/*
 * Copyright (c) 2009-2010 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
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package com.jme3.bullet.joints;

import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.math.Matrix3f;
import com.jme3.math.Vector3f;
import com.jme3.bullet.joints.motors.RotationalLimitMotor;
import com.jme3.bullet.joints.motors.TranslationalLimitMotor;
import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.export.InputCapsule;
import com.jme3.export.OutputCapsule;
import java.io.IOException;
import java.util