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_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
        }

        virtual void    setWorldTransform(const btTransform& centerOfMassWorldTrans)
        {
                        m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
        }

        

};

#endif //BT_DEFAULT_MOTION_STATE_H