virtualx-engine/thirdparty/bullet/LinearMath/btDefaultMotionState.h

#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