| /* |
| * 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.SliderConstraint; |
| 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> |
| * The slider constraint allows the body to rotate around one axis and translate along this axis. |
| * @author normenhansen |
| */ |
| public class SliderJoint extends PhysicsJoint { |
| protected Matrix3f rotA, rotB; |
| protected boolean useLinearReferenceFrameA; |
| |
| public SliderJoint() { |
| } |
| |
| /** |
| * @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 SliderJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) { |
| super(nodeA, nodeB, pivotA, pivotB); |
| this.rotA=rotA; |
| this.rotB=rotB; |
| this.useLinearReferenceFrameA=useLinearReferenceFrameA; |
| 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 SliderJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) { |
| super(nodeA, nodeB, pivotA, pivotB); |
| this.rotA=new Matrix3f(); |
| this.rotB=new Matrix3f(); |
| this.useLinearReferenceFrameA=useLinearReferenceFrameA; |
| createJoint(); |
| } |
| |
| public float getLowerLinLimit() { |
| return ((SliderConstraint) constraint).getLowerLinLimit(); |
| } |
| |
| public void setLowerLinLimit(float lowerLinLimit) { |
| ((SliderConstraint) constraint).setLowerLinLimit(lowerLinLimit); |
| } |
| |
| public float getUpperLinLimit() { |
| return ((SliderConstraint) constraint).getUpperLinLimit(); |
| } |
| |
| public void setUpperLinLimit(float upperLinLimit) { |
| ((SliderConstraint) constraint).setUpperLinLimit(upperLinLimit); |
| } |
| |
| public float getLowerAngLimit() { |
| return ((SliderConstraint) constraint).getLowerAngLimit(); |
| } |
| |
| public void setLowerAngLimit(float lowerAngLimit) { |
| ((SliderConstraint) constraint).setLowerAngLimit(lowerAngLimit); |
| } |
| |
| public float getUpperAngLimit() { |
| return ((SliderConstraint) constraint).getUpperAngLimit(); |
| } |
| |
| public void setUpperAngLimit(float upperAngLimit) { |
| ((SliderConstraint) constraint).setUpperAngLimit(upperAngLimit); |
| } |
| |
| public float getSoftnessDirLin() { |
| return ((SliderConstraint) constraint).getSoftnessDirLin(); |
| } |
| |
| public void setSoftnessDirLin(float softnessDirLin) { |
| ((SliderConstraint) constraint).setSoftnessDirLin(softnessDirLin); |
| } |
| |
| public float getRestitutionDirLin() { |
| return ((SliderConstraint) constraint).getRestitutionDirLin(); |
| } |
| |
| public void setRestitutionDirLin(float restitutionDirLin) { |
| ((SliderConstraint) constraint).setRestitutionDirLin(restitutionDirLin); |
| } |
| |
| public float getDampingDirLin() { |
| return ((SliderConstraint) constraint).getDampingDirLin(); |
| } |
| |
| public void setDampingDirLin(float dampingDirLin) { |
| ((SliderConstraint) constraint).setDampingDirLin(dampingDirLin); |
| } |
| |
| public float getSoftnessDirAng() { |
| return ((SliderConstraint) constraint).getSoftnessDirAng(); |
| } |
| |
| public void setSoftnessDirAng(float softnessDirAng) { |
| ((SliderConstraint) constraint).setSoftnessDirAng(softnessDirAng); |
| } |
| |
| public float getRestitutionDirAng() { |
| return ((SliderConstraint) constraint).getRestitutionDirAng(); |
| } |
| |
| public void setRestitutionDirAng(float restitutionDirAng) { |
| ((SliderConstraint) constraint).setRestitutionDirAng(restitutionDirAng); |
| } |
| |
| public float getDampingDirAng() { |
| return ((SliderConstraint) constraint).getDampingDirAng(); |
| } |
| |
| public void setDampingDirAng(float dampingDirAng) { |
| ((SliderConstraint) constraint).setDampingDirAng(dampingDirAng); |
| } |
| |
| public float getSoftnessLimLin() { |
| return ((SliderConstraint) constraint).getSoftnessLimLin(); |
| } |
| |
| public void setSoftnessLimLin(float softnessLimLin) { |
| ((SliderConstraint) constraint).setSoftnessLimLin(softnessLimLin); |
| } |
| |
| public float getRestitutionLimLin() { |
| return ((SliderConstraint) constraint).getRestitutionLimLin(); |
| } |
| |
