1 files changed, 136 insertions, 0 deletions
diff --git a/engine/src/jbullet/com/jme3/bullet/joints/PhysicsJoint.java b/engine/src/jbullet/com/jme3/bullet/joints/PhysicsJoint.java
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+++ b/engine/src/jbullet/com/jme3/bullet/joints/PhysicsJoint.java
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+/*
+ * Copyright (c) 2009-2010 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
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+package com.jme3.bullet.joints;
+
+import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;
+import com.jme3.bullet.objects.PhysicsRigidBody;
+import com.jme3.export.*;
+import com.jme3.math.Vector3f;
+import java.io.IOException;
+
+/**
+ * <p>PhysicsJoint - Basic Phyiscs Joint</p>
+ * @author normenhansen
+ */
+public abstract class PhysicsJoint implements Savable {
+
+    protected TypedConstraint constraint;
+    protected PhysicsRigidBody nodeA;
+    protected PhysicsRigidBody nodeB;
+    protected Vector3f pivotA;
+    protected Vector3f pivotB;
+    protected boolean collisionBetweenLinkedBodys = true;
+
+    public PhysicsJoint() {
+    }
+
+    /**
+     * @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 PhysicsJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
+        this.nodeA = nodeA;
+        this.nodeB = nodeB;
+        this.pivotA = pivotA;
+        this.pivotB = pivotB;
+        nodeA.addJoint(this);
+        nodeB.addJoint(this);
+    }
+
+    public float getAppliedImpulse(){
+        return constraint.getAppliedImpulse();
+    }
+
+    /**
+     * @return the constraint
+     */
+    public TypedConstraint getObjectId() {
+        return constraint;
+    }
+
+    /**
+     * @return the collisionBetweenLinkedBodys
+     */
+    public boolean isCollisionBetweenLinkedBodys() {
+        return collisionBetweenLinkedBodys;
+    }
+
+    /**
+     * toggles collisions between linked bodys<br>
+     * joint has to be removed from and added to PhyiscsSpace to apply this.
+     * @param collisionBetweenLinkedBodys set to false to have no collisions between linked bodys
+     */
+    public void setCollisionBetweenLinkedBodys(boolean collisionBetweenLinkedBodys) {
+        this.collisionBetweenLinkedBodys = collisionBetweenLinkedBodys;
+    }
+
+    public PhysicsRigidBody getBodyA() {
+        return nodeA;
+    }
+
+    public PhysicsRigidBody getBodyB() {
+        return nodeB;
+    }
+
+    public Vector3f getPivotA() {
+        return pivotA;
+    }
+
+    public Vector3f getPivotB() {
+        return pivotB;
+    }
+
+    /**
+     * destroys this joint and removes it from its connected PhysicsRigidBodys joint lists
+     */
+    public void destroy() {
+        getBodyA().removeJoint(this);
+        getBodyB().removeJoint(this);
+    }
+
+    public void write(JmeExporter ex) throws IOException {
+        OutputCapsule capsule = ex.getCapsule(this);
+        capsule.write(nodeA, "nodeA", null);
+        capsule.write(nodeB, "nodeB", null);
+        capsule.write(pivotA, "pivotA", null);
+        capsule.write(pivotB, "pivotB", null);
+    }
+
+    public void read(JmeImporter im) throws IOException {
+        InputCapsule capsule = im.getCapsule(this);
+        this.nodeA = ((PhysicsRigidBody) capsule.readSavable("nodeA", new PhysicsRigidBody()));
+        this.nodeB = (PhysicsRigidBody) capsule.readSavable("nodeB", new PhysicsRigidBody());
+        this.pivotA = (Vector3f) capsule.readSavable("pivotA", new Vector3f());
+        this.pivotB = (Vector3f) capsule.readSavable("pivotB", new Vector3f());
+    }
+
+}