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/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
*
* 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.
*/
package javabullet.linearmath;
/**
* DefaultMotionState provides a common implementation to synchronize world transforms with offsets.
*
* @author jezek2
*/
public class DefaultMotionState implements MotionState {
public final Transform graphicsWorldTrans = new Transform();
public final Transform centerOfMassOffset = new Transform();
public final Transform startWorldTrans = new Transform();
public DefaultMotionState() {
graphicsWorldTrans.setIdentity();
centerOfMassOffset.setIdentity();
startWorldTrans.setIdentity();
}
public DefaultMotionState(Transform startTrans) {
this.graphicsWorldTrans.set(startTrans);
centerOfMassOffset.setIdentity();
this.startWorldTrans.set(startTrans);
}
public DefaultMotionState(Transform startTrans, Transform centerOfMassOffset) {
this.graphicsWorldTrans.set(startTrans);
this.centerOfMassOffset.set(centerOfMassOffset);
this.startWorldTrans.set(startTrans);
}
public void getWorldTransform(Transform centerOfMassWorldTrans) {
centerOfMassWorldTrans.inverse(centerOfMassOffset);
centerOfMassWorldTrans.mul(graphicsWorldTrans);
}
public void setWorldTransform(Transform centerOfMassWorldTrans) {
graphicsWorldTrans.set(centerOfMassWorldTrans);
graphicsWorldTrans.mul(centerOfMassOffset);
}
}
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