/*
* Copyright (c) 2009-2012 jMonkeyEngine
* All rights reserved.
*
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* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
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*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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package com.jme3.bullet.joints;
import com.bulletphysics.dynamics.constraintsolver.Generic6DofConstraint;
import com.bulletphysics.linearmath.Transform;
import com.jme3.bullet.joints.motors.RotationalLimitMotor;
import com.jme3.bullet.joints.motors.TranslationalLimitMotor;
import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.bullet.util.Converter;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.math.Matrix3f;
import com.jme3.math.Vector3f;
import java.io.IOException;
import java.util.Iterator;
import java.util.LinkedList;
/**
* <i>From bullet manual:</i><br>
* This generic constraint can emulate a variety of standard constraints,
* by configuring each of the 6 degrees of freedom (dof).
* The first 3 dof axis are linear axis, which represent translation of rigidbodies,
* and the latter 3 dof axis represent the angular motion. Each axis can be either locked,
* free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked.
* Afterwards the axis can be reconfigured. Note that several combinations that
* include free and/or limited angular degrees of freedom are undefined.
* @author normenhansen
*/
public class SixDofJoint extends PhysicsJoint {
private boolean useLinearReferenceFrameA = true;
private LinkedList<RotationalLimitMotor> rotationalMotors = new LinkedList<RotationalLimitMotor>();
private TranslationalLimitMotor translationalMotor;
private Vector3f angularUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY);
private Vector3f angularLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY);
private Vector3f linearUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY);
private Vector3f linearLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY);
public SixDofJoint() {
}
/**
* @param pivotA local translation of the joint connection point in node A
* @param pivotB local translation of the joint connection point in node B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
}
/**
* @param pivotA local translation of the joint connection point in node A
* @param pivotB local translation of the joint connection point in node B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotA, transA.origin);
Transform transB = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotB, transB.origin);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
}
private void gatherMotors() {
for (int i = 0; i < 3; i++) {
RotationalLimitMotor rmot = new RotationalLimitMotor(((Generic6DofConstraint) constraint).getRotationalLimitMotor(i));
rotationalMotors.add(rmot);
}
translationalMotor = new TranslationalLimitMotor(((Generic6DofConstraint) constraint).getTranslationalLimitMotor());
}
/**
* returns the TranslationalLimitMotor of this 6DofJoint which allows
* manipulating the translational axis
* @return the TranslationalLimitMotor
*/
public TranslationalLimitMotor getTranslationalLimitMotor() {
return translationalMotor;
}
/**
* returns one of the three RotationalLimitMotors of this 6DofJoint which
* allow manipulating the rotational axes
* @param index the index of the RotationalLimitMotor
* @return the RotationalLimitMotor at the given index
*/
public RotationalLimitMotor getRotationalLimitMotor(int index) {
return rotationalMotors.get(index);
}
public void setLinearUpperLimit(Vector3f vector) {
linearUpperLimit.set(vector);
((Generic6DofConstraint) constraint).setLinearUpperLimit(Converter.convert(vector));
}
public void setLinearLowerLimit(Vector3f vector) {
linearLowerLimit.set(vector);
((Generic6DofConstraint) constraint).setLinearLowerLimit(Converter.convert(vector));
}
public void setAngularUpperLimit(Vector3f vector) {
angularUpperLimit.set(vector);
((Generic6DofConstraint) constraint).setAngularUpperLimit(Converter.convert(vector));
}
public void setAngularLowerLimit(Vector3f vector) {
angularLowerLimit.set(vector);
((Generic6DofConstraint) constraint).setAngularLowerLimit(Converter.convert(vector));
}
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule capsule = im.getCapsule(this);
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotA, transA.origin);
Transform transB = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotB, transB.origin);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
for (int i = 0; i < 3; i++) {
RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i);
rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f));
rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f));
rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f));
rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY));
rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f));
rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY));
rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f));
rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f));
rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0));
rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false));
}
getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO));
getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f));
getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f));
getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO));
getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f));
getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO));
}
@Override
public void write(JmeExporter ex) throws IOException {
super.write(ex);
OutputCapsule capsule = ex.getCapsule(this);
capsule.write(angularUpperLimit, "angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY));
capsule.write(angularLowerLimit, "angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY));
capsule.write(linearUpperLimit, "linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY));
capsule.write(linearLowerLimit, "linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY));
int i = 0;
for (Iterator<RotationalLimitMotor> it = rotationalMotors.iterator(); it.hasNext();) {
RotationalLimitMotor rotationalLimitMotor = it.next();
capsule.write(rotationalLimitMotor.getBounce(), "rotMotor" + i + "_Bounce", 0.0f);
capsule.write(rotationalLimitMotor.getDamping(), "rotMotor" + i + "_Damping", 1.0f);
capsule.write(rotationalLimitMotor.getERP(), "rotMotor" + i + "_ERP", 0.5f);
capsule.write(rotationalLimitMotor.getHiLimit(), "rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY);
capsule.write(rotationalLimitMotor.getLimitSoftness(), "rotMotor" + i + "_LimitSoftness", 0.5f);
capsule.write(rotationalLimitMotor.getLoLimit(), "rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY);
capsule.write(rotationalLimitMotor.getMaxLimitForce(), "rotMotor" + i + "_MaxLimitForce", 300.0f);
capsule.write(rotationalLimitMotor.getMaxMotorForce(), "rotMotor" + i + "_MaxMotorForce", 0.1f);
capsule.write(rotationalLimitMotor.getTargetVelocity(), "rotMotor" + i + "_TargetVelocity", 0);
capsule.write(rotationalLimitMotor.isEnableMotor(), "rotMotor" + i + "_EnableMotor", false);
i++;
}
capsule.write(getTranslationalLimitMotor().getAccumulatedImpulse(), "transMotor_AccumulatedImpulse", Vector3f.ZERO);
capsule.write(getTranslationalLimitMotor().getDamping(), "transMotor_Damping", 1.0f);
capsule.write(getTranslationalLimitMotor().getLimitSoftness(), "transMotor_LimitSoftness", 0.7f);
capsule.write(getTranslationalLimitMotor().getLowerLimit(), "transMotor_LowerLimit", Vector3f.ZERO);
capsule.write(getTranslationalLimitMotor().getRestitution(), "transMotor_Restitution", 0.5f);
capsule.write(getTranslationalLimitMotor().getUpperLimit(), "transMotor_UpperLimit", Vector3f.ZERO);
}
}