| public void setRestitutionLimLin(float restitutionLimLin) { |
| ((SliderConstraint) constraint).setRestitutionLimLin(restitutionLimLin); |
| } |
| |
| public float getDampingLimLin() { |
| return ((SliderConstraint) constraint).getDampingLimLin(); |
| } |
| |
| public void setDampingLimLin(float dampingLimLin) { |
| ((SliderConstraint) constraint).setDampingLimLin(dampingLimLin); |
| } |
| |
| public float getSoftnessLimAng() { |
| return ((SliderConstraint) constraint).getSoftnessLimAng(); |
| } |
| |
| public void setSoftnessLimAng(float softnessLimAng) { |
| ((SliderConstraint) constraint).setSoftnessLimAng(softnessLimAng); |
| } |
| |
| public float getRestitutionLimAng() { |
| return ((SliderConstraint) constraint).getRestitutionLimAng(); |
| } |
| |
| public void setRestitutionLimAng(float restitutionLimAng) { |
| ((SliderConstraint) constraint).setRestitutionLimAng(restitutionLimAng); |
| } |
| |
| public float getDampingLimAng() { |
| return ((SliderConstraint) constraint).getDampingLimAng(); |
| } |
| |
| public void setDampingLimAng(float dampingLimAng) { |
| ((SliderConstraint) constraint).setDampingLimAng(dampingLimAng); |
| } |
| |
| public float getSoftnessOrthoLin() { |
| return ((SliderConstraint) constraint).getSoftnessOrthoLin(); |
| } |
| |
| public void setSoftnessOrthoLin(float softnessOrthoLin) { |
| ((SliderConstraint) constraint).setSoftnessOrthoLin(softnessOrthoLin); |
| } |
| |
| public float getRestitutionOrthoLin() { |
| return ((SliderConstraint) constraint).getRestitutionOrthoLin(); |
| } |
| |
| public void setRestitutionOrthoLin(float restitutionOrthoLin) { |
| ((SliderConstraint) constraint).setRestitutionOrthoLin(restitutionOrthoLin); |
| } |
| |
| public float getDampingOrthoLin() { |
| return ((SliderConstraint) constraint).getDampingOrthoLin(); |
| } |
| |
| public void setDampingOrthoLin(float dampingOrthoLin) { |
| ((SliderConstraint) constraint).setDampingOrthoLin(dampingOrthoLin); |
| } |
| |
| public float getSoftnessOrthoAng() { |
| return ((SliderConstraint) constraint).getSoftnessOrthoAng(); |
| } |
| |
| public void setSoftnessOrthoAng(float softnessOrthoAng) { |
| ((SliderConstraint) constraint).setSoftnessOrthoAng(softnessOrthoAng); |
| } |
| |
| public float getRestitutionOrthoAng() { |
| return ((SliderConstraint) constraint).getRestitutionOrthoAng(); |
| } |
| |
| public void setRestitutionOrthoAng(float restitutionOrthoAng) { |
| ((SliderConstraint) constraint).setRestitutionOrthoAng(restitutionOrthoAng); |
| } |
| |
| public float getDampingOrthoAng() { |
| return ((SliderConstraint) constraint).getDampingOrthoAng(); |
| } |
| |
| public void setDampingOrthoAng(float dampingOrthoAng) { |
| ((SliderConstraint) constraint).setDampingOrthoAng(dampingOrthoAng); |
| } |
| |
| public boolean isPoweredLinMotor() { |
| return ((SliderConstraint) constraint).getPoweredLinMotor(); |
| } |
| |
| public void setPoweredLinMotor(boolean poweredLinMotor) { |
| ((SliderConstraint) constraint).setPoweredLinMotor(poweredLinMotor); |
| } |
| |
| public float getTargetLinMotorVelocity() { |
| return ((SliderConstraint) constraint).getTargetLinMotorVelocity(); |
| } |
| |
| public void setTargetLinMotorVelocity(float targetLinMotorVelocity) { |
| ((SliderConstraint) constraint).setTargetLinMotorVelocity(targetLinMotorVelocity); |
| } |
| |
| public float getMaxLinMotorForce() { |
| return ((SliderConstraint) constraint).getMaxLinMotorForce(); |
| } |
| |
| public void setMaxLinMotorForce(float maxLinMotorForce) { |
| ((SliderConstraint) constraint).setMaxLinMotorForce(maxLinMotorForce); |
| } |
| |
| public boolean isPoweredAngMotor() { |
| return ((SliderConstraint) constraint).getPoweredAngMotor(); |
| } |
| |
| public void setPoweredAngMotor(boolean poweredAngMotor) { |
| ((SliderConstraint) constraint).setPoweredAngMotor(poweredAngMotor); |
| } |
| |
| public float getTargetAngMotorVelocity() { |
