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228 lines
12 KiB
228 lines
12 KiB
/*
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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.joints;
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import com.bulletphysics.dynamics.constraintsolver.Generic6DofConstraint;
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import com.bulletphysics.linearmath.Transform;
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import com.jme3.bullet.joints.motors.RotationalLimitMotor;
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import com.jme3.bullet.joints.motors.TranslationalLimitMotor;
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import com.jme3.bullet.objects.PhysicsRigidBody;
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import com.jme3.bullet.util.Converter;
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import com.jme3.export.InputCapsule;
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import com.jme3.export.JmeExporter;
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import com.jme3.export.JmeImporter;
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import com.jme3.export.OutputCapsule;
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import com.jme3.math.Matrix3f;
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import com.jme3.math.Vector3f;
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import java.io.IOException;
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import java.util.Iterator;
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import java.util.LinkedList;
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/**
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* <i>From bullet manual:</i><br>
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* This generic constraint can emulate a variety of standard constraints,
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* by configuring each of the 6 degrees of freedom (dof).
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* The first 3 dof axis are linear axis, which represent translation of rigidbodies,
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* and the latter 3 dof axis represent the angular motion. Each axis can be either locked,
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* free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked.
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* Afterwards the axis can be reconfigured. Note that several combinations that
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* include free and/or limited angular degrees of freedom are undefined.
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* @author normenhansen
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*/
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public class SixDofJoint extends PhysicsJoint {
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private boolean useLinearReferenceFrameA = true;
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private LinkedList<RotationalLimitMotor> rotationalMotors = new LinkedList<RotationalLimitMotor>();
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private TranslationalLimitMotor translationalMotor;
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private Vector3f angularUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY);
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private Vector3f angularLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY);
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private Vector3f linearUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY);
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private Vector3f linearLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY);
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public SixDofJoint() {
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}
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/**
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* @param pivotA local translation of the joint connection point in node A
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* @param pivotB local translation of the joint connection point in node B
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*/
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public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
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super(nodeA, nodeB, pivotA, pivotB);
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this.useLinearReferenceFrameA = useLinearReferenceFrameA;
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Transform transA = new Transform(Converter.convert(rotA));
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Converter.convert(pivotA, transA.origin);
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Converter.convert(rotA, transA.basis);
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Transform transB = new Transform(Converter.convert(rotB));
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Converter.convert(pivotB, transB.origin);
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Converter.convert(rotB, transB.basis);
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constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
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gatherMotors();
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}
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/**
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* @param pivotA local translation of the joint connection point in node A
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* @param pivotB local translation of the joint connection point in node B
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*/
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public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
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super(nodeA, nodeB, pivotA, pivotB);
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this.useLinearReferenceFrameA = useLinearReferenceFrameA;
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Transform transA = new Transform(Converter.convert(new Matrix3f()));
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Converter.convert(pivotA, transA.origin);
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Transform transB = new Transform(Converter.convert(new Matrix3f()));
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Converter.convert(pivotB, transB.origin);
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constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
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gatherMotors();
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}
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private void gatherMotors() {
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for (int i = 0; i < 3; i++) {
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RotationalLimitMotor rmot = new RotationalLimitMotor(((Generic6DofConstraint) constraint).getRotationalLimitMotor(i));
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rotationalMotors.add(rmot);
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}
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translationalMotor = new TranslationalLimitMotor(((Generic6DofConstraint) constraint).getTranslationalLimitMotor());
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}
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/**
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* returns the TranslationalLimitMotor of this 6DofJoint which allows
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* manipulating the translational axis
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* @return the TranslationalLimitMotor
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*/
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public TranslationalLimitMotor getTranslationalLimitMotor() {
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return translationalMotor;
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}
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/**
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* returns one of the three RotationalLimitMotors of this 6DofJoint which
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* allow manipulating the rotational axes
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* @param index the index of the RotationalLimitMotor
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* @return the RotationalLimitMotor at the given index
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*/
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public RotationalLimitMotor getRotationalLimitMotor(int index) {
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return rotationalMotors.get(index);
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}
