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Diffstat (limited to 'engine/src/jbullet/com/jme3/bullet/joints/SixDofJoint.java')
| -rw-r--r-- | engine/src/jbullet/com/jme3/bullet/joints/SixDofJoint.java | 228 |
1 files changed, 228 insertions, 0 deletions
diff --git a/engine/src/jbullet/com/jme3/bullet/joints/SixDofJoint.java b/engine/src/jbullet/com/jme3/bullet/joints/SixDofJoint.java new file mode 100644 index 0000000..e153760 --- /dev/null +++ b/engine/src/jbullet/com/jme3/bullet/joints/SixDofJoint.java @@ -0,0 +1,228 @@ +/* + * 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.bulletphysics.dynamics.constraintsolver.Generic6DofConstraint; +import com.bulletphysics.linearmath.Transform; +import com.jme3.bullet.joints.motors.RotationalLimitMotor; +import com.jme3.bullet.joints.motors.TranslationalLimitMotor; +import com.jme3.bullet.objects.PhysicsRigidBody; +import com.jme3.bullet.util.Converter; +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.Iterator; +import java.util.LinkedList; + +/** + * <i>From bullet manual:</i><br> + * This generic constraint can emulate a variety of standard constraints, + * by configuring each of the 6 degrees of freedom (dof). + * The first 3 dof axis are linear axis, which represent translation of rigidbodies, + * and the latter 3 dof axis represent the angular motion. Each axis can be either locked, + * free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked. + * Afterwards the axis can be reconfigured. Note that several combinations that + * include free and/or limited angular degrees of freedom are undefined. + * @author normenhansen + */ +public class SixDofJoint extends PhysicsJoint { + + private boolean useLinearReferenceFrameA = true; + private LinkedList<RotationalLimitMotor> rotationalMotors = new LinkedList<RotationalLimitMotor>(); + private TranslationalLimitMotor translationalMotor; + private Vector3f angularUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY); + private Vector3f angularLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY); + private Vector3f linearUpperLimit = new Vector3f(Vector3f.POSITIVE_INFINITY); + private Vector3f linearLowerLimit = new Vector3f(Vector3f.NEGATIVE_INFINITY); + + public SixDofJoint() { + } + + /** + * @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 SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) { + super(nodeA, nodeB, pivotA, pivotB); + this.useLinearReferenceFrameA = useLinearReferenceFrameA; + + Transform transA = new Transform(Converter.convert(rotA)); + Converter.convert(pivotA, transA.origin); + Converter.convert(rotA, transA.basis); + + Transform transB = new Transform(Converter.convert(rotB)); + Converter.convert(pivotB, transB.origin); + Converter.convert(rotB, transB.basis); + + constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA); + gatherMotors(); + } + + /** + * @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 SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) { + super(nodeA, nodeB, pivotA, pivotB); + this.useLinearReferenceFrameA = useLinearReferenceFrameA; + + Transform transA = new Transform(Converter.convert(new Matrix3f())); + Converter.convert(pivotA, transA.origin); + + Transform transB = new Transform(Converter.convert(new Matrix3f())); + Converter.convert(pivotB, transB.origin); + + constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA); + gatherMotors(); + } + + private void gatherMotors() { + for (int i = 0; i < 3; i++) { + RotationalLimitMotor rmot = new RotationalLimitMotor(((Generic6DofConstraint) constraint).getRotationalLimitMotor(i)); + rotationalMotors.add(rmot); + } + translationalMotor = new TranslationalLimitMotor(((Generic6DofConstraint) constraint).getTranslationalLimitMotor()); + } + + /** + * returns the TranslationalLimitMotor of this 6DofJoint which allows + * manipulating the translational axis + * @return the TranslationalLimitMotor + */ + public TranslationalLimitMotor getTranslationalLimitMotor() { + return translationalMotor; + } + + /** + * returns one of the three RotationalLimitMotors of this 6DofJoint which + * allow manipulating the rotational axes + * @param index the index of the RotationalLimitMotor + * @return the RotationalLimitMotor at the given index + */ + public RotationalLimitMotor getRotationalLimitMotor(int index) { + return rotationalMotors.get(index); + } + + public void setLinearUpperLimit(Vector3f vector) { + linearUpperLimit.set(vector); + ((Generic6DofConstraint) constraint).setLinearUpperLimit(Converter.convert(vector)); + } + + public void setLinearLowerLimit(Vector3f