| return ((SliderConstraint) constraint).getTargetAngMotorVelocity(); |
| } |
| |
| public void setTargetAngMotorVelocity(float targetAngMotorVelocity) { |
| ((SliderConstraint) constraint).setTargetAngMotorVelocity(targetAngMotorVelocity); |
| } |
| |
| public float getMaxAngMotorForce() { |
| return ((SliderConstraint) constraint).getMaxAngMotorForce(); |
| } |
| |
| public void setMaxAngMotorForce(float maxAngMotorForce) { |
| ((SliderConstraint) constraint).setMaxAngMotorForce(maxAngMotorForce); |
| } |
| |
| @Override |
| public void write(JmeExporter ex) throws IOException { |
| super.write(ex); |
| OutputCapsule capsule = ex.getCapsule(this); |
| //TODO: standard values.. |
| capsule.write(((SliderConstraint) constraint).getDampingDirAng(), "dampingDirAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getDampingDirLin(), "dampingDirLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getDampingLimAng(), "dampingLimAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getDampingLimLin(), "dampingLimLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getDampingOrthoAng(), "dampingOrthoAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getDampingOrthoLin(), "dampingOrthoLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getLowerAngLimit(), "lowerAngLimit", 0f); |
| capsule.write(((SliderConstraint) constraint).getLowerLinLimit(), "lowerLinLimit", 0f); |
| capsule.write(((SliderConstraint) constraint).getMaxAngMotorForce(), "maxAngMotorForce", 0f); |
| capsule.write(((SliderConstraint) constraint).getMaxLinMotorForce(), "maxLinMotorForce", 0f); |
| capsule.write(((SliderConstraint) constraint).getPoweredAngMotor(), "poweredAngMotor", false); |
| capsule.write(((SliderConstraint) constraint).getPoweredLinMotor(), "poweredLinMotor", false); |
| capsule.write(((SliderConstraint) constraint).getRestitutionDirAng(), "restitutionDirAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getRestitutionDirLin(), "restitutionDirLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getRestitutionLimAng(), "restitutionLimAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getRestitutionLimLin(), "restitutionLimLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getRestitutionOrthoAng(), "restitutionOrthoAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getRestitutionOrthoLin(), "restitutionOrthoLin", 0f); |
| |
| capsule.write(((SliderConstraint) constraint).getSoftnessDirAng(), "softnessDirAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getSoftnessDirLin(), "softnessDirLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getSoftnessLimAng(), "softnessLimAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getSoftnessLimLin(), "softnessLimLin", 0f); |
| capsule.write(((SliderConstraint) constraint).getSoftnessOrthoAng(), "softnessOrthoAng", 0f); |
| capsule.write(((SliderConstraint) constraint).getSoftnessOrthoLin(), "softnessOrthoLin", 0f); |
| |
| capsule.write(((SliderConstraint) constraint).getTargetAngMotorVelocity(), "targetAngMotorVelicoty", 0f); |
| capsule.write(((SliderConstraint) constraint).getTargetLinMotorVelocity(), "targetLinMotorVelicoty", 0f); |
| |
| capsule.write(((SliderConstraint) constraint).getUpperAngLimit(), "upperAngLimit", 0f); |
| capsule.write(((SliderConstraint) constraint).getUpperLinLimit(), "upperLinLimit", 0f); |
| |
| capsule.write(useLinearReferenceFrameA, "useLinearReferenceFrameA", false); |
| } |
| |
| @Override |
| public void read(JmeImporter im) throws IOException { |
| super.read(im); |
| InputCapsule capsule = im.getCapsule(this); |
| float dampingDirAng = capsule.readFloat("dampingDirAng", 0f); |
| float dampingDirLin = capsule.readFloat("dampingDirLin", 0f); |
| float dampingLimAng = capsule.readFloat("dampingLimAng", 0f); |
| float dampingLimLin = capsule.readFloat("dampingLimLin", 0f); |
| float dampingOrthoAng = capsule.readFloat("dampingOrthoAng", 0f); |
| float dampingOrthoLin = capsule.readFloat("dampingOrthoLin", 0f); |
