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jMonkeyEngine is a 3D game engine for adventurous Java developers
/*
* Copyright (c) 2009-2018 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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package com.jme3.bullet.joints;
import com.jme3.bullet.joints.motors.RotationalLimitMotor;
import com.jme3.bullet.joints.motors.TranslationalLimitMotor;
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.Iterator;
import java.util.LinkedList;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
* A joint based on Bullet's btGeneric6DofConstraint.
*
* From the Bullet manual:
* This generic constraint can emulate a variety of standard constraints, by
* configuring each of the 6 degrees of freedom (dof). The first 3 dof axis are
* linear axis, which represent translation of rigidbodies, and the latter 3 dof
* axis represent the angular motion. Each axis can be either locked, free or
* limited. On construction of a new btGeneric6DofSpring2Constraint, all axis
* are locked. Afterwards the axis can be reconfigured. Note that several
* combinations that include free and/or limited angular degrees of freedom are
* undefined.
*
* For each axis:
* - Lowerlimit = Upperlimit → axis is locked
* - Lowerlimit > Upperlimit → axis is free
* - Lowerlimit < Upperlimit → axis it limited in that range
*
*
* @author normenhansen
*/
public class SixDofJoint extends PhysicsJoint {
Matrix3f rotA, rotB;
/**
* true→limits give the allowable range of movement of frameB in frameA
* space, false→limits give the allowable range of movement of frameA
* in frameB space
*/
boolean useLinearReferenceFrameA;
LinkedList rotationalMotors = new LinkedList();
TranslationalLimitMotor translationalMotor;
/**
* upper limits for rotation of all 3 axes
*/
Vector3f angularUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY);
/**
* lower limits for rotation of all 3 axes
*/
Vector3f angularLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY);
/**
* upper limit for translation of all 3 axes
*/
Vector3f linearUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY);
/**
* lower limits for translation of all 3 axes
*/
Vector3f linearLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY);
/**
* No-argument constructor needed by SavableClassUtil. Do not invoke
* directly!
*/
public SixDofJoint() {
}
/**
* Instantiate a SixDofJoint. 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)
* @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)
* @param useLinearReferenceFrameA true→use node A, false→use node
* B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
this.rotA = rotA;
this.rotB = rotB;
objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, rotA, pivotB, rotB, useLinearReferenceFrameA);
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created Joint {0}", Long.toHexString(objectId));
gatherMotors();
}
/**
* Instantiate a SixDofJoint. 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)
* @param useLinearReferenceFrameA true→use node A, false→use node
* B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
rotA = new Matrix3f();
rotB = new Matrix3f();
objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, rotA, pivotB, rotB, useLinearReferenceFrameA);
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created Joint {0}", Long.toHexString(objectId));
gatherMotors();
}
private void gatherMotors() {
for (int i = 0; i < 3; i++) {
RotationalLimitMotor rmot = new RotationalLimitMotor(getRotationalLimitMotor(objectId, i));
rotationalMotors.add(rmot);
}
translationalMotor = new TranslationalLimitMotor(getTranslationalLimitMotor(objectId));
}
private native long getRotationalLimitMotor(long objectId, int index);
private native long getTranslationalLimitMotor(long objectId);
/**
* Access the TranslationalLimitMotor of this joint, the motor which
* influences translation on all 3 axes.
*
* @return the pre-existing instance
*/
public TranslationalLimitMotor getTranslationalLimitMotor() {
return translationalMotor;
}
/**
* Access the indexed RotationalLimitMotor of this joint, the motor which
* influences rotation around one axis.
*
* @param index the axis index of the desired motor: 0→X, 1→Y,
* 2→Z
* @return the pre-existing instance
*/
public RotationalLimitMotor getRotationalLimitMotor(int index) {
return rotationalMotors.get(index);
}
/**
* Alter the joint's upper limits for translation of all 3 axes.
*
* @param vector the desired upper limits (not null, unaffected)
*/
public void setLinearUpperLimit(Vector3f vector) {
linearUpperLimit.set(vector);
setLinearUpperLimit(objectId, vector);
}
private native void setLinearUpperLimit(long objctId, Vector3f vector);
/**
* Alter the joint's lower limits for translation of all 3 axes.
