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DefaultMotionState.cs
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DefaultMotionState.cs
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/*
* C# / XNA port of Bullet (c) 2011 Mark Neale <xexuxjy@hotmail.com>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
*
* This software is provided 'as-is', without any express or implied warranty.
* In no event will the authors be held liable for any damages arising from
* the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
using System;
using BulletXNA.LinearMath;
namespace BulletXNA
{
public class DefaultMotionState : IMotionState
{
public DefaultMotionState()
: this(IndexedMatrix.Identity, IndexedMatrix.Identity)
{
}
public DefaultMotionState(IndexedMatrix startTrans, IndexedMatrix centerOfMassOffset)
{
m_graphicsWorldTrans = startTrans;
m_startWorldTrans = startTrans;
m_centerOfMassOffset = centerOfMassOffset;
m_userPointer = null;
}
///synchronizes world transform from user to physics
public virtual void GetWorldTransform(out IndexedMatrix centerOfMassWorldTrans)
{
centerOfMassWorldTrans = m_centerOfMassOffset.Inverse() * m_graphicsWorldTrans;
}
///synchronizes world transform from physics to user
///Bullet only calls the update of worldtransform for active objects
public virtual void SetWorldTransform(IndexedMatrix centerOfMassWorldTrans)
{
SetWorldTransform(ref centerOfMassWorldTrans);
}
public virtual void SetWorldTransform(ref IndexedMatrix centerOfMassWorldTrans)
{
m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
}
public virtual void Rotate(IndexedQuaternion iq)
{
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(iq);
im._origin = m_graphicsWorldTrans._origin;
SetWorldTransform(ref im);
}
public virtual void Translate(IndexedVector3 v)
{
m_graphicsWorldTrans._origin += v;
}
public IndexedMatrix m_graphicsWorldTrans;
public IndexedMatrix m_centerOfMassOffset;
public IndexedMatrix m_startWorldTrans;
public Object m_userPointer;
}
}