Bullet Collision Detection & Physics Library
btDefaultMotionState.h
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1#ifndef BT_DEFAULT_MOTION_STATE_H
2#define BT_DEFAULT_MOTION_STATE_H
3
4#include "btMotionState.h"
5
8{
13
15
17 : m_graphicsWorldTrans(startTrans),
18 m_centerOfMassOffset(centerOfMassOffset),
19 m_startWorldTrans(startTrans),
20 m_userPointer(0)
21
22 {
23 }
24
26 virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const
27 {
28 centerOfMassWorldTrans = m_graphicsWorldTrans * m_centerOfMassOffset.inverse() ;
29 }
30
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
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
The btMotionState interface class allows the dynamics world to synchronize and interpolate the update...
Definition: btMotionState.h:24
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:188
static const btTransform & getIdentity()
Return an identity transform.
Definition: btTransform.h:203
The btDefaultMotionState provides a common implementation to synchronize world transforms with offset...
virtual void setWorldTransform(const btTransform &centerOfMassWorldTrans)
synchronizes world transform from physics to user Bullet only calls the update of worldtransform for ...
virtual void getWorldTransform(btTransform &centerOfMassWorldTrans) const
synchronizes world transform from user to physics
btTransform m_graphicsWorldTrans
btDefaultMotionState(const btTransform &startTrans=btTransform::getIdentity(), const btTransform &centerOfMassOffset=btTransform::getIdentity())