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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.Point2PointConstraint;
     35 import com.jme3.bullet.objects.PhysicsRigidBody;
     36 import com.jme3.bullet.util.Converter;
     37 import com.jme3.export.InputCapsule;
     38 import com.jme3.export.JmeExporter;
     39 import com.jme3.export.JmeImporter;
     40 import com.jme3.export.OutputCapsule;
     41 import com.jme3.math.Vector3f;
     42 import java.io.IOException;
     43 
     44 /**
     45  * <i>From bullet manual:</i><br>
     46  * Point to point constraint, also known as ball socket joint limits the translation
     47  * so that the local pivot points of 2 rigidbodies match in worldspace.
     48  * A chain of rigidbodies can be connected using this constraint.
     49  * @author normenhansen
     50  */
     51 public class Point2PointJoint extends PhysicsJoint {
     52 
     53     public Point2PointJoint() {
     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 Point2PointJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
     61         super(nodeA, nodeB, pivotA, pivotB);
     62         createJoint();
     63     }
     64 
     65     public void setDamping(float value) {
     66         ((Point2PointConstraint) constraint).setting.damping = value;
     67     }
     68 
     69     public void setImpulseClamp(float value) {
     70         ((Point2PointConstraint) constraint).setting.impulseClamp = value;
     71     }
     72 
     73     public void setTau(float value) {
     74         ((Point2PointConstraint) constraint).setting.tau = value;
     75     }
     76 
     77     public float getDamping() {
     78         return ((Point2PointConstraint) constraint).setting.damping;
     79     }
     80 
     81     public float getImpulseClamp() {
     82         return ((Point2PointConstraint) constraint).setting.impulseClamp;
     83     }
     84 
     85     public float getTau() {
     86         return ((Point2PointConstraint) constraint).setting.tau;
     87     }
     88 
     89     @Override
     90     public void write(JmeExporter ex) throws IOException {
     91         super.write(ex);
     92         OutputCapsule cap = ex.getCapsule(this);
     93         cap.write(getDamping(), "damping", 1.0f);
     94         cap.write(getTau(), "tau", 0.3f);
     95         cap.write(getImpulseClamp(), "impulseClamp", 0f);
     96     }
     97 
     98     @Override
     99     public void read(JmeImporter im) throws IOException {
    100         super.read(im);
    101         createJoint();
    102         InputCapsule cap=im.getCapsule(this);
    103         setDamping(cap.readFloat("damping", 1.0f));
    104         setDamping(cap.readFloat("tau", 0.3f));
    105         setDamping(cap.readFloat("impulseClamp", 0f));
    106     }
    107 
    108     protected void createJoint() {
    109         constraint = new Point2PointConstraint(nodeA.getObjectId(), nodeB.getObjectId(), Converter.convert(pivotA), Converter.convert(pivotB));
    110     }
    111 }
    112