159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/* 259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Copyright (c) 2009-2010 jMonkeyEngine 359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * All rights reserved. 459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Redistribution and use in source and binary forms, with or without 659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * modification, are permitted provided that the following conditions are 759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * met: 859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Redistributions of source code must retain the above copyright 1059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * notice, this list of conditions and the following disclaimer. 1159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 1259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Redistributions in binary form must reproduce the above copyright 1359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * notice, this list of conditions and the following disclaimer in the 1459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * documentation and/or other materials provided with the distribution. 1559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 1659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Neither the name of 'jMonkeyEngine' nor the names of its contributors 1759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * may be used to endorse or promote products derived from this software 1859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * without specific prior written permission. 1959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 2059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 2159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 2259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 2359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 2459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 2559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 2659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 2759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 2859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 2959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 3059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 3159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 3259b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartapackage com.jme3.bullet.joints; 3359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 3459b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.bulletphysics.dynamics.constraintsolver.TypedConstraint; 3559b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.bullet.objects.PhysicsRigidBody; 3659b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.export.*; 3759b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.math.Vector3f; 3859b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport java.io.IOException; 3959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 4059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/** 4159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * <p>PhysicsJoint - Basic Phyiscs Joint</p> 4259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @author normenhansen 4359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 4459b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartapublic abstract class PhysicsJoint implements Savable { 4559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 4659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected TypedConstraint constraint; 4759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected PhysicsRigidBody nodeA; 4859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected PhysicsRigidBody nodeB; 4959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected Vector3f pivotA; 5059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected Vector3f pivotB; 5159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected boolean collisionBetweenLinkedBodys = true; 5259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public PhysicsJoint() { 5459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 5559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 5759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param pivotA local translation of the joint connection point in node A 5859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param pivotB local translation of the joint connection point in node B 5959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 6059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public PhysicsJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { 6159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.nodeA = nodeA; 6259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.nodeB = nodeB; 6359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.pivotA = pivotA; 6459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.pivotB = pivotB; 6559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta nodeA.addJoint(this); 6659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta nodeB.addJoint(this); 6759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 6859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 6959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public float getAppliedImpulse(){ 7059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return constraint.getAppliedImpulse(); 7159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 7359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 7459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @return the constraint 7559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 7659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public TypedConstraint getObjectId() { 7759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return constraint; 7859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 8059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 8159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @return the collisionBetweenLinkedBodys 8259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 8359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public boolean isCollisionBetweenLinkedBodys() { 8459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return collisionBetweenLinkedBodys; 8559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 8659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 8759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 8859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * toggles collisions between linked bodys<br> 8959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * joint has to be removed from and added to PhyiscsSpace to apply this. 9059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param collisionBetweenLinkedBodys set to false to have no collisions between linked bodys 9159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 9259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void setCollisionBetweenLinkedBodys(boolean collisionBetweenLinkedBodys) { 9359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.collisionBetweenLinkedBodys = collisionBetweenLinkedBodys; 9459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 9559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 9659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public PhysicsRigidBody getBodyA() { 9759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return nodeA; 9859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 9959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 10059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public PhysicsRigidBody getBodyB() { 10159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return nodeB; 10259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 10359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 10459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public Vector3f getPivotA() { 10559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return pivotA; 10659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 10759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 10859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public Vector3f getPivotB() { 10959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return pivotB; 11059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 11159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 11359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * destroys this joint and removes it from its connected PhysicsRigidBodys joint lists 11459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 11559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void destroy() { 11659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta getBodyA().removeJoint(this); 11759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta getBodyB().removeJoint(this); 11859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 11959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 12059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void write(JmeExporter ex) throws IOException { 12159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta OutputCapsule capsule = ex.getCapsule(this); 12259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(nodeA, "nodeA", null); 12359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(nodeB, "nodeB", null); 12459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(pivotA, "pivotA", null); 12559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(pivotB, "pivotB", null); 12659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 12759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 12859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void read(JmeImporter im) throws IOException { 12959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta InputCapsule capsule = im.getCapsule(this); 13059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.nodeA = ((PhysicsRigidBody) capsule.readSavable("nodeA", new PhysicsRigidBody())); 13159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.nodeB = (PhysicsRigidBody) capsule.readSavable("nodeB", new PhysicsRigidBody()); 13259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.pivotA = (Vector3f) capsule.readSavable("pivotA", new Vector3f()); 13359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.pivotB = (Vector3f) capsule.readSavable("pivotB", new Vector3f()); 13459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 13659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 137