Motion State Source

MotionState::MotionState(Transform* visualTransform, const btTransform& bulletTransform)
    : mVisualTransform(visualTransform)
    , mTransform(bulletTransform)
{}

void MotionState::getWorldTransform(btTransform &worldTrans) const
{
    worldTrans = mTransform;
}

void MotionState::setWorldTransform(const btTransform &worldTrans)
{
    if(!mVisualTransform)
        return;

    mTransform = worldTrans;

    btQuaternion rot = mTransform.getRotation();
    btVector3 pos = mTransform.getOrigin();
    mVisualTransform->setOrientation(Quaternion(rot.w(), rot.x(), rot.y(), rot.z()));
    mVisualTransform->setPosition(Vector3(pos.x(), pos.y(), pos.z()));
}