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82 lines
3.5 KiB
82 lines
3.5 KiB
12 years ago
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/*
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* Copyright (c) 2009-2012 jMonkeyEngine
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package com.jme3.bullet.debug;
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import com.jme3.math.Quaternion;
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import com.jme3.math.Vector3f;
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import com.jme3.scene.Spatial;
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import com.jme3.scene.control.AbstractControl;
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/**
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*
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* @author normenhansen
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*/
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public abstract class AbstractPhysicsDebugControl extends AbstractControl {
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private final Quaternion tmp_inverseWorldRotation = new Quaternion();
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protected final BulletDebugAppState debugAppState;
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public AbstractPhysicsDebugControl(BulletDebugAppState debugAppState) {
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this.debugAppState = debugAppState;
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}
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/**
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* This is called on the physics thread for debug controls
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*/
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@Override
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protected abstract void controlUpdate(float tpf);
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protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation) {
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applyPhysicsTransform(worldLocation, worldRotation, this.spatial);
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}
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protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation, Spatial spatial) {
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if (spatial != null) {
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Vector3f localLocation = spatial.getLocalTranslation();
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Quaternion localRotationQuat = spatial.getLocalRotation();
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if (spatial.getParent() != null) {
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localLocation.set(worldLocation).subtractLocal(spatial.getParent().getWorldTranslation());
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localLocation.divideLocal(spatial.getParent().getWorldScale());
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tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
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localRotationQuat.set(worldRotation);
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tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().mult(localRotationQuat, localRotationQuat);
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spatial.setLocalTranslation(localLocation);
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spatial.setLocalRotation(localRotationQuat);
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} else {
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spatial.setLocalTranslation(worldLocation);
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spatial.setLocalRotation(worldRotation);
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}
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}
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}
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}
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