vector) { + linearLowerLimit.set(vector); + ((Generic6DofConstraint) constraint).setLinearLowerLimit(Converter.convert(vector)); + } + + public void setAngularUpperLimit(Vector3f vector) { + angularUpperLimit.set(vector); + ((Generic6DofConstraint) constraint).setAngularUpperLimit(Converter.convert(vector)); + } + + public void setAngularLowerLimit(Vector3f vector) { + angularLowerLimit.set(vector); + ((Generic6DofConstraint) constraint).setAngularLowerLimit(Converter.convert(vector)); + } + + @Override + public void read(JmeImporter im) throws IOException { + super.read(im); + InputCapsule capsule = im.getCapsule(this); + + Transform transA = new Transform(Converter.convert(new Matrix3f())); + Converter.convert(pivotA, transA.origin); + + Transform transB = new Transform(Converter.convert(new Matrix3f())); + Converter.convert(pivotB, transB.origin); + constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA); + gatherMotors(); + + setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY))); + setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY))); + setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY))); + setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY))); + + for (int i = 0; i < 3; i++) { + RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i); + rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f)); + rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f)); + rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f)); + rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY)); + rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f)); + rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY)); + rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f)); + rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f)); + rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0)); + rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false)); + } + getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO)); + getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f)); + getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f)); + getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO)); + getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f)); + getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO)); + } + + @Override + public void write(JmeExporter ex) throws IOException { + super.write(ex); + OutputCapsule capsule = ex.getCapsule(this); + capsule.write(angularUpperLimit, "angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)); + capsule.write(angularLowerLimit, "angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)); + capsule.write(linearUpperLimit, "linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)); + capsule.write(linearLowerLimit, "linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)); + int i = 0; + for (Iterator<RotationalLimitMotor> it = rotationalMotors.iterator(); it.hasNext();) { + RotationalLimitMotor rotationalLimitMotor = it.next(); + capsule.write(rotationalLimitMotor.getBounce(), "rotMotor" + i + "_Bounce", 0.0f); + capsule.write(rotationalLimitMotor.getDamping(), "rotMotor" + i + "_Damping", 1.0f); + capsule.write(rotationalLimitMotor.getERP(), "rotMotor" + i + "_ERP", 0.5f); + capsule.write(rotationalLimitMotor.getHiLimit(), "rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY); + capsule.write(rotationalLimitMotor.getLimitSoftness(), "rotMotor" + i + "_LimitSoftness", 0.5f); + capsule.write(rotationalLimitMotor.getLoLimit(), "rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY); + capsule.write(rotationalLimitMotor.getMaxLimitForce(), "rotMotor" + i + "_MaxLimitForce", 300.0f); + capsule.write(rotationalLimitMotor.getMaxMotorForce(), "rotMotor" + i + "_MaxMotorForce", 0.1f); + capsule.write(rotationalLimitMotor.getTargetVelocity(), "rotMotor" + i + "_TargetVelocity", 0); + capsule.write(rotationalLimitMotor.isEnableMotor(), "rotMotor" + i + "_EnableMotor", false); + i++; + } + capsule.write(getTranslationalLimitMotor().getAccumulatedImpulse(), "transMotor_AccumulatedImpulse", Vector3f.ZERO); + capsule.write(getTranslationalLimitMotor().getDamping(), "transMotor_Damping", 1.0f); + capsule.write(getTranslationalLimitMotor().getLimitSoftness(), "transMotor_LimitSoftness", 0.7f); + capsule.write(getTranslationalLimitMotor().getLowerLimit(), "transMotor_LowerLimit", Vector3f.ZERO); + capsule.write(getTranslationalLimitMotor().getRestitution(), "transMotor_Restitution", 0.5f); + capsule.write(getTranslationalLimitMotor().getUpperLimit(), "transMotor_UpperLimit", Vector3f.ZERO); + } +} |