/* ----------------------------------------------------------------- */
/*                                                                   */
/*  Copyright (c) 2009-2010  Nagoya Institute of Technology          */
/*                           Department of Computer Science          */
/*                2010-2011  hkrn (libMMDAI)                         */
/*                                                                   */
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/* ----------------------------------------------------------------- */

/* headers */

#include "AlignedMotionState.h"

namespace MMDAI {

/* AlignedMotionState::AlignedMotionState: constructor */
AlignedMotionState::AlignedMotionState(const btTransform &startTrans, const btTransform &boneTrans, PMDBone *bone)
{
    m_bone = bone;
    m_boneTrans = boneTrans;
    m_boneTransInv = boneTrans.inverse();
    m_graphicsWorldTrans = startTrans;
}

/* AlignedMotionState::~AlignedMotionState: destructor */
AlignedMotionState::~AlignedMotionState()
{
}

/* AlignedMotionState::getWorldTransform: get world transform */
void AlignedMotionState::getWorldTransform(btTransform &worldTrans) const
{
    worldTrans = m_graphicsWorldTrans;
}

/* AlignedMotionState::setWorldTransform: set world transform */
void AlignedMotionState::setWorldTransform(const btTransform &worldTrans)
{
    btMatrix3x3 bm;

    m_graphicsWorldTrans = worldTrans;
    bm = m_graphicsWorldTrans.getBasis();
    m_graphicsWorldTrans.setOrigin(btVector3(0.0f, 0.0f, 0.0f));
    m_graphicsWorldTrans = m_boneTrans * m_graphicsWorldTrans;
    m_graphicsWorldTrans.setOrigin(m_graphicsWorldTrans.getOrigin() + m_bone->getTransform().getOrigin());
    m_graphicsWorldTrans.setBasis(bm);
}

} /* namespace */

