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
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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.
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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.
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20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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31  */
32 package com.jme3.bullet.joints;
33 
34 import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;
35 import com.jme3.bullet.objects.PhysicsRigidBody;
36 import com.jme3.export.*;
37 import com.jme3.math.Vector3f;
38 import java.io.IOException;
39 
40 /**
41  * <p>PhysicsJoint - Basic Phyiscs Joint</p>
42  * @author normenhansen
43  */
44 public abstract class PhysicsJoint implements Savable {
45 
46     protected TypedConstraint constraint;
47     protected PhysicsRigidBody nodeA;
48     protected PhysicsRigidBody nodeB;
49     protected Vector3f pivotA;
50     protected Vector3f pivotB;
51     protected boolean collisionBetweenLinkedBodys = true;
52 
PhysicsJoint()53     public PhysicsJoint() {
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      */
PhysicsJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB)60     public PhysicsJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
61         this.nodeA = nodeA;
62         this.nodeB = nodeB;
63         this.pivotA = pivotA;
64         this.pivotB = pivotB;
65         nodeA.addJoint(this);
66         nodeB.addJoint(this);
67     }
68 
getAppliedImpulse()69     public float getAppliedImpulse(){
70         return constraint.getAppliedImpulse();
71     }
72 
73     /**
74      * @return the constraint
75      */
getObjectId()76     public TypedConstraint getObjectId() {
77         return constraint;
78     }
79 
80     /**
81      * @return the collisionBetweenLinkedBodys
82      */
isCollisionBetweenLinkedBodys()83     public boolean isCollisionBetweenLinkedBodys() {
84         return collisionBetweenLinkedBodys;
85     }
86 
87     /**
88      * toggles collisions between linked bodys<br>
89      * joint has to be removed from and added to PhyiscsSpace to apply this.
90      * @param collisionBetweenLinkedBodys set to false to have no collisions between linked bodys
91      */
setCollisionBetweenLinkedBodys(boolean collisionBetweenLinkedBodys)92     public void setCollisionBetweenLinkedBodys(boolean collisionBetweenLinkedBodys) {
93         this.collisionBetweenLinkedBodys = collisionBetweenLinkedBodys;
94     }
95 
getBodyA()96     public PhysicsRigidBody getBodyA() {
97         return nodeA;
98     }
99 
getBodyB()100     public PhysicsRigidBody getBodyB() {
101         return nodeB;
102     }
103 
getPivotA()104     public Vector3f getPivotA() {
105         return pivotA;
106     }
107 
getPivotB()108     public Vector3f getPivotB() {
109         return pivotB;
110     }
111 
112     /**
113      * destroys this joint and removes it from its connected PhysicsRigidBodys joint lists
114      */
destroy()115     public void destroy() {
116         getBodyA().removeJoint(this);
117         getBodyB().removeJoint(this);
118     }
119 
write(JmeExporter ex)120     public void write(JmeExporter ex) throws IOException {
121         OutputCapsule capsule = ex.getCapsule(this);
122         capsule.write(nodeA, "nodeA", null);
123         capsule.write(nodeB, "nodeB", null);
124         capsule.write(pivotA, "pivotA", null);
125         capsule.write(pivotB, "pivotB", null);
126     }
127 
read(JmeImporter im)128     public void read(JmeImporter im) throws IOException {
129         InputCapsule capsule = im.getCapsule(this);
130         this.nodeA = ((PhysicsRigidBody) capsule.readSavable("nodeA", new PhysicsRigidBody()));
131         this.nodeB = (PhysicsRigidBody) capsule.readSavable("nodeB", new PhysicsRigidBody());
132         this.pivotA = (Vector3f) capsule.readSavable("pivotA", new Vector3f());
133         this.pivotB = (Vector3f) capsule.readSavable("pivotB", new Vector3f());
134     }
135 
136 }
137