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#ifndef BT_DEFAULT_MOTION_STATE_H
#define BT_DEFAULT_MOTION_STATE_H
#include "btMotionState.h"
///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
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)
{
}
///synchronizes world transform from user to physics
virtual void getWorldTransform(btTransform & centerOfMassWorldTrans) const
{
centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse();
}
///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;
}
};
#endif //BT_DEFAULT_MOTION_STATE_H
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