1 /*
2  * Copyright (c) 2009-2010 jMonkeyEngine
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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
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31  */
32 package com.jme3.bullet.joints;
33 
34 import com.bulletphysics.dynamics.constraintsolver.Point2PointConstraint;
35 import com.jme3.bullet.objects.PhysicsRigidBody;
36 import com.jme3.bullet.util.Converter;
37 import com.jme3.export.InputCapsule;
38 import com.jme3.export.JmeExporter;
39 import com.jme3.export.JmeImporter;
40 import com.jme3.export.OutputCapsule;
41 import com.jme3.math.Vector3f;
42 import java.io.IOException;
43 
44 /**
45  * <i>From bullet manual:</i><br>
46  * Point to point constraint, also known as ball socket joint limits the translation
47  * so that the local pivot points of 2 rigidbodies match in worldspace.
48  * A chain of rigidbodies can be connected using this constraint.
49  * @author normenhansen
50  */
51 public class Point2PointJoint extends PhysicsJoint {
52 
Point2PointJoint()53     public Point2PointJoint() {
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      */
Point2PointJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB)60     public Point2PointJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
61         super(nodeA, nodeB, pivotA, pivotB);
62         createJoint();
63     }
64 
setDamping(float value)65     public void setDamping(float value) {
66         ((Point2PointConstraint) constraint).setting.damping = value;
67     }
68 
setImpulseClamp(float value)69     public void setImpulseClamp(float value) {
70         ((Point2PointConstraint) constraint).setting.impulseClamp = value;
71     }
72 
setTau(float value)73     public void setTau(float value) {
74         ((Point2PointConstraint) constraint).setting.tau = value;
75     }
76 
getDamping()77     public float getDamping() {
78         return ((Point2PointConstraint) constraint).setting.damping;
79     }
80 
getImpulseClamp()81     public float getImpulseClamp() {
82         return ((Point2PointConstraint) constraint).setting.impulseClamp;
83     }
84 
getTau()85     public float getTau() {
86         return ((Point2PointConstraint) constraint).setting.tau;
87     }
88 
89     @Override
write(JmeExporter ex)90     public void write(JmeExporter ex) throws IOException {
91         super.write(ex);
92         OutputCapsule cap = ex.getCapsule(this);
93         cap.write(getDamping(), "damping", 1.0f);
94         cap.write(getTau(), "tau", 0.3f);
95         cap.write(getImpulseClamp(), "impulseClamp", 0f);
96     }
97 
98     @Override
read(JmeImporter im)99     public void read(JmeImporter im) throws IOException {
100         super.read(im);
101         createJoint();
102         InputCapsule cap=im.getCapsule(this);
103         setDamping(cap.readFloat("damping", 1.0f));
104         setDamping(cap.readFloat("tau", 0.3f));
105         setDamping(cap.readFloat("impulseClamp", 0f));
106     }
107 
createJoint()108     protected void createJoint() {
109         constraint = new Point2PointConstraint(nodeA.getObjectId(), nodeB.getObjectId(), Converter.convert(pivotA), Converter.convert(pivotB));
110     }
111 }
112