RangeOfMotion.java

/*
 * Copyright (c) 2018-2019 jMonkeyEngine
 * All rights reserved.
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 * 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.
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 * * 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.
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 * 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
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 */
package com.jme3.bullet.animation;

import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.joints.SixDofJoint;
import com.jme3.bullet.joints.motors.RotationalLimitMotor;
import com.jme3.bullet.joints.motors.TranslationalLimitMotor;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.export.Savable;
import com.jme3.math.Vector3f;
import java.io.IOException;
import java.util.logging.Logger;

/**
 * Range of motion for a ragdoll joint. Immutable except for
 * {@link #read(com.jme3.export.JmeImporter)}.
 * <p>
 * This class is shared between JBullet and Native Bullet.
 *
 * @author Stephen Gold sgold@sonic.net
 *
 * Based on RagdollPreset by Rémy Bouquet (Nehon).
 */
@Deprecated
public class RangeOfMotion implements Savable {
    // *************************************************************************
    // constants and loggers

    /**
     * message logger for this class
     */
    final public static Logger logger
            = Logger.getLogger(RangeOfMotion.class.getName());
    /**
     * local copy of {@link com.jme3.math.Vector3f#ZERO}
     */
    final private static Vector3f translateIdentity = new Vector3f(0f, 0f, 0f);
    // *************************************************************************
    // fields

    /**
     * maximum rotation angle around the X axis (in radians)
     */
    private float maxX = 0f;
    /**
     * minimum rotation angle around the X axis (in radians)
     */
    private float minX = 0f;
    /**
     * maximum rotation angle around the Y axis (in radians)
     */
    private float maxY = 0f;
    /**
     * minimum rotation angle around the Y axis (in radians)
     */
    private float minY = 0f;
    /**
     * maximum rotation angle around the Z axis (in radians)
     */
    private float maxZ = 0f;
    /**
     * minimum rotation angle around the Z axis (in radians)
     */
    private float minZ = 0f;
    // *************************************************************************
    // constructors

    /**
     * Instantiate a preset with no motion allowed.
     */
    public RangeOfMotion() {
    }

    /**
     * Instantiate a preset with the specified range of motion.
     *
     * @param maxX the maximum rotation around the X axis (in radians)
     * @param minX the minimum rotation around the X axis (in radians)
     * @param maxY the maximum rotation around the Y axis (in radians)
     * @param minY the minimum rotation around the Y axis (in radians)
     * @param maxZ the maximum rotation around the Z axis (in radians)
     * @param minZ the minimum rotation around the Z axis (in radians)
     */
    public RangeOfMotion(float maxX, float minX, float maxY, float minY,
            float maxZ, float minZ) {
        this.maxX = maxX;
        this.minX = minX;
        this.maxY = maxY;
        this.minY = minY;
        this.maxZ = maxZ;
        this.minZ = minZ;
    }

    /**
     * Instantiate a preset with the specified symmetric range of motion.
     *
     * @param maxX the maximum rotation around the X axis (in radians, &ge;0)
     * @param maxY the maximum rotation around the Y axis (in radians, &ge;0)
     * @param maxZ the maximum rotation around the Z axis (in radians, &ge;0)
     */
    public RangeOfMotion(float maxX, float maxY, float maxZ) {
        this.maxX = maxX;
        this.minX = -maxX;
        this.maxY = maxY;
        this.minY = -maxY;
        this.maxZ = maxZ;
        this.minZ = -maxZ;
    }

    /**
     * Instantiate a preset with the specified symmetric range of motion.
     *
     * @param maxAngle the maximum rotation around each axis (in radians, &ge;0)
     */
    public RangeOfMotion(float maxAngle) {
        maxX = maxAngle;
        minX = -maxAngle;
        maxY = maxAngle;
        minY = -maxAngle;
        maxZ = maxAngle;
        minZ = -maxAngle;
    }

    /**
     * Instantiate a preset for rotation on a single axis.
     *
     * @param axisIndex which axis: 0&rarr;X, 1&rarr;Y, 2&rarr;Z
     */
    public RangeOfMotion(int axisIndex) {
        switch (axisIndex) {
            case PhysicsSpace.AXIS_X:
                maxX = 1f;
                minX = -1f;
                break;
            case PhysicsSpace.AXIS_Y:
                maxY = 1f;
                minY = -1f;
                break;
            case PhysicsSpace.AXIS_Z:
                maxZ = 1f;
                minZ = -1f;
                break;
            default:
                String msg = String.format("axisIndex=%d", axisIndex);
                throw new IllegalArgumentException(msg);
        }
    }
    // *************************************************************************
    // new methods exposed

