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/*
Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://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 System.Collections.Generic;
using System.Text;
using MonoXnaCompactMaths;
namespace XnaDevRu.BulletX
{
// DefaultMotionState provides a common implementation to synchronize world transforms with offsets
public class DefaultMotionState : MotionState
{
private Matrix _graphicsWorldTransform;
private Matrix _centerOfMassOffset;
private Matrix _startWorldTransform;
private object _userData;
public DefaultMotionState()
: this(Matrix.Identity, Matrix.Identity) { }
public DefaultMotionState(Matrix startTransform, Matrix centerOfMassOffset)
{
_graphicsWorldTransform = startTransform;
_centerOfMassOffset = centerOfMassOffset;
_startWorldTransform = startTransform;
}
public Matrix GraphicsWorldTransform { get { return _graphicsWorldTransform; } set { _graphicsWorldTransform = value; } }
public Matrix CenterOfMassOffset { get { return _centerOfMassOffset; } set { _centerOfMassOffset = value; } }
public Matrix StartWorldTransform { get { return _startWorldTransform; } set { _startWorldTransform = value; } }
public object UserData { get { return _userData; } set { _userData = value; } }
// synchronizes world transform from user to physics
public override void GetWorldTransform(out Matrix centerOfMassWorldTrans)
{
centerOfMassWorldTrans = MathHelper.InvertMatrix(_centerOfMassOffset) * _graphicsWorldTransform;
}
// synchronizes world transform from physics to user
// Bullet only calls the update of worldtransform for active objects
public override void SetWorldTransform(Matrix centerOfMassWorldTrans)
{
_graphicsWorldTransform = MatrixOperations.Multiply(centerOfMassWorldTrans, _centerOfMassOffset);
_graphicsWorldTransform.Translation = centerOfMassWorldTrans.Translation;
}
}
}
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