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.ConeTwistConstraint; 35 import com.bulletphysics.linearmath.Transform; 36 import com.jme3.bullet.objects.PhysicsRigidBody; 37 import com.jme3.bullet.util.Converter; 38 import com.jme3.export.InputCapsule; 39 import com.jme3.export.JmeExporter; 40 import com.jme3.export.JmeImporter; 41 import com.jme3.export.OutputCapsule; 42 import com.jme3.math.Matrix3f; 43 import com.jme3.math.Vector3f; 44 import java.io.IOException; 45 46 /** 47 * <i>From bullet manual:</i><br> 48 * To create ragdolls, the conve twist constraint is very useful for limbs like the upper arm. 49 * It is a special point to point constraint that adds cone and twist axis limits. 50 * The x-axis serves as twist axis. 51 * @author normenhansen 52 */ 53 public class ConeJoint extends PhysicsJoint { 54 55 protected Matrix3f rotA, rotB; 56 protected float swingSpan1 = 1e30f; 57 protected float swingSpan2 = 1e30f; 58 protected float twistSpan = 1e30f; 59 protected boolean angularOnly = false; 60 61 public ConeJoint() { 62 } 63 64 /** 65 * @param pivotA local translation of the joint connection point in node A 66 * @param pivotB local translation of the joint connection point in node B 67 */ 68 public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { 69 super(nodeA, nodeB, pivotA, pivotB); 70 this.rotA = new Matrix3f(); 71 this.rotB = new Matrix3f(); 72 createJoint(); 73 } 74 75 /** 76 * @param pivotA local translation of the joint connection point in node A 77 * @param pivotB local translation of the joint connection point in node B 78 */ 79 public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) { 80 super(nodeA, nodeB, pivotA, pivotB); 81 this.rotA = rotA; 82 this.rotB = rotB; 83 createJoint(); 84 } 85 86 public void setLimit(float swingSpan1, float swingSpan2, float twistSpan) { 87 this.swingSpan1 = swingSpan1; 88 this.swingSpan2 = swingSpan2; 89 this.twistSpan = twistSpan; 90 ((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan); 91 } 92 93 public void setAngularOnly(boolean value) { 94 angularOnly = value; 95 ((ConeTwistConstraint) constraint).setAngularOnly(value); 96 } 97 98 @Override 99 public void write(JmeExporter ex) throws IOException { 100 super.write(ex); 101 OutputCapsule capsule = ex.getCapsule(this); 102 capsule.write(rotA, "rotA", new Matrix3f()); 103 capsule.write(rotB, "rotB", new Matrix3f()); 104 105 capsule.write(angularOnly, "angularOnly", false); 106 capsule.write(swingSpan1, "swingSpan1", 1e30f); 107 capsule.write(swingSpan2, "swingSpan2", 1e30f); 108 capsule.write(twistSpan, "twistSpan", 1e30f); 109 } 110 111 @Override 112 public void read(JmeImporter im) throws IOException { 113 super.read(im); 114 InputCapsule capsule = im.getCapsule(this); 115 this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f()); 116 this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f()); 117 118 this.angularOnly = capsule.readBoolean("angularOnly", false); 119 this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f); 120 this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f); 121 this.twistSpan = capsule.readFloat("twistSpan", 1e30f); 122 createJoint(); 123 } 124 125 protected void createJoint() { 126 Transform transA = new Transform(Converter.convert(rotA)); 127 Converter.convert(pivotA, transA.origin); 128 Converter.convert(rotA, transA.basis); 129 130 Transform transB = new Transform(Converter.convert(rotB)); 131 Converter.convert(pivotB, transB.origin); 132 Converter.convert(rotB, transB.basis); 133 134 constraint = new ConeTwistConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB); 135 ((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan); 136 ((ConeTwistConstraint) constraint).setAngularOnly(angularOnly); 137 } 138 } 139
