1/*
2 * Copyright (c) 2009-2010 jMonkeyEngine
3 * All rights reserved.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are
7 * met:
8 *
9 * * Redistributions of source code must retain the above copyright
10 *   notice, this list of conditions and the following disclaimer.
11 *
12 * * Redistributions in binary form must reproduce the above copyright
13 *   notice, this list of conditions and the following disclaimer in the
14 *   documentation and/or other materials provided with the distribution.
15 *
16 * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
17 *   may be used to endorse or promote products derived from this software
18 *   without specific prior written permission.
19 *
20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
22 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
23 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
24 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
25 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
26 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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28 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
29 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
30 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 */
32package com.jme3.bullet.joints;
33
34import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;
35import com.jme3.bullet.objects.PhysicsRigidBody;
36import com.jme3.export.*;
37import com.jme3.math.Vector3f;
38import java.io.IOException;
39
40/**
41 * <p>PhysicsJoint - Basic Phyiscs Joint</p>
42 * @author normenhansen
43 */
44public abstract class PhysicsJoint implements Savable {
45
46    protected TypedConstraint constraint;
47    protected PhysicsRigidBody nodeA;
48    protected PhysicsRigidBody nodeB;
49    protected Vector3f pivotA;
50    protected Vector3f pivotB;
51    protected boolean collisionBetweenLinkedBodys = true;
52
53    public PhysicsJoint() {
54    }
55
56    /**
57     * @param pivotA local translation of the joint connection point in node A
58     * @param pivotB local translation of the joint connection point in node B
59     */
60    public PhysicsJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
61        this.nodeA = nodeA;
62        this.nodeB = nodeB;
63        this.pivotA = pivotA;
64        this.pivotB = pivotB;
65        nodeA.addJoint(this);
66        nodeB.addJoint(this);
67    }
68
69    public float getAppliedImpulse(){
70        return constraint.getAppliedImpulse();
71    }
72
73    /**
74     * @return the constraint
75     */
76    public TypedConstraint getObjectId() {
77        return constraint;
78    }
79
80    /**
81     * @return the collisionBetweenLinkedBodys
82     */
83    public boolean isCollisionBetweenLinkedBodys() {
84        return collisionBetweenLinkedBodys;
85    }
86
87    /**
88     * toggles collisions between linked bodys<br>
89     * joint has to be removed from and added to PhyiscsSpace to apply this.
90     * @param collisionBetweenLinkedBodys set to false to have no collisions between linked bodys
91     */
92    public void setCollisionBetweenLinkedBodys(boolean collisionBetweenLinkedBodys) {
93        this.collisionBetweenLinkedBodys = collisionBetweenLinkedBodys;
94    }
95
96    public PhysicsRigidBody getBodyA() {
97        return nodeA;
98    }
99
100    public PhysicsRigidBody getBodyB() {
101        return nodeB;
102    }
103
104    public Vector3f getPivotA() {
105        return pivotA;
106    }
107
108    public Vector3f getPivotB() {
109        return pivotB;
110    }
111
112    /**
113     * destroys this joint and removes it from its connected PhysicsRigidBodys joint lists
114     */
115    public void destroy() {
116        getBodyA().removeJoint(this);
117        getBodyB().removeJoint(this);
118    }
119
120    public void write(JmeExporter ex) throws IOException {
121        OutputCapsule capsule = ex.getCapsule(this);
122        capsule.write(nodeA, "nodeA", null);
123        capsule.write(nodeB, "nodeB", null);
124        capsule.write(pivotA, "pivotA", null);
125        capsule.write(pivotB, "pivotB", null);
126    }
127
128    public void read(JmeImporter im) throws IOException {
129        InputCapsule capsule = im.getCapsule(this);
130        this.nodeA = ((PhysicsRigidBody) capsule.readSavable("nodeA", new PhysicsRigidBody()));
131        this.nodeB = (PhysicsRigidBody) capsule.readSavable("nodeB", new PhysicsRigidBody());
132        this.pivotA = (Vector3f) capsule.readSavable("pivotA", new Vector3f());
133        this.pivotB = (Vector3f) capsule.readSavable("pivotB", new Vector3f());
134    }
135
136}
137