use of com.bulletphysics.dynamics.constraintsolver.Generic6DofConstraint in project jmonkeyengine by jMonkeyEngine.
the class SixDofJoint method 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());
}
use of com.bulletphysics.dynamics.constraintsolver.Generic6DofConstraint in project jmonkeyengine by jMonkeyEngine.
the class SixDofJoint method read.
@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));
}
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