| /* |
| * Copyright (c) 2009-2010 jMonkeyEngine |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions are |
| * met: |
| * |
| * * Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * |
| * * Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * |
| * * Neither the name of 'jMonkeyEngine' nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED |
| * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
| * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
| * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
| * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
| * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
| * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF |
| * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING |
| * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
| * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| */ |
| package com.jme3.bullet.joints; |
| |
| import com.bulletphysics.dynamics.constraintsolver.ConeTwistConstraint; |
| import com.bulletphysics.linearmath.Transform; |
| import com.jme3.bullet.objects.PhysicsRigidBody; |
| import com.jme3.bullet.util.Converter; |
| import com.jme3.export.InputCapsule; |
| import com.jme3.export.JmeExporter; |
| import com.jme3.export.JmeImporter; |
| import com.jme3.export.OutputCapsule; |
| import com.jme3.math.Matrix3f; |
| import com.jme3.math.Vector3f; |
| import java.io.IOException; |
| |
| /** |
| * <i>From bullet manual:</i><br> |
| * To create ragdolls, the conve twist constraint is very useful for limbs like the upper arm. |
| * It is a special point to point constraint that adds cone and twist axis limits. |
| * The x-axis serves as twist axis. |
| * @author normenhansen |
| */ |
| public class ConeJoint extends PhysicsJoint { |
| |
| protected Matrix3f rotA, rotB; |
| protected float swingSpan1 = 1e30f; |
| protected float swingSpan2 = 1e30f; |
| protected float twistSpan = 1e30f; |
| protected boolean angularOnly = false; |
| |
| public ConeJoint() { |
| } |
| |
| /** |
| * @param pivotA local translation of the joint connection point in node A |
| * @param pivotB local translation of the joint connection point in node B |
| */ |
| public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { |
| super(nodeA, nodeB, pivotA, pivotB); |
| this.rotA = new Matrix3f(); |
| this.rotB = new Matrix3f(); |
| createJoint(); |
| } |
| |
| /** |
| * @param pivotA local translation of the joint connection point in node A |
| * @param pivotB local translation of the joint connection point in node B |
| */ |
| public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) { |
| super(nodeA, nodeB, pivotA, pivotB); |
| this.rotA = rotA; |
| this.rotB = rotB; |
| createJoint(); |
| } |
| |
| public void setLimit(float swingSpan1, float swingSpan2, float twistSpan) { |
| this.swingSpan1 = swingSpan1; |
| this.swingSpan2 = swingSpan2; |
| this.twistSpan = twistSpan; |
| ((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan); |
| } |
| |
| public void setAngularOnly(boolean value) { |
| angularOnly = value; |
| ((ConeTwistConstraint) constraint).setAngularOnly(value); |
| } |
| |
| @Override |
| public void write(JmeExporter ex) throws IOException { |
| super.write(ex); |
| OutputCapsule capsule = ex.getCapsule(this); |
| capsule.write(rotA, "rotA", new Matrix3f()); |
| capsule.write(rotB, "rotB", new Matrix3f()); |
| |
| capsule.write(angularOnly, "angularOnly", false); |
| capsule.write(swingSpan1, "swingSpan1", 1e30f); |
| capsule.write(swingSpan2, "swingSpan2", 1e30f); |
| capsule.write(twistSpan, "twistSpan", 1e30f); |
| } |
| |
| @Override |
| public void read(JmeImporter im) throws IOException { |
| super.read(im); |
| InputCapsule capsule = im.getCapsule(this); |
| this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f()); |
| this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f()); |
| |
| this.angularOnly = capsule.readBoolean("angularOnly", false); |
| this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f); |
| this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f); |
| this.twistSpan = capsule.readFloat("twistSpan", 1e30f); |
| createJoint(); |
| } |
| |
| protected void createJoint() { |
| Transform transA = new Transform(Converter.convert(rotA)); |
| Converter.convert(pivotA, transA.origin); |
| Converter.convert(rotA, transA.basis); |
| |
| Transform transB = new Transform(Converter.convert(rotB)); |
| Converter.convert(pivotB, transB.origin); |
| Converter.convert(rotB, transB.basis); |
| |
| constraint = new ConeTwistConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB); |
| ((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan); |
| ((ConeTwistConstraint) constraint).setAngularOnly(angularOnly); |
| } |
| } |