com.jme3.bullet.debug.AbstractPhysicsDebugControl Maven / Gradle / Ivy
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* Copyright (c) 2009-2018 jMonkeyEngine
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package com.jme3.bullet.debug;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.Spatial;
import com.jme3.scene.control.AbstractControl;
/**
* The abstract base class for physics-debug controls (such as
* BulletRigidBodyDebugControl) used to visualize individual collision objects
* and joints.
*
* This class is shared between JBullet and Native Bullet.
*
* @author normenhansen
*/
public abstract class AbstractPhysicsDebugControl extends AbstractControl {
private final Quaternion tmp_inverseWorldRotation = new Quaternion();
/**
* the app state that this control serves
*/
protected final BulletDebugAppState debugAppState;
/**
* Instantiate an enabled control to serve the specified debug app state.
*
* @param debugAppState which app state (not null, alias created)
*/
public AbstractPhysicsDebugControl(BulletDebugAppState debugAppState) {
this.debugAppState = debugAppState;
}
/**
* This is called on the physics thread for debug controls
*/
@Override
protected abstract void controlUpdate(float tpf);
/**
* Apply the specified location and orientation to the controlled spatial.
*
* @param worldLocation location vector (in physics-space coordinates, not
* null, unaffected)
* @param worldRotation orientation (in physics-space coordinates, not null,
* unaffected)
*/
protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation) {
applyPhysicsTransform(worldLocation, worldRotation, this.spatial);
}
/**
* Apply the specified location and orientation to the specified spatial.
*
* @param worldLocation location vector (in physics-space coordinates, not
* null, unaffected)
* @param worldRotation orientation (in physics-space coordinates, not null,
* unaffected)
* @param spatial where to apply (may be null)
*/
protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation, Spatial spatial) {
if (spatial != null) {
Vector3f localLocation = spatial.getLocalTranslation();
Quaternion localRotationQuat = spatial.getLocalRotation();
if (spatial.getParent() != null) {
localLocation.set(worldLocation).subtractLocal(spatial.getParent().getWorldTranslation());
localLocation.divideLocal(spatial.getParent().getWorldScale());
tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
localRotationQuat.set(worldRotation);
tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().mult(localRotationQuat, localRotationQuat);
spatial.setLocalTranslation(localLocation);
spatial.setLocalRotation(localRotationQuat);
} else {
spatial.setLocalTranslation(worldLocation);
spatial.setLocalRotation(worldRotation);
}
}
}
}