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.ConeTwistConstraint; 3559b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.bulletphysics.linearmath.Transform; 3659b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.bullet.objects.PhysicsRigidBody; 3759b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.bullet.util.Converter; 3859b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.export.InputCapsule; 3959b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.export.JmeExporter; 4059b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.export.JmeImporter; 4159b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.export.OutputCapsule; 4259b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.math.Matrix3f; 4359b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport com.jme3.math.Vector3f; 4459b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaimport java.io.IOException; 4559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 4659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/** 4759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * <i>From bullet manual:</i><br> 4859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * To create ragdolls, the conve twist constraint is very useful for limbs like the upper arm. 4959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * It is a special point to point constraint that adds cone and twist axis limits. 5059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * The x-axis serves as twist axis. 5159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @author normenhansen 5259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 5359b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartapublic class ConeJoint extends PhysicsJoint { 5459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected Matrix3f rotA, rotB; 5659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected float swingSpan1 = 1e30f; 5759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected float swingSpan2 = 1e30f; 5859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected float twistSpan = 1e30f; 5959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected boolean angularOnly = false; 6059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 6159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public ConeJoint() { 6259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 6359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 6459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 6559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param pivotA local translation of the joint connection point in node A 6659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param pivotB local translation of the joint connection point in node B 6759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 6859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { 6959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta super(nodeA, nodeB, pivotA, pivotB); 7059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.rotA = new Matrix3f(); 7159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.rotB = new Matrix3f(); 7259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta createJoint(); 7359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 7559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /** 7659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param pivotA local translation of the joint connection point in node A 7759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * @param pivotB local translation of the joint connection point in node B 7859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 7959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) { 8059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta super(nodeA, nodeB, pivotA, pivotB); 8159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.rotA = rotA; 8259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.rotB = rotB; 8359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta createJoint(); 8459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 8559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 8659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void setLimit(float swingSpan1, float swingSpan2, float twistSpan) { 8759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.swingSpan1 = swingSpan1; 8859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.swingSpan2 = swingSpan2; 8959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.twistSpan = twistSpan; 9059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta ((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan); 9159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 9259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 9359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void setAngularOnly(boolean value) { 9459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta angularOnly = value; 9559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta ((ConeTwistConstraint) constraint).setAngularOnly(value); 9659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 9759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 9859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta @Override 9959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void write(JmeExporter ex) throws IOException { 10059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta super.write(ex); 10159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta OutputCapsule capsule = ex.getCapsule(this); 10259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(rotA, "rotA", new Matrix3f()); 10359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(rotB, "rotB", new Matrix3f()); 10459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 10559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(angularOnly, "angularOnly", false); 10659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(swingSpan1, "swingSpan1", 1e30f); 10759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(swingSpan2, "swingSpan2", 1e30f); 10859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta capsule.write(twistSpan, "twistSpan", 1e30f); 10959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 11059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta @Override 11259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta public void read(JmeImporter im) throws IOException { 11359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta super.read(im); 11459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta InputCapsule capsule = im.getCapsule(this); 11559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f()); 11659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f()); 11759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.angularOnly = capsule.readBoolean("angularOnly", false); 11959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f); 12059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f); 12159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this.twistSpan = capsule.readFloat("twistSpan", 1e30f); 12259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta createJoint(); 12359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 12459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 12559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta protected void createJoint() { 12659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Transform transA = new Transform(Converter.convert(rotA)); 12759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Converter.convert(pivotA, transA.origin); 12859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Converter.convert(rotA, transA.basis); 12959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 13059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Transform transB = new Transform(Converter.convert(rotB)); 13159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Converter.convert(pivotB, transB.origin); 13259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Converter.convert(rotB, transB.basis); 13359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 13459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta constraint = new ConeTwistConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB); 13559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta ((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan); 13659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta ((ConeTwistConstraint) constraint).setAngularOnly(angularOnly); 13759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 139