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.export.InputCapsule; 36 import com.jme3.export.JmeExporter; 37 import com.jme3.export.JmeImporter; 38 import com.jme3.export.OutputCapsule; 39 import com.jme3.math.Vector3f; 40 import java.io.IOException; 41 import java.util.logging.Level; 42 import java.util.logging.Logger; 43 44 /** 45 * <i>From bullet manual:</i><br> 46 * Point to point constraint, also known as ball socket joint limits the translation 47 * so that the local pivot points of 2 rigidbodies match in worldspace. 48 * A chain of rigidbodies can be connected using this constraint. 49 * @author normenhansen 50 */ 51 public class Point2PointJoint extends PhysicsJoint { 52 Point2PointJoint()53 public Point2PointJoint() { 54 } 55 56 /** 57 * @param pivotA local translation of the joint connection point in node A 58 * @param pivotB local translation of the joint connection point in node B 59 */ Point2PointJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB)60 public Point2PointJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) { 61 super(nodeA, nodeB, pivotA, pivotB); 62 createJoint(); 63 } 64 setDamping(float value)65 public void setDamping(float value) { 66 setDamping(objectId, value); 67 } 68 setDamping(long objectId, float value)69 private native void setDamping(long objectId, float value); 70 setImpulseClamp(float value)71 public void setImpulseClamp(float value) { 72 setImpulseClamp(objectId, value); 73 } 74 setImpulseClamp(long objectId, float value)75 private native void setImpulseClamp(long objectId, float value); 76 setTau(float value)77 public void setTau(float value) { 78 setTau(objectId, value); 79 } 80 setTau(long objectId, float value)81 private native void setTau(long objectId, float value); 82 getDamping()83 public float getDamping() { 84 return getDamping(objectId); 85 } 86 getDamping(long objectId)87 private native float getDamping(long objectId); 88 getImpulseClamp()89 public float getImpulseClamp() { 90 return getImpulseClamp(objectId); 91 } 92 getImpulseClamp(long objectId)93 private native float getImpulseClamp(long objectId); 94 getTau()95 public float getTau() { 96 return getTau(objectId); 97 } 98 getTau(long objectId)99 private native float getTau(long objectId); 100 101 @Override write(JmeExporter ex)102 public void write(JmeExporter ex) throws IOException { 103 super.write(ex); 104 OutputCapsule cap = ex.getCapsule(this); 105 cap.write(getDamping(), "damping", 1.0f); 106 cap.write(getTau(), "tau", 0.3f); 107 cap.write(getImpulseClamp(), "impulseClamp", 0f); 108 } 109 110 @Override read(JmeImporter im)111 public void read(JmeImporter im) throws IOException { 112 super.read(im); 113 createJoint(); 114 InputCapsule cap = im.getCapsule(this); 115 setDamping(cap.readFloat("damping", 1.0f)); 116 setDamping(cap.readFloat("tau", 0.3f)); 117 setDamping(cap.readFloat("impulseClamp", 0f)); 118 } 119 createJoint()120 protected void createJoint() { 121 objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, pivotB); 122 Logger.getLogger(this.getClass().getName()).log(Level.INFO, "Created Joint {0}", Long.toHexString(objectId)); 123 } 124 createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Vector3f pivotB)125 private native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Vector3f pivotB); 126 } 127