    /**
     * Read the maximum rotation around the indexed axis.
     *
     * @param axisIndex which axis: 0&rarr;X, 1&rarr;Y, 2&rarr;Z
     *
     * @return the rotation angle (in radians)
     */
    public float getMaxRotation(int axisIndex) {
        float result;
        switch (axisIndex) {
            case PhysicsSpace.AXIS_X:
                result = maxX;
                break;
            case PhysicsSpace.AXIS_Y:
                result = maxY;
                break;
            case PhysicsSpace.AXIS_Z:
                result = maxZ;
                break;
            default:
                String msg = String.format("axisIndex=%d", axisIndex);
                throw new IllegalArgumentException(msg);
        }

        return result;
    }

    /**
     * Read the minimum rotation around the indexed axis.
     *
     * @param axisIndex which axis: 0&rarr;X, 1&rarr;Y, 2&rarr;Z
     *
     * @return the rotation angle (in radians)
     */
    public float getMinRotation(int axisIndex) {
        float result;
        switch (axisIndex) {
            case PhysicsSpace.AXIS_X:
                result = minX;
                break;
            case PhysicsSpace.AXIS_Y:
                result = minY;
                break;
            case PhysicsSpace.AXIS_Z:
                result = minZ;
                break;
            default:
                String msg = String.format("axisIndex=%d", axisIndex);
                throw new IllegalArgumentException(msg);
        }

        return result;
    }

    /**
     * Apply this preset to the specified joint.
     *
     * @param joint where to apply this preset (not null, modified)
     */
    public void setupJoint(SixDofJoint joint) {
        Vector3f lower = new Vector3f(minX, minY, minZ);
        Vector3f upper = new Vector3f(maxX, maxY, maxZ);

        RotationalLimitMotor rotX
                = joint.getRotationalLimitMotor(PhysicsSpace.AXIS_X);
        rotX.setLoLimit(lower.x);
        rotX.setHiLimit(upper.x);

        RotationalLimitMotor rotY
                = joint.getRotationalLimitMotor(PhysicsSpace.AXIS_Y);
        rotY.setLoLimit(lower.y);
        rotY.setHiLimit(upper.y);

        RotationalLimitMotor rotZ
                = joint.getRotationalLimitMotor(PhysicsSpace.AXIS_Z);
        rotZ.setLoLimit(lower.z);
        rotZ.setHiLimit(upper.z);

        joint.setAngularLowerLimit(lower);
        joint.setAngularUpperLimit(upper);

        for (int i = 0; i < 3; ++i) {
            RotationalLimitMotor rot = joint.getRotationalLimitMotor(i);
            rot.setMaxMotorForce(1e8f);
            rot.setMaxLimitForce(1e9f);
        }

        joint.setLinearLowerLimit(translateIdentity);
        joint.setLinearUpperLimit(translateIdentity);

        TranslationalLimitMotor tra = joint.getTranslationalLimitMotor();
        tra.setLowerLimit(translateIdentity);
        tra.setUpperLimit(translateIdentity);
    }
    // *************************************************************************
    // Savable methods

    /**
     * De-serialize this preset, for example when loading from a J3O file.
     *
     * @param im importer (not null)
     * @throws IOException from importer
     */
    @Override
    public void read(JmeImporter im) throws IOException {
        InputCapsule capsule = im.getCapsule(this);
        maxX = capsule.readFloat("maxX", 0f);
        minX = capsule.readFloat("minX", 0f);
        maxY = capsule.readFloat("maxY", 0f);
        minY = capsule.readFloat("minY", 0f);
        maxZ = capsule.readFloat("maxZ", 0f);
        minZ = capsule.readFloat("minZ", 0f);
    }

    /**
     * Serialize this preset, for example when saving to a J3O file.
     *
     * @param ex exporter (not null)
     * @throws IOException from exporter
     */
    @Override
    public void write(JmeExporter ex) throws IOException {
        OutputCapsule capsule = ex.getCapsule(this);
        capsule.write(maxX, "maxX", 0f);
        capsule.write(minX, "minX", 0f);
        capsule.write(maxY, "maxY", 0f);
        capsule.write(minY, "minY", 0f);
        capsule.write(maxZ, "maxZ", 0f);
        capsule.write(minZ, "minZ", 0f);
    }
}