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public void setLinearUpperLimit(Vector3f vector) {
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linearUpperLimit.set(vector);
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((Generic6DofConstraint) constraint).setLinearUpperLimit(Converter.convert(vector));
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}
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public void setLinearLowerLimit(Vector3f vector) {
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linearLowerLimit.set(vector);
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((Generic6DofConstraint) constraint).setLinearLowerLimit(Converter.convert(vector));
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}
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public void setAngularUpperLimit(Vector3f vector) {
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angularUpperLimit.set(vector);
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((Generic6DofConstraint) constraint).setAngularUpperLimit(Converter.convert(vector));
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}
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public void setAngularLowerLimit(Vector3f vector) {
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angularLowerLimit.set(vector);
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((Generic6DofConstraint) constraint).setAngularLowerLimit(Converter.convert(vector));
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}
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@Override
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public void read(JmeImporter im) throws IOException {
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super.read(im);
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InputCapsule capsule = im.getCapsule(this);
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Transform transA = new Transform(Converter.convert(new Matrix3f()));
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Converter.convert(pivotA, transA.origin);
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Transform transB = new Transform(Converter.convert(new Matrix3f()));
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Converter.convert(pivotB, transB.origin);
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constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
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gatherMotors();
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setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
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setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
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setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
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setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
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for (int i = 0; i < 3; i++) {
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RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i);
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rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f));
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rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f));
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rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f));
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rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY));
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rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f));
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rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY));
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rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f));
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rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f));
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rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0));
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rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false));
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}
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getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO));
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getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f));
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getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f));
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getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO));
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getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f));
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getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO));
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}
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@Override
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public void write(JmeExporter ex) throws IOException {
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super.write(ex);
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OutputCapsule capsule = ex.getCapsule(this);
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capsule.write(angularUpperLimit, "angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY));
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capsule.write(angularLowerLimit, "angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY));
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capsule.write(linearUpperLimit, "linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY));
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capsule.write(linearLowerLimit, "linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY));
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int i = 0;
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for (Iterator<RotationalLimitMotor> it = rotationalMotors.iterator(); it.hasNext();) {
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RotationalLimitMotor rotationalLimitMotor = it.next();
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capsule.write(rotationalLimitMotor.getBounce(), "rotMotor" + i + "_Bounce", 0.0f);
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capsule.write(rotationalLimitMotor.getDamping(), "rotMotor" + i + "_Damping", 1.0f);
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capsule.write(rotationalLimitMotor.getERP(), "rotMotor" + i + "_ERP", 0.5f);
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capsule.write(rotationalLimitMotor.getHiLimit(), "rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY);
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capsule.write(rotationalLimitMotor.getLimitSoftness(), "rotMotor" + i + "_LimitSoftness", 0.5f);
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capsule.write(rotationalLimitMotor.getLoLimit(), "rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY);
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capsule.write(rotationalLimitMotor.getMaxLimitForce(), "rotMotor" + i + "_MaxLimitForce", 300.0f);
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capsule.write(rotationalLimitMotor.getMaxMotorForce(), "rotMotor" + i + "_MaxMotorForce", 0.1f);
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capsule.write(rotationalLimitMotor.getTargetVelocity(), "rotMotor" + i + "_TargetVelocity", 0);
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capsule.write(rotationalLimitMotor.isEnableMotor(), "rotMotor" + i + "_EnableMotor", false);
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i++;
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}
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capsule.write(getTranslationalLimitMotor().getAccumulatedImpulse(), "transMotor_AccumulatedImpulse", Vector3f.ZERO);
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capsule.write(getTranslationalLimitMotor().getDamping(), "transMotor_Damping", 1.0f);
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capsule.write(getTranslationalLimitMotor().getLimitSoftness(), "transMotor_LimitSoftness", 0.7f);
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capsule.write(getTranslationalLimitMotor().getLowerLimit(), "transMotor_LowerLimit", Vector3f.ZERO);
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capsule.write(getTranslationalLimitMotor().getRestitution(), "transMotor_Restitution", 0.5f);
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capsule.write(getTranslationalLimitMotor().getUpperLimit(), "transMotor_UpperLimit", Vector3f.ZERO);
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}
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}
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