| float lowerAngLimit = capsule.readFloat("lowerAngLimit", 0f); |
| float lowerLinLimit = capsule.readFloat("lowerLinLimit", 0f); |
| float maxAngMotorForce = capsule.readFloat("maxAngMotorForce", 0f); |
| float maxLinMotorForce = capsule.readFloat("maxLinMotorForce", 0f); |
| boolean poweredAngMotor = capsule.readBoolean("poweredAngMotor", false); |
| boolean poweredLinMotor = capsule.readBoolean("poweredLinMotor", false); |
| float restitutionDirAng = capsule.readFloat("restitutionDirAng", 0f); |
| float restitutionDirLin = capsule.readFloat("restitutionDirLin", 0f); |
| float restitutionLimAng = capsule.readFloat("restitutionLimAng", 0f); |
| float restitutionLimLin = capsule.readFloat("restitutionLimLin", 0f); |
| float restitutionOrthoAng = capsule.readFloat("restitutionOrthoAng", 0f); |
| float restitutionOrthoLin = capsule.readFloat("restitutionOrthoLin", 0f); |
| |
| float softnessDirAng = capsule.readFloat("softnessDirAng", 0f); |
| float softnessDirLin = capsule.readFloat("softnessDirLin", 0f); |
| float softnessLimAng = capsule.readFloat("softnessLimAng", 0f); |
| float softnessLimLin = capsule.readFloat("softnessLimLin", 0f); |
| float softnessOrthoAng = capsule.readFloat("softnessOrthoAng", 0f); |
| float softnessOrthoLin = capsule.readFloat("softnessOrthoLin", 0f); |
| |
| float targetAngMotorVelicoty = capsule.readFloat("targetAngMotorVelicoty", 0f); |
| float targetLinMotorVelicoty = capsule.readFloat("targetLinMotorVelicoty", 0f); |
| |
| float upperAngLimit = capsule.readFloat("upperAngLimit", 0f); |
| float upperLinLimit = capsule.readFloat("upperLinLimit", 0f); |
| |
| useLinearReferenceFrameA = capsule.readBoolean("useLinearReferenceFrameA", false); |
| |
| createJoint(); |
| |
| ((SliderConstraint)constraint).setDampingDirAng(dampingDirAng); |
| ((SliderConstraint)constraint).setDampingDirLin(dampingDirLin); |
| ((SliderConstraint)constraint).setDampingLimAng(dampingLimAng); |
| ((SliderConstraint)constraint).setDampingLimLin(dampingLimLin); |
| ((SliderConstraint)constraint).setDampingOrthoAng(dampingOrthoAng); |
| ((SliderConstraint)constraint).setDampingOrthoLin(dampingOrthoLin); |
| ((SliderConstraint)constraint).setLowerAngLimit(lowerAngLimit); |
| ((SliderConstraint)constraint).setLowerLinLimit(lowerLinLimit); |
| ((SliderConstraint)constraint).setMaxAngMotorForce(maxAngMotorForce); |
| ((SliderConstraint)constraint).setMaxLinMotorForce(maxLinMotorForce); |
| ((SliderConstraint)constraint).setPoweredAngMotor(poweredAngMotor); |
| ((SliderConstraint)constraint).setPoweredLinMotor(poweredLinMotor); |
| ((SliderConstraint)constraint).setRestitutionDirAng(restitutionDirAng); |
| ((SliderConstraint)constraint).setRestitutionDirLin(restitutionDirLin); |
| ((SliderConstraint)constraint).setRestitutionLimAng(restitutionLimAng); |
| ((SliderConstraint)constraint).setRestitutionLimLin(restitutionLimLin); |
| ((SliderConstraint)constraint).setRestitutionOrthoAng(restitutionOrthoAng); |
| ((SliderConstraint)constraint).setRestitutionOrthoLin(restitutionOrthoLin); |
| |
| ((SliderConstraint)constraint).setSoftnessDirAng(softnessDirAng); |
| ((SliderConstraint)constraint).setSoftnessDirLin(softnessDirLin); |
| ((SliderConstraint)constraint).setSoftnessLimAng(softnessLimAng); |
| ((SliderConstraint)constraint).setSoftnessLimLin(softnessLimLin); |
| ((SliderConstraint)constraint).setSoftnessOrthoAng(softnessOrthoAng); |
| ((SliderConstraint)constraint).setSoftnessOrthoLin(softnessOrthoLin); |
| |
| ((SliderConstraint)constraint).setTargetAngMotorVelocity(targetAngMotorVelicoty); |
| ((SliderConstraint)constraint).setTargetLinMotorVelocity(targetLinMotorVelicoty); |
| |
| ((SliderConstraint)constraint).setUpperAngLimit(upperAngLimit); |
| ((SliderConstraint)constraint).setUpperLinLimit(upperLinLimit); |
| } |
| |
| 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 SliderConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA); |
| } |
| } |