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
27 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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.jme3.bullet.objects.PhysicsRigidBody;
35import com.jme3.math.Matrix3f;
36import com.jme3.math.Vector3f;
37
38/**
39 * <i>From bullet manual:</i><br>
40 * This generic constraint can emulate a variety of standard constraints,
41 * by configuring each of the 6 degrees of freedom (dof).
42 * The first 3 dof axis are linear axis, which represent translation of rigidbodies,
43 * and the latter 3 dof axis represent the angular motion. Each axis can be either locked,
44 * free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked.
45 * Afterwards the axis can be reconfigured. Note that several combinations that
46 * include free and/or limited angular degrees of freedom are undefined.
47 * @author normenhansen
48 */
49public class SixDofSpringJoint extends SixDofJoint {
50
51   final boolean       springEnabled[] = new boolean[6];
52   final float equilibriumPoint[] = new float[6];
53   final float springStiffness[] = new float[6];
54   final float springDamping[] = new float[6]; // between 0 and 1 (1 == no damping)
55
56    public SixDofSpringJoint() {
57    }
58
59    /**
60     * @param pivotA local translation of the joint connection point in node A
61     * @param pivotB local translation of the joint connection point in node B
62     */
63    public SixDofSpringJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
64        super(nodeA, nodeB, pivotA, pivotB, rotA, rotB, useLinearReferenceFrameA);
65    }
66    public void enableSpring(int index, boolean onOff) {
67        enableSpring(objectId, index, onOff);
68    }
69    native void enableSpring(long objctId, int index, boolean onOff);
70
71    public void setStiffness(int index, float stiffness) {
72        setStiffness(objectId, index, stiffness);
73    }
74    native void setStiffness(long objctId, int index, float stiffness);
75
76    public void setDamping(int index, float damping) {
77        setDamping(objectId, index, damping);
78
79    }
80    native void setDamping(long objctId, int index, float damping);
81    public void setEquilibriumPoint() { // set the current constraint position/orientation as an equilibrium point for all DOF
82        setEquilibriumPoint(objectId);
83    }
84    native void setEquilibriumPoint(long objctId);
85    public void setEquilibriumPoint(int index){ // set the current constraint position/orientation as an equilibrium point for given DOF
86        setEquilibriumPoint(objectId, index);
87    }
88    native void setEquilibriumPoint(long objctId, int index);
89    @Override
90    native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB, boolean useLinearReferenceFrameA);
91
92}
93