| /* |
| * 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.Point2PointConstraint; |
| 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> |
| * Point to point constraint, also known as ball socket joint limits the translation |
| * so that the local pivot points of 2 rigidbodies match in worldspace. |
| * A chain of rigidbodies can be connected using this constraint. |
| * @author normenhansen |
| */ |
| public class Point2PointJoint extends PhysicsJoint { |
| |
| public Point2PointJoint() { |
| } |
| |
| /** |
| * @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 Point2PointJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { |
| super(nodeA, nodeB, pivotA, pivotB); |
| createJoint(); |
| } |
| |
| public void setDamping(float value) { |
| ((Point2PointConstraint) constraint).setting.damping = value; |
| } |
| |
| public void setImpulseClamp(float value) { |
| ((Point2PointConstraint) constraint).setting.impulseClamp = value; |
| } |
| |
| public void setTau(float value) { |
| ((Point2PointConstraint) constraint).setting.tau = value; |
| } |
| |
| public float getDamping() { |
| return ((Point2PointConstraint) constraint).setting.damping; |
| } |
| |
| public float getImpulseClamp() { |
| return ((Point2PointConstraint) constraint).setting.impulseClamp; |
| } |
| |
| public float getTau() { |
| return ((Point2PointConstraint) constraint).setting.tau; |
| } |
| |
| @Override |
| public void write(JmeExporter ex) throws IOException { |
| super.write(ex); |
| OutputCapsule cap = ex.getCapsule(this); |
| cap.write(getDamping(), "damping", 1.0f); |
| cap.write(getTau(), "tau", 0.3f); |
| cap.write(getImpulseClamp(), "impulseClamp", 0f); |
| } |
| |
| @Override |
| public void read(JmeImporter im) throws IOException { |
| super.read(im); |
| createJoint(); |
| InputCapsule cap=im.getCapsule(this); |
| setDamping(cap.readFloat("damping", 1.0f)); |
| setDamping(cap.readFloat("tau", 0.3f)); |
| setDamping(cap.readFloat("impulseClamp", 0f)); |
| } |
| |
| protected void createJoint() { |
| constraint = new Point2PointConstraint(nodeA.getObjectId(), nodeB.getObjectId(), Converter.convert(pivotA), Converter.convert(pivotB)); |
| } |
| } |