/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from
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* the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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package com.bulletphysics.dynamics.constraintsolver;
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import com.bulletphysics.dynamics.RigidBody;
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import javax.vecmath.Vector3f;
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/**
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* TypedConstraint is the base class for Bullet constraints and vehicles.
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*
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* @author jezek2
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*/
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public abstract class TypedConstraint implements java.io.Serializable {
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//protected final BulletStack stack = BulletStack.get();
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// TODO: stack allocation
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private static /*final*/ RigidBody s_fixed;// = new RigidBody(0, null, null);
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private static synchronized RigidBody getFixed() {
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if (s_fixed == null) {
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s_fixed = new RigidBody(0, null, null);
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}
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return s_fixed;
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}
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private int userConstraintType = -1;
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private int userConstraintId = -1;
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private TypedConstraintType constraintType;
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protected RigidBody rbA;
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protected RigidBody rbB;
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protected float appliedImpulse = 0f;
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public TypedConstraint(TypedConstraintType type) {
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this(type, getFixed(), getFixed());
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}
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public TypedConstraint(TypedConstraintType type, RigidBody rbA) {
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this(type, rbA, getFixed());
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}
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public TypedConstraint(TypedConstraintType type, RigidBody rbA, RigidBody rbB) {
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this.constraintType = type;
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this.rbA = rbA;
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this.rbB = rbB;
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getFixed().setMassProps(0f, new Vector3f(0f, 0f, 0f));
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}
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public abstract void buildJacobian();
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public abstract void solveConstraint(float timeStep);
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public RigidBody getRigidBodyA() {
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return rbA;
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}
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public RigidBody getRigidBodyB() {
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return rbB;
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}
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public int getUserConstraintType() {
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return userConstraintType;
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}
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public void setUserConstraintType(int userConstraintType) {
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this.userConstraintType = userConstraintType;
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}
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public int getUserConstraintId() {
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return userConstraintId;
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}
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public int getUid() {
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return userConstraintId;
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}
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public void setUserConstraintId(int userConstraintId) {
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this.userConstraintId = userConstraintId;
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}
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public float getAppliedImpulse() {
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return appliedImpulse;
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}
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public TypedConstraintType getConstraintType() {
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return constraintType;
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}
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}
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