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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.jme3.bullet.objects.PhysicsRigidBody;
     35 import com.jme3.math.Matrix3f;
     36 import com.jme3.math.Vector3f;
     37 
     38 /**
     39  * <i>From bullet manual:</i><br>
     40  * This generic constraint can emulate a variety of standard constraints,
     41  * by configuring each of the 6 degrees of freedom (dof).
     42  * The first 3 dof axis are linear axis, which represent translation of rigidbodies,
     43  * and the latter 3 dof axis represent the angular motion. Each axis can be either locked,
     44  * free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked.
     45  * Afterwards the axis can be reconfigured. Note that several combinations that
     46  * include free and/or limited angular degrees of freedom are undefined.
     47  * @author normenhansen
     48  */
     49 public class SixDofSpringJoint extends SixDofJoint {
     50 
     51    final boolean       springEnabled[] = new boolean[6];
     52    final float equilibriumPoint[] = new float[6];
     53    final float springStiffness[] = new float[6];
     54    final float springDamping[] = new float[6]; // between 0 and 1 (1 == no damping)
     55 
     56     public SixDofSpringJoint() {
     57     }
     58 
     59     /**
     60      * @param pivotA local translation of the joint connection point in node A
     61      * @param pivotB local translation of the joint connection point in node B
     62      */
     63     public SixDofSpringJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
     64         super(nodeA, nodeB, pivotA, pivotB, rotA, rotB, useLinearReferenceFrameA);
     65     }
     66     public void enableSpring(int index, boolean onOff) {
     67         enableSpring(objectId, index, onOff);
     68     }
     69     native void enableSpring(long objctId, int index, boolean onOff);
     70 
     71     public void setStiffness(int index, float stiffness) {
     72         setStiffness(objectId, index, stiffness);
     73     }
     74     native void setStiffness(long objctId, int index, float stiffness);
     75 
     76     public void setDamping(int index, float damping) {
     77         setDamping(objectId, index, damping);
     78 
     79     }
     80     native void setDamping(long objctId, int index, float damping);
     81     public void setEquilibriumPoint() { // set the current constraint position/orientation as an equilibrium point for all DOF
     82         setEquilibriumPoint(objectId);
     83     }
     84     native void setEquilibriumPoint(long objctId);
     85     public void setEquilibriumPoint(int index){ // set the current constraint position/orientation as an equilibrium point for given DOF
     86         setEquilibriumPoint(objectId, index);
     87     }
     88     native void setEquilibriumPoint(long objctId, int index);
     89     @Override
     90     native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB, boolean useLinearReferenceFrameA);
     91 
     92 }
     93