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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.jme3.bullet.objects.PhysicsRigidBody;
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.logging.Level;
import java.util.logging.Logger;
/**
* <i>From bullet manual:</i><br>
* To create ragdolls, the conve twist constraint is very useful for limbs like the upper arm.
* It is a special point to point constraint that adds cone and twist axis limits.
* The x-axis serves as twist axis.
* @author normenhansen
*/
public class ConeJoint extends PhysicsJoint {
protected Matrix3f rotA, rotB;
protected float swingSpan1 = 1e30f;
protected float swingSpan2 = 1e30f;
protected float twistSpan = 1e30f;
protected boolean angularOnly = false;
public ConeJoint() {
}
/**
* @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 ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
super(nodeA, nodeB, pivotA, pivotB);
this.rotA = new Matrix3f();
this.rotB = new Matrix3f();
createJoint();
}
/**
* @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 ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) {
super(nodeA, nodeB, pivotA, pivotB);
this.rotA = rotA;
this.rotB = rotB;
createJoint();
}
public void setLimit(float swingSpan1, float swingSpan2, float twistSpan) {
this.swingSpan1 = swingSpan1;
this.swingSpan2 = swingSpan2;
this.twistSpan = twistSpan;
setLimit(objectId, swingSpan1, swingSpan2, twistSpan);
}
private native void setLimit(long objectId, float swingSpan1, float swingSpan2, float twistSpan);
public void setAngularOnly(boolean value) {
angularOnly = value;
setAngularOnly(objectId, value);
}
private native void setAngularOnly(long objectId, boolean value);
@Override
public void write(JmeExporter ex) throws IOException {
super.write(ex);
OutputCapsule capsule = ex.getCapsule(this);
capsule.write(rotA, "rotA", new Matrix3f());
capsule.write(rotB, "rotB", new Matrix3f());
capsule.write(angularOnly, "angularOnly", false);
capsule.write(swingSpan1, "swingSpan1", 1e30f);
capsule.write(swingSpan2, "swingSpan2", 1e30f);
capsule.write(twistSpan, "twistSpan", 1e30f);
}
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule capsule = im.getCapsule(this);
this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f());
this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f());
this.angularOnly = capsule.readBoolean("angularOnly", false);
this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f);
this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f);
this.twistSpan = capsule.readFloat("twistSpan", 1e30f);
createJoint();
}
protected void createJoint() {
objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, rotA, pivotB, rotB);
Logger.getLogger(this.getClass().getName()).log(Level.INFO, "Created Joint {0}", Long.toHexString(objectId));
setLimit(objectId, swingSpan1, swingSpan2, twistSpan);
setAngularOnly(objectId, angularOnly);
}
private native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB);
}
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