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      1 /*
      2  * Copyright (c) 2009-2010 jMonkeyEngine
      3  * All rights reserved.
      4  *
      5  * Redistribution and use in source and binary forms, with or without
      6  * modification, are permitted provided that the following conditions are
      7  * met:
      8  *
      9  * * Redistributions of source code must retain the above copyright
     10  *   notice, this list of conditions and the following disclaimer.
     11  *
     12  * * Redistributions in binary form must reproduce the above copyright
     13  *   notice, this list of conditions and the following disclaimer in the
     14  *   documentation and/or other materials provided with the distribution.
     15  *
     16  * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
     17  *   may be used to endorse or promote products derived from this software
     18  *   without specific prior written permission.
     19  *
     20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
     21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
     22  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
     23  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
     24  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
     25  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
     26  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
     27  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
     28  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
     29  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
     30  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     31  */
     32 package com.jme3.bullet.joints;
     33 
     34 import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;
     35 import com.jme3.bullet.objects.PhysicsRigidBody;
     36 import com.jme3.export.*;
     37 import com.jme3.math.Vector3f;
     38 import java.io.IOException;
     39 
     40 /**
     41  * <p>PhysicsJoint - Basic Phyiscs Joint</p>
     42  * @author normenhansen
     43  */
     44 public abstract class PhysicsJoint implements Savable {
     45 
     46     protected TypedConstraint constraint;
     47     protected PhysicsRigidBody nodeA;
     48     protected PhysicsRigidBody nodeB;
     49     protected Vector3f pivotA;
     50     protected Vector3f pivotB;
     51     protected boolean collisionBetweenLinkedBodys = true;
     52 
     53     public PhysicsJoint() {
     54     }
     55 
     56     /**
     57      * @param pivotA local translation of the joint connection point in node A
     58      * @param pivotB local translation of the joint connection point in node B
     59      */
     60     public PhysicsJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
     61         this.nodeA = nodeA;
     62         this.nodeB = nodeB;
     63         this.pivotA = pivotA;
     64         this.pivotB = pivotB;
     65         nodeA.addJoint(this);
     66         nodeB.addJoint(this);
     67     }
     68 
     69     public float getAppliedImpulse(){
     70         return constraint.getAppliedImpulse();
     71     }
     72 
     73     /**
     74      * @return the constraint
     75      */
     76     public TypedConstraint getObjectId() {
     77         return constraint;
     78     }
     79 
     80     /**
     81      * @return the collisionBetweenLinkedBodys
     82      */
     83     public boolean isCollisionBetweenLinkedBodys() {
     84         return collisionBetweenLinkedBodys;
     85     }
     86 
     87     /**
     88      * toggles collisions between linked bodys<br>
     89      * joint has to be removed from and added to PhyiscsSpace to apply this.
     90      * @param collisionBetweenLinkedBodys set to false to have no collisions between linked bodys
     91      */
     92     public void setCollisionBetweenLinkedBodys(boolean collisionBetweenLinkedBodys) {
     93         this.collisionBetweenLinkedBodys = collisionBetweenLinkedBodys;
     94     }
     95 
     96     public PhysicsRigidBody getBodyA() {
     97         return nodeA;
     98     }
     99 
    100     public PhysicsRigidBody getBodyB() {
    101         return nodeB;
    102     }
    103 
    104     public Vector3f getPivotA() {
    105         return pivotA;
    106     }
    107 
    108     public Vector3f getPivotB() {
    109         return pivotB;
    110     }
    111 
    112     /**
    113      * destroys this joint and removes it from its connected PhysicsRigidBodys joint lists
    114      */
    115     public void destroy() {
    116         getBodyA().removeJoint(this);
    117         getBodyB().removeJoint(this);
    118     }
    119 
    120     public void write(JmeExporter ex) throws IOException {
    121         OutputCapsule capsule = ex.getCapsule(this);
    122         capsule.write(nodeA, "nodeA", null);
    123         capsule.write(nodeB, "nodeB", null);
    124         capsule.write(pivotA, "pivotA", null);
    125         capsule.write(pivotB, "pivotB", null);
    126     }
    127 
    128     public void read(JmeImporter im) throws IOException {
    129         InputCapsule capsule = im.getCapsule(this);
    130         this.nodeA = ((PhysicsRigidBody) capsule.readSavable("nodeA", new PhysicsRigidBody()));
    131         this.nodeB = (PhysicsRigidBody) capsule.readSavable("nodeB", new PhysicsRigidBody());
    132         this.pivotA = (Vector3f) capsule.readSavable("pivotA", new Vector3f());
    133         this.pivotB = (Vector3f) capsule.readSavable("pivotB", new Vector3f());
    134     }
    135 
    136 }
    137