOffset(centerOfMassOffset),
m_startWorldTrans(startTrans),
m_userPointer(0)
{
}
///synchronizes world transform from user to physics
virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const
{
centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
}
///synchronizes world transform from physics to user
///Bullet only calls the update of worldtransform for active objects
virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
{
m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
}
///Bullet gives a callback for objects that are about to be deactivated (put asleep)
/// You can intercept this callback for your own bookkeeping.
///Also you can return false to disable deactivation for this object this frame.
virtual bool deactivationCallback(void* userPointer) {
return true;
}
};
#endif //DEFAULT_MOTION_STATE_H
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