com.jme3.bullet.joints.ConeJoint Maven / Gradle / Ivy
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/*
* Copyright (c) 2009-2018 jMonkeyEngine
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* * Redistributions in binary form must reproduce the above copyright
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package com.jme3.bullet.joints;
import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.math.Matrix3f;
import com.jme3.math.Vector3f;
import java.io.IOException;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
* A joint based on Bullet's btConeTwistConstraint.
*
* From the Bullet manual:
* To create ragdolls, the cone twist constraint is very useful for limbs like
* the upper arm. It is a special point to point constraint that adds cone and
* twist axis limits. The x-axis serves as twist axis.
*
* @author normenhansen
*/
public class ConeJoint extends PhysicsJoint {
protected Matrix3f rotA, rotB;
protected float swingSpan1 = 1e30f;
protected float swingSpan2 = 1e30f;
protected float twistSpan = 1e30f;
protected boolean angularOnly = false;
/**
* No-argument constructor needed by SavableClassUtil. Do not invoke
* directly!
*/
public ConeJoint() {
}
/**
* Instantiate a ConeJoint. To be effective, the joint must be added to a
* physics space.
*
* @param nodeA the 1st body connected by the joint (not null, alias
* created)
* @param nodeB the 2nd body connected by the joint (not null, alias
* created)
* @param pivotA the local offset of the connection point in node A (not
* null, alias created)
* @param pivotB the local offset of the connection point in node B (not
* null, alias created)
*/
public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
super(nodeA, nodeB, pivotA, pivotB);
this.rotA = new Matrix3f();
this.rotB = new Matrix3f();
createJoint();
}
/**
* Instantiate a ConeJoint. To be effective, the joint must be added to a
* physics space.
*
* @param nodeA the 1st body connected by the joint (not null, alias
* created)
* @param nodeB the 2nd body connected by the joint (not null, alias
* created)
* @param pivotA local translation of the joint connection point in node A
* (not null, alias created)
* @param pivotB local translation of the joint connection point in node B
* (not null, alias created)
* @param rotA the local orientation of the connection to node A (not null,
* alias created)
* @param rotB the local orientation of the connection to node B (not null,
* alias created)
*/
public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) {
super(nodeA, nodeB, pivotA, pivotB);
this.rotA = rotA;
this.rotB = rotB;
createJoint();
}
/**
* Alter the angular limits for this joint.
*
* @param swingSpan1 angle (in radians)
* @param swingSpan2 angle (in radians)
* @param twistSpan angle (in radians)
*/
public void setLimit(float swingSpan1, float swingSpan2, float twistSpan) {
this.swingSpan1 = swingSpan1;
this.swingSpan2 = swingSpan2;
this.twistSpan = twistSpan;
setLimit(objectId, swingSpan1, swingSpan2, twistSpan);
}
private native void setLimit(long objectId, float swingSpan1, float swingSpan2, float twistSpan);
/**
* Alter whether this joint is angular only.
*
* @param value the desired setting (default=false)
*/
public void setAngularOnly(boolean value) {
angularOnly = value;
setAngularOnly(objectId, value);
}
private native void setAngularOnly(long objectId, boolean value);
/**
* Serialize this joint, for example when saving to a J3O file.
*
* @param ex exporter (not null)
* @throws IOException from exporter
*/
@Override
public void write(JmeExporter ex) throws IOException {
super.write(ex);
OutputCapsule capsule = ex.getCapsule(this);
capsule.write(rotA, "rotA", new Matrix3f());
capsule.write(rotB, "rotB", new Matrix3f());
capsule.write(angularOnly, "angularOnly", false);
capsule.write(swingSpan1, "swingSpan1", 1e30f);
capsule.write(swingSpan2, "swingSpan2", 1e30f);
capsule.write(twistSpan, "twistSpan", 1e30f);
}
/**
* De-serialize this joint, for example when loading from a J3O file.
*
* @param im importer (not null)
* @throws IOException from importer
*/
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule capsule = im.getCapsule(this);
this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f());
this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f());
this.angularOnly = capsule.readBoolean("angularOnly", false);
this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f);
this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f);
this.twistSpan = capsule.readFloat("twistSpan", 1e30f);
createJoint();
}
/**
* Create the configured joint in Bullet.
*/
protected void createJoint() {
objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, rotA, pivotB, rotB);
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created Joint {0}", Long.toHexString(objectId));
setLimit(objectId, swingSpan1, swingSpan2, twistSpan);
setAngularOnly(objectId, angularOnly);
}
private native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB);
}