btDefaultMotionState.h

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#ifndef DEFAULT_MOTION_STATE_H
#define DEFAULT_MOTION_STATE_H

#include "btMotionState.h"

struct  btDefaultMotionState : public btMotionState
{
    btTransform m_graphicsWorldTrans;
    btTransform m_centerOfMassOffset;
    btTransform m_startWorldTrans;
    void*       m_userPointer;

    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 //DEFAULT_MOTION_STATE_H