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/*
* Copyright (c) 2009-2018 jMonkeyEngine
* All rights reserved.
*
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* 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,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme3.bullet.joints.motors;
/**
* A motor based on Bullet's btRotationalLimitMotor. Motors are used to drive
* joints.
*
* @author normenhansen
*/
public class RotationalLimitMotor {
/**
* Unique identifier of the btRotationalLimitMotor. The constructor sets
* this to a non-zero value.
*/
private long motorId = 0;
/**
* Instantiate a motor for the identified btRotationalLimitMotor.
*
* @param motor the unique identifier (not zero)
*/
public RotationalLimitMotor(long motor) {
this.motorId = motor;
}
/**
* Read the id of the btRotationalLimitMotor.
*
* @return the identifier of the btRotationalLimitMotor (not zero)
*/
public long getMotor() {
return motorId;
}
/**
* Read this motor's constraint lower limit.
*
* @return the limit value
*/
public float getLoLimit() {
return getLoLimit(motorId);
}
private native float getLoLimit(long motorId);
/**
* Alter this motor's constraint lower limit.
*
* @param loLimit the desired limit value
*/
public void setLoLimit(float loLimit) {
setLoLimit(motorId, loLimit);
}
private native void setLoLimit(long motorId, float loLimit);
/**
* Read this motor's constraint upper limit.
*
* @return the limit value
*/
public float getHiLimit() {
return getHiLimit(motorId);
}
private native float getHiLimit(long motorId);
/**
* Alter this motor's constraint upper limit.
*
* @param hiLimit the desired limit value
*/
public void setHiLimit(float hiLimit) {
setHiLimit(motorId, hiLimit);
}
private native void setHiLimit(long motorId, float hiLimit);
/**
* Read this motor's target velocity.
*
* @return the target velocity (in radians per second)
*/
public float getTargetVelocity() {
return getTargetVelocity(motorId);
}
private native float getTargetVelocity(long motorId);
/**
* Alter this motor's target velocity.
*
* @param targetVelocity the desired target velocity (in radians per second)
*/
public void setTargetVelocity(float targetVelocity) {
setTargetVelocity(motorId, targetVelocity);
}
private native void setTargetVelocity(long motorId, float targetVelocity);
/**
* Read this motor's maximum force.
*
* @return the maximum force
*/
public float getMaxMotorForce() {
return getMaxMotorForce(motorId);
}
private native float getMaxMotorForce(long motorId);
/**
* Alter this motor's maximum force.
*
* @param maxMotorForce the desired maximum force on the motor
*/
public void setMaxMotorForce(float maxMotorForce) {
setMaxMotorForce(motorId, maxMotorForce);
}
private native void setMaxMotorForce(long motorId, float maxMotorForce);
/**
* Read the limit's maximum force.
*
* @return the maximum force on the limit
*/
public float getMaxLimitForce() {
return getMaxLimitForce(motorId);
}
private native float getMaxLimitForce(long motorId);
/**
* Alter the limit's maximum force.
*
* @param maxLimitForce the desired maximum force on the limit
*/
public void setMaxLimitForce(float maxLimitForce) {
setMaxLimitForce(motorId, maxLimitForce);
}
private native void setMaxLimitForce(long motorId, float maxLimitForce);
/**
* Read this motor's damping.
*
* @return the viscous damping ratio (0→no damping, 1→critically
* damped)
*/
public float getDamping() {
return getDamping(motorId);
}
private native float getDamping(long motorId);
/**
* Alter this motor's damping.
*
* @param damping the desired viscous damping ratio (0→no damping,
* 1→critically damped, default=1)
*/
public void setDamping(float damping) {
setDamping(motorId, damping);
}
private native void setDamping(long motorId, float damping);
/**
* Read this motor's limit softness.
*
* @return the limit softness
*/
public float getLimitSoftness() {
return getLimitSoftness(motorId);
}
private native float getLimitSoftness(long motorId);
/**
* Alter this motor's limit softness.
*
* @param limitSoftness the desired limit softness
*/
public void setLimitSoftness(float limitSoftness) {
setLimitSoftness(motorId, limitSoftness);
}
private native void setLimitSoftness(long motorId, float limitSoftness);
/**
* Read this motor's error tolerance at limits.
*
* @return the error tolerance (>0)
*/
public float getERP() {
return getERP(motorId);
}
private native float getERP(long motorId);
/**
* Alter this motor's error tolerance at limits.
*
* @param ERP the desired error tolerance (>0)
*/
public void setERP(float ERP) {
setERP(motorId, ERP);
}
private native void setERP(long motorId, float ERP);
/**
* Read this motor's bounce.
*
* @return the bounce (restitution factor)
*/
public float getBounce() {
return getBounce(motorId);
}
private native float getBounce(long motorId);
/**
* Alter this motor's bounce.
*
* @param bounce the desired bounce (restitution factor)
*/
public void setBounce(float bounce) {
setBounce(motorId, bounce);
}
private native void setBounce(long motorId, float limitSoftness);
/**
* Test whether this motor is enabled.
*
* @return true if enabled, otherwise false
*/
public boolean isEnableMotor() {
return isEnableMotor(motorId);
}
private native boolean isEnableMotor(long motorId);
/**
* Enable or disable this motor.
*
* @param enableMotor true→enable, false→disable
*/
public void setEnableMotor(boolean enableMotor) {
setEnableMotor(motorId, enableMotor);
}
private native void setEnableMotor(long motorId, boolean enableMotor);
}
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