main.includes.DynamicMotionState.hpp Maven / Gradle / Ivy
/*
* This file is part of the Yildiz-Engine project, licenced under the MIT License (MIT)
*
* Copyright (c) 2018 Grégory Van den Borre
*
* More infos available: https://www.yildiz-games.be
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
* documentation files (the "Software"), to deal in the Software without restriction, including without
* limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or substantial
* portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
* WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS
* OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef DYNAMIC_MOTION_STATE_H
#define DYNAMIC_MOTION_STATE_H
#include "stdafx.h"
#include "NativeMovable.hpp"
namespace yz {
/**
* This motion state is intended to be used with dynamic bodies.
*
* @author Van den Borre Grégory
*/
class DynamicMotionState : public btMotionState {
public:
/**
* Full constructor, initialize the position and rotation.
* @param initial
* Initial position and rotation values.
*/
DynamicMotionState(const btTransform& initial = btTransform::getIdentity()) :
transform(initial) {
}
/**
* Destructor.
*/
virtual ~ DynamicMotionState() {
/*delete userPointer;
delete graphicsWorldTrans;
delete centerOfMassOffset;
delete startWorldTrans;*/
}
/**
* Set a btTransform reference pointing to the one wrapped in this motion state.
* Only read once, at the initialisation of the simulation.
* @param worldTrans
* Reference to set to the wrapped btTransform.
*/
virtual void getWorldTransform(btTransform& worldTrans) const {
worldTrans = this->transform;
}
virtual void setWorldTransform(const btTransform& t) {
this->transform = t;
btVector3 p = t.getOrigin();
btQuaternion r = t.getRotation();
movable->setPosition(p.getX(), p.getY(), p.getZ());
movable->setOrientation(r.getX(), r.getY(), r.getZ(), r.getW());
}
NativeMovable* getMovable() const {
return this->movable;
}
private:
/**
* Contains position and orientation data.
*/
btTransform transform;
NativeMovable* movable = new NativeMovable();
};
}
#endif