/*
* 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
* 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.Vector3f;
import java.io.IOException;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
* <i>From bullet manual:</i><br>
* Hinge constraint, or revolute joint restricts two additional angular degrees of freedom,
* so the body can only rotate around one axis, the hinge axis.
* This can be useful to represent doors or wheels rotating around one axis.
* The user can specify limits and motor for the hinge.
* @author normenhansen
*/
public class HingeJoint extends PhysicsJoint {
protected Vector3f axisA;
protected Vector3f axisB;
protected boolean angularOnly = false;
protected float biasFactor = 0.3f;
protected float relaxationFactor = 1.0f;
protected float limitSoftness = 0.9f;
public HingeJoint() {
}
/**
* Creates a new HingeJoint
* @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 HingeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Vector3f axisA, Vector3f axisB) {
super(nodeA, nodeB, pivotA, pivotB);
this.axisA = axisA;
this.axisB = axisB;
createJoint();
}
/**
* Enables the motor.
* @param enable if true, motor is enabled.
* @param targetVelocity the target velocity of the rotation.
* @param maxMotorImpulse the max force applied to the hinge to rotate it.
*/
public void enableMotor(boolean enable, float targetVelocity, float maxMotorImpulse) {
enableMotor(objectId, enable, targetVelocity, maxMotorImpulse);
}
private native void enableMotor(long objectId, boolean enable, float targetVelocity, float maxMotorImpulse);
public boolean getEnableMotor() {
return getEnableAngularMotor(objectId);
}
private native boolean getEnableAngularMotor(long objectId);
public float getMotorTargetVelocity() {
return getMotorTargetVelocity(objectId);
}
private native float getMotorTargetVelocity(long objectId);
public float getMaxMotorImpulse() {
return getMaxMotorImpulse(objectId);
}
private native float getMaxMotorImpulse(long objectId);
/**
* Sets the limits of this joint.
* @param low the low limit in radians.
* @param high the high limit in radians.
*/
public void setLimit(float low, float high) {
setLimit(objectId, low, high);
}
private native void setLimit(long objectId, float low, float high);
/**
* Sets the limits of this joint.
* If you're above the softness, velocities that would shoot through the actual limit are slowed down. The bias be in the range of 0.2 - 0.5.
* @param low the low limit in radians.
* @param high the high limit in radians.
* @param _softness the factor at which the velocity error correction starts operating,i.e a softness of 0.9 means that the vel. corr starts at 90% of the limit range.
* @param _biasFactor the magnitude of the position correction. It tells you how strictly the position error (drift ) is corrected.
* @param _relaxationFactor the rate at which velocity errors are corrected. This can be seen as the strength of the limits. A low value will make the the limits more spongy.
*/
public void setLimit(float low, float high, float _softness, float _biasFactor, float _relaxationFactor) {
biasFactor = _biasFactor;
relaxationFactor = _relaxationFactor;
limitSoftness = _softness;
setLimit(objectId, low, high, _softness, _biasFactor, _relaxationFactor);
}
private native void setLimit(long objectId, float low, float high, float _softness, float _biasFactor, float _relaxationFactor);
public float getUpperLimit() {
return getUpperLimit(objectId);
}
private native float getUpperLimit(long objectId);
public float getLowerLimit() {
return getLowerLimit(objectId);
}
private native float getLowerLimit(long objectId);
public void setAngularOnly(boolean angularOnly) {
this.angularOnly = angularOnly;
setAngularOnly(objectId, angularOnly);
}
private native void setAngularOnly(long objectId, boolean angularOnly);
public float getHingeAngle() {
return getHingeAngle(objectId);
}
private native float getHingeAngle(long objectId);
public void write(JmeExporter ex) throws IOException {
super.write(ex);
OutputCapsule capsule = ex.getCapsule(this);
capsule.write(axisA, "axisA", new Vector3f());
capsule.write(axisB, "axisB", new Vector3f());
capsule.write(angularOnly, "angularOnly", false);
capsule.write(getLowerLimit(), "lowerLimit", 1e30f);
capsule.write(getUpperLimit(), "upperLimit", -1e30f);
capsule.write(biasFactor, "biasFactor", 0.3f);
capsule.write(relaxationFactor, "relaxationFactor", 1f);
capsule.write(limitSoftness, "limitSoftness", 0.9f);
capsule.write(getEnableMotor(), "enableAngularMotor", false);
capsule.write(getMotorTargetVelocity(), "targetVelocity", 0.0f);
capsule.write(getMaxMotorImpulse(), "maxMotorImpulse", 0.0f);
}
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule capsule = im.getCapsule(this);
this.axisA = (Vector3f) capsule.readSavable("axisA", new Vector3f());
this.axisB = (Vector3f) capsule.readSavable("axisB", new Vector3f());
this.angularOnly = capsule.readBoolean("angularOnly", false);
float lowerLimit = capsule.readFloat("lowerLimit", 1e30f);
float upperLimit = capsule.readFloat("upperLimit", -1e30f);
this.biasFactor = capsule.readFloat("biasFactor", 0.3f);
this.relaxationFactor = capsule.readFloat("relaxationFactor", 1f);
this.limitSoftness = capsule.readFloat("limitSoftness", 0.9f);
boolean enableAngularMotor = capsule.readBoolean("enableAngularMotor", false);
float targetVelocity = capsule.readFloat("targetVelocity", 0.0f);
float maxMotorImpulse = capsule.readFloat("maxMotorImpulse", 0.0f);
createJoint();
enableMotor(enableAngularMotor, targetVelocity, maxMotorImpulse);
setLimit(lowerLimit, upperLimit, limitSoftness, biasFactor, relaxationFactor);
}
protected void createJoint() {
objectId = createJoint(nodeA.getObjectId(), nodeB.getObjectId(), pivotA, axisA, pivotB, axisB);
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created Joint {0}", Long.toHexString(objectId));
}
private native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Vector3f axisA, Vector3f pivotB, Vector3f axisB);
}