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