| /* |
| * 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.HingeConstraint; |
| 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.Vector3f; |
| import java.io.IOException; |
| |
| /** |
| * <i>From bullet manual:</i><br> |
| * Hinge constraint, or revolute joint restricts two additional angular degrees of freedom, |
| * so the body can only rotate around one axis, the hinge axis. |
| * This can be useful to represent doors or wheels rotating around one axis. |
| * The user can specify limits and motor for the hinge. |
| * @author normenhansen |
| */ |
| public class HingeJoint extends PhysicsJoint { |
| |
| protected Vector3f axisA; |
| protected Vector3f axisB; |
| protected boolean angularOnly = false; |
| protected float biasFactor = 0.3f; |
| protected float relaxationFactor = 1.0f; |
| protected float limitSoftness = 0.9f; |
| |
| public HingeJoint() { |
| } |
| |
| /** |
| * Creates a new HingeJoint |
| * @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 HingeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Vector3f axisA, Vector3f axisB) { |
| super(nodeA, nodeB, pivotA, pivotB); |
| this.axisA = axisA; |
| this.axisB = axisB; |
| createJoint(); |
| } |
| |
| public void enableMotor(boolean enable, float targetVelocity, float maxMotorImpulse) { |
| ((HingeConstraint) constraint).enableAngularMotor(enable, targetVelocity, maxMotorImpulse); |
| } |
| |
| public void setLimit(float low, float high) { |
| ((HingeConstraint) constraint).setLimit(low, high); |
| } |
| |
| public void setLimit(float low, float high, float _softness, float _biasFactor, float _relaxationFactor) { |
| biasFactor = _biasFactor; |
| relaxationFactor = _relaxationFactor; |
| limitSoftness = _softness; |
| ((HingeConstraint) constraint).setLimit(low, high, _softness, _biasFactor, _relaxationFactor); |
| } |
| |
| public float getUpperLimit(){ |
| return ((HingeConstraint) constraint).getUpperLimit(); |
| } |
| |
| public float getLowerLimit(){ |
| return ((HingeConstraint) constraint).getLowerLimit(); |
| } |
| |
| public void setAngularOnly(boolean angularOnly) { |
| this.angularOnly = angularOnly; |
| ((HingeConstraint) constraint).setAngularOnly(angularOnly); |
| } |
| |
| public float getHingeAngle() { |
| return ((HingeConstraint) constraint).getHingeAngle(); |
| } |
| |
| public void write(JmeExporter ex) throws IOException { |
| super.write(ex); |
| OutputCapsule capsule = ex.getCapsule(this); |
| capsule.write(axisA, "axisA", new Vector3f()); |
| capsule.write(axisB, "axisB", new Vector3f()); |
| |
| capsule.write(angularOnly, "angularOnly", false); |
| |
| capsule.write(((HingeConstraint) constraint).getLowerLimit(), "lowerLimit", 1e30f); |
| capsule.write(((HingeConstraint) constraint).getUpperLimit(), "upperLimit", -1e30f); |
| |
| capsule.write(biasFactor, "biasFactor", 0.3f); |
| capsule.write(relaxationFactor, "relaxationFactor", 1f); |
| capsule.write(limitSoftness, "limitSoftness", 0.9f); |
| |
| capsule.write(((HingeConstraint) constraint).getEnableAngularMotor(), "enableAngularMotor", false); |
| capsule.write(((HingeConstraint) constraint).getMotorTargetVelosity(), "targetVelocity", 0.0f); |
| capsule.write(((HingeConstraint) constraint).getMaxMotorImpulse(), "maxMotorImpulse", 0.0f); |
| } |
| |
| public void read(JmeImporter im) throws IOException { |
| super.read(im); |
| InputCapsule capsule = im.getCapsule(this); |
| this.axisA = (Vector3f) capsule.readSavable("axisA", new Vector3f()); |
| this.axisB = (Vector3f) capsule.readSavable("axisB", new Vector3f()); |
| |
| this.angularOnly = capsule.readBoolean("angularOnly", false); |
| float lowerLimit = capsule.readFloat("lowerLimit", 1e30f); |
| float upperLimit = capsule.readFloat("upperLimit", -1e30f); |
| |
| this.biasFactor = capsule.readFloat("biasFactor", 0.3f); |
| this.relaxationFactor = capsule.readFloat("relaxationFactor", 1f); |
| this.limitSoftness = capsule.readFloat("limitSoftness", 0.9f); |
| |
| boolean enableAngularMotor=capsule.readBoolean("enableAngularMotor", false); |
| float targetVelocity=capsule.readFloat("targetVelocity", 0.0f); |
| float maxMotorImpulse=capsule.readFloat("maxMotorImpulse", 0.0f); |
| |
| createJoint(); |
| enableMotor(enableAngularMotor, targetVelocity, maxMotorImpulse); |
| ((HingeConstraint) constraint).setLimit(lowerLimit, upperLimit, limitSoftness, biasFactor, relaxationFactor); |
| } |
| |
| protected void createJoint() { |
| constraint = new HingeConstraint(nodeA.getObjectId(), nodeB.getObjectId(), |
| Converter.convert(pivotA), Converter.convert(pivotB), |
| Converter.convert(axisA), Converter.convert(axisB)); |
| } |
| } |