/*
* Copyright (c) 2009-2012 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
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme3.bullet.objects.infos;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.math.Matrix3f;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.Spatial;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
* stores transform info of a PhysicsNode in a threadsafe manner to
* allow multithreaded access from the jme scenegraph and the bullet physicsspace
* @author normenhansen
*/
public class RigidBodyMotionState {
long motionStateId = 0;
private Vector3f worldLocation = new Vector3f();
private Matrix3f worldRotation = new Matrix3f();
private Quaternion worldRotationQuat = new Quaternion();
private Quaternion tmp_inverseWorldRotation = new Quaternion();
private PhysicsVehicle vehicle;
private boolean applyPhysicsLocal = false;
// protected LinkedList<PhysicsMotionStateListener> listeners = new LinkedList<PhysicsMotionStateListener>();
public RigidBodyMotionState() {
this.motionStateId = createMotionState();
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created MotionState {0}", Long.toHexString(motionStateId));
}
private native long createMotionState();
/**
* applies the current transform to the given jme Node if the location has been updated on the physics side
* @param spatial
*/
public boolean applyTransform(Spatial spatial) {
Vector3f localLocation = spatial.getLocalTranslation();
Quaternion localRotationQuat = spatial.getLocalRotation();
boolean physicsLocationDirty = applyTransform(motionStateId, localLocation, localRotationQuat);
if (!physicsLocationDirty) {
return false;
}
if (!applyPhysicsLocal && spatial.getParent() != null) {
localLocation.subtractLocal(spatial.getParent().getWorldTranslation());
localLocation.divideLocal(spatial.getParent().getWorldScale());
tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
// localRotationQuat.set(worldRotationQuat);
tmp_inverseWorldRotation.mult(localRotationQuat, localRotationQuat);
spatial.setLocalTranslation(localLocation);
spatial.setLocalRotation(localRotationQuat);
} else {
spatial.setLocalTranslation(localLocation);
spatial.setLocalRotation(localRotationQuat);
// spatial.setLocalTranslation(worldLocation);
// spatial.setLocalRotation(worldRotationQuat);
}
if (vehicle != null) {
vehicle.updateWheels();
}
return true;
}
private native boolean applyTransform(long stateId, Vector3f location, Quaternion rotation);
/**
* @return the worldLocation
*/
public Vector3f getWorldLocation() {
getWorldLocation(motionStateId, worldLocation);
return worldLocation;
}
private native void getWorldLocation(long stateId, Vector3f vec);
/**
* @return the worldRotation
*/
public Matrix3f getWorldRotation() {
getWorldRotation(motionStateId, worldRotation);
return worldRotation;
}
private native void getWorldRotation(long stateId, Matrix3f vec);
/**
* @return the worldRotationQuat
*/
public Quaternion getWorldRotationQuat() {
getWorldRotationQuat(motionStateId, worldRotationQuat);
return worldRotationQuat;
}
private native void getWorldRotationQuat(long stateId, Quaternion vec);
/**
* @param vehicle the vehicle to set
*/
public void setVehicle(PhysicsVehicle vehicle) {
this.vehicle = vehicle;
}
public boolean isApplyPhysicsLocal() {
return applyPhysicsLocal;
}
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
this.applyPhysicsLocal = applyPhysicsLocal;
}
public long getObjectId(){
return motionStateId;
}
// public void addMotionStateListener(PhysicsMotionStateListener listener){
// listeners.add(listener);
// }
//
// public void removeMotionStateListener(PhysicsMotionStateListener listener){
// listeners.remove(listener);
// }
@Override
protected void finalize() throws Throwable {
super.finalize();
Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Finalizing MotionState {0}", Long.toHexString(motionStateId));
finalizeNative(motionStateId);
}
private native void finalizeNative(long objectId);
}