*
* @param vector the desired lower limits (not null, unaffected)
*/
public void setLinearLowerLimit(Vector3f vector) {
linearLowerLimit.set(vector);
setLinearLowerLimit(objectId, vector);
}
private native void setLinearLowerLimit(long objctId, Vector3f vector);
/**
* Alter the joint's upper limits for rotation of all 3 axes.
*
* @param vector the desired upper limits (in radians, not null, unaffected)
*/
public void setAngularUpperLimit(Vector3f vector) {
angularUpperLimit.set(vector);
setAngularUpperLimit(objectId, vector);
}
private native void setAngularUpperLimit(long objctId, Vector3f vector);
/**
* Alter the joint's lower limits for rotation of all 3 axes.
*
* @param vector the desired lower limits (in radians, not null, unaffected)
*/
public void setAngularLowerLimit(Vector3f vector) {
angularLowerLimit.set(vector);
setAngularLowerLimit(objectId, vector);
}
private native void setAngularLowerLimit(long objctId, Vector3f vector);
native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB, boolean useLinearReferenceFrameA);
/**
* 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);
objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, rotA, pivotB, rotB, useLinearReferenceFrameA);
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created Joint {0}", Long.toHexString(objectId));
gatherMotors();
setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
for (int i = 0; i < 3; i++) {
RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i);
rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f));
rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f));
rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f));
rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY));
rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f));
rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY));
rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f));
rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f));
rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0));
rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false));
}
getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO));
getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f));
getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f));
getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO));
getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f));
getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO));
}
/**
* 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(angularUpperLimit, "angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY));
capsule.write(angularLowerLimit, "angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY));
capsule.write(linearUpperLimit, "linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY));
capsule.write(linearLowerLimit, "linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY));
int i = 0;
for (Iterator it = rotationalMotors.iterator(); it.hasNext();) {
RotationalLimitMotor rotationalLimitMotor = it.next();
capsule.write(rotationalLimitMotor.getBounce(), "rotMotor" + i + "_Bounce", 0.0f);
capsule.write(rotationalLimitMotor.getDamping(), "rotMotor" + i + "_Damping", 1.0f);
capsule.write(rotationalLimitMotor.getERP(), "rotMotor" + i + "_ERP", 0.5f);
capsule.write(rotationalLimitMotor.getHiLimit(), "rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY);
capsule.write(rotationalLimitMotor.getLimitSoftness(), "rotMotor" + i + "_LimitSoftness", 0.5f);
capsule.write(rotationalLimitMotor.getLoLimit(), "rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY);
capsule.write(rotationalLimitMotor.getMaxLimitForce(), "rotMotor" + i + "_MaxLimitForce", 300.0f);
capsule.write(rotationalLimitMotor.getMaxMotorForce(), "rotMotor" + i + "_MaxMotorForce", 0.1f);
capsule.write(rotationalLimitMotor.getTargetVelocity(), "rotMotor" + i + "_TargetVelocity", 0);
capsule.write(rotationalLimitMotor.isEnableMotor(), "rotMotor" + i + "_EnableMotor", false);
i++;
}
capsule.write(getTranslationalLimitMotor().getAccumulatedImpulse(), "transMotor_AccumulatedImpulse", Vector3f.ZERO);
capsule.write(getTranslationalLimitMotor().getDamping(), "transMotor_Damping", 1.0f);
capsule.write(getTranslationalLimitMotor().getLimitSoftness(), "transMotor_LimitSoftness", 0.7f);
capsule.write(getTranslationalLimitMotor().getLowerLimit(), "transMotor_LowerLimit", Vector3f.ZERO);
capsule.write(getTranslationalLimitMotor().getRestitution(), "transMotor_Restitution", 0.5f);
capsule.write(getTranslationalLimitMotor().getUpperLimit(), "transMotor_UpperLimit", Vector3f.ZERO);
}
}
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