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.export.InputCapsule; 36import com.jme3.export.JmeExporter; 37import com.jme3.export.JmeImporter; 38import com.jme3.export.OutputCapsule; 39import com.jme3.math.Matrix3f; 40import com.jme3.math.Vector3f; 41import java.io.IOException; 42import java.util.logging.Level; 43import java.util.logging.Logger; 44 45/** 46 * <i>From bullet manual:</i><br> 47 * To create ragdolls, the conve twist constraint is very useful for limbs like the upper arm. 48 * It is a special point to point constraint that adds cone and twist axis limits. 49 * The x-axis serves as twist axis. 50 * @author normenhansen 51 */ 52public class ConeJoint extends PhysicsJoint { 53 54 protected Matrix3f rotA, rotB; 55 protected float swingSpan1 = 1e30f; 56 protected float swingSpan2 = 1e30f; 57 protected float twistSpan = 1e30f; 58 protected boolean angularOnly = false; 59 60 public ConeJoint() { 61 } 62 63 /** 64 * @param pivotA local translation of the joint connection point in node A 65 * @param pivotB local translation of the joint connection point in node B 66 */ 67 public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { 68 super(nodeA, nodeB, pivotA, pivotB); 69 this.rotA = new Matrix3f(); 70 this.rotB = new Matrix3f(); 71 createJoint(); 72 } 73 74 /** 75 * @param pivotA local translation of the joint connection point in node A 76 * @param pivotB local translation of the joint connection point in node B 77 */ 78 public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) { 79 super(nodeA, nodeB, pivotA, pivotB); 80 this.rotA = rotA; 81 this.rotB = rotB; 82 createJoint(); 83 } 84 85 public void setLimit(float swingSpan1, float swingSpan2, float twistSpan) { 86 this.swingSpan1 = swingSpan1; 87 this.swingSpan2 = swingSpan2; 88 this.twistSpan = twistSpan; 89 setLimit(objectId, swingSpan1, swingSpan2, twistSpan); 90 } 91 92 private native void setLimit(long objectId, float swingSpan1, float swingSpan2, float twistSpan); 93 94 public void setAngularOnly(boolean value) { 95 angularOnly = value; 96 setAngularOnly(objectId, value); 97 } 98 99 private native void setAngularOnly(long objectId, boolean value); 100 101 @Override 102 public void write(JmeExporter ex) throws IOException { 103 super.write(ex); 104 OutputCapsule capsule = ex.getCapsule(this); 105 capsule.write(rotA, "rotA", new Matrix3f()); 106 capsule.write(rotB, "rotB", new Matrix3f()); 107 108 capsule.write(angularOnly, "angularOnly", false); 109 capsule.write(swingSpan1, "swingSpan1", 1e30f); 110 capsule.write(swingSpan2, "swingSpan2", 1e30f); 111 capsule.write(twistSpan, "twistSpan", 1e30f); 112 } 113 114 @Override 115 public void read(JmeImporter im) throws IOException { 116 super.read(im); 117 InputCapsule capsule = im.getCapsule(this); 118 this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f()); 119 this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f()); 120 121 this.angularOnly = capsule.readBoolean("angularOnly", false); 122 this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f); 123 this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f); 124 this.twistSpan = capsule.readFloat("twistSpan", 1e30f); 125 createJoint(); 126 } 127 128 protected void createJoint() { 129 objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, rotA, pivotB, rotB); 130 Logger.getLogger(this.getClass().getName()).log(Level.INFO, "Created Joint {0}", Long.toHexString(objectId)); 131 setLimit(objectId, swingSpan1, swingSpan2, twistSpan); 132 setAngularOnly(objectId, angularOnly); 133 } 134 135 private native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB); 136} 137