/*
* Copyright (c) 2009-2012 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * 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
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme3.bullet.objects.infos;
import com.bulletphysics.linearmath.MotionState;
import com.bulletphysics.linearmath.Transform;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.bullet.util.Converter;
import com.jme3.math.Matrix3f;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.Spatial;
/**
* stores transform info of a PhysicsNode in a threadsafe manner to
* allow multithreaded access from the jme scenegraph and the bullet physicsspace
* @author normenhansen
*/
public class RigidBodyMotionState extends MotionState {
//stores the bullet transform
private Transform motionStateTrans = new Transform(Converter.convert(new Matrix3f()));
private Vector3f worldLocation = new Vector3f();
private Matrix3f worldRotation = new Matrix3f();
private Quaternion worldRotationQuat = new Quaternion();
private Vector3f localLocation = new Vector3f();
private Quaternion localRotationQuat = new Quaternion();
//keep track of transform changes
private boolean physicsLocationDirty = false;
private boolean jmeLocationDirty = false;
//temp variable for conversion
private Quaternion tmp_inverseWorldRotation = new Quaternion();
private PhysicsVehicle vehicle;
private boolean applyPhysicsLocal = false;
// protected LinkedList<PhysicsMotionStateListener> listeners = new LinkedList<PhysicsMotionStateListener>();
public RigidBodyMotionState() {
}
/**
* called from bullet when creating the rigidbody
* @param t
* @return
*/
public Transform getWorldTransform(Transform t) {
t.set(motionStateTrans);
return t;
}
/**
* called from bullet when the transform of the rigidbody changes
* @param worldTrans
*/
public void setWorldTransform(Transform worldTrans) {
if (jmeLocationDirty) {
return;
}
motionStateTrans.set(worldTrans);
Converter.convert(worldTrans.origin, worldLocation);
Converter.convert(worldTrans.basis, worldRotation);
worldRotationQuat.fromRotationMatrix(worldRotation);
// for (Iterator<PhysicsMotionStateListener> it = listeners.iterator(); it.hasNext();) {
// PhysicsMotionStateListener physicsMotionStateListener = it.next();
// physicsMotionStateListener.stateChanged(worldLocation, worldRotation);
// }
physicsLocationDirty = true;
if (vehicle != null) {
vehicle.updateWheels();
}
}
/**
* applies the current transform to the given jme Node if the location has been updated on the physics side
* @param spatial
*/
public boolean applyTransform(Spatial spatial) {
if (!physicsLocationDirty) {
return false;
}
if (!applyPhysicsLocal && spatial.getParent() != null) {
localLocation.set(worldLocation).subtractLocal(spatial.getParent().getWorldTranslation());
localLocation.divideLocal(spatial.getParent().getWorldScale());
tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
localRotationQuat.set(worldRotationQuat);
tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().mult(localRotationQuat, localRotationQuat);
spatial.setLocalTranslation(localLocation);
spatial.setLocalRotation(localRotationQuat);
} else {
spatial.setLocalTranslation(worldLocation);
spatial.setLocalRotation(worldRotationQuat);
}
physicsLocationDirty = false;
return true;
}
/**
* @return the worldLocation
*/
public Vector3f getWorldLocation() {
return worldLocation;
}
/**
* @return the worldRotation
*/
public Matrix3f getWorldRotation() {
return worldRotation;
}
/**
* @return the worldRotationQuat
*/
public Quaternion getWorldRotationQuat() {
return worldRotationQuat;
}
/**
* @param vehicle the vehicle to set
*/
public void setVehicle(PhysicsVehicle vehicle) {
this.vehicle = vehicle;
}
public boolean isApplyPhysicsLocal() {
return applyPhysicsLocal;
}
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
this.applyPhysicsLocal = applyPhysicsLocal;
}
// public void addMotionStateListener(PhysicsMotionStateListener listener){
// listeners.add(listener);
// }
//
// public void removeMotionStateListener(PhysicsMotionStateListener listener){
// listeners.remove(listener);
// }
// public synchronized boolean applyTransform(com.jme3.math.Transform trans) {
// if (!physicsLocationDirty) {
// return false;
// }
// trans.setTranslation(worldLocation);
// trans.setRotation(worldRotationQuat);
// physicsLocationDirty = false;
// return true;
// }
//
// /**
// * called from jme when the location of the jme Node changes
// * @param location
// * @param rotation
// */
// public synchronized void setWorldTransform(Vector3f location, Quaternion rotation) {
// worldLocation.set(location);
// worldRotationQuat.set(rotation);
// worldRotation.set(rotation.toRotationMatrix());
// Converter.convert(worldLocation, motionStateTrans.origin);
// Converter.convert(worldRotation, motionStateTrans.basis);
// jmeLocationDirty = true;
// }
//
// /**
// * applies the current transform to the given RigidBody if the value has been changed on the jme side
// * @param rBody
// */
// public synchronized void applyTransform(RigidBody rBody) {
// if (!jmeLocationDirty) {
// return;
// }
// assert (rBody != null);
// rBody.setWorldTransform(motionStateTrans);
// rBody.activate();
// jmeLocationDirty = false;
// }
}