redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

src/LinearMath/btDefaultMotionState.h

42 строки1 KB

Erwin Coumans

brDefaultMotionState::getWorldTransform was wrong, in case of a non-identity centerOfMassOffset.

17 янв 2014, 06:47

17 янв 2014, 06:476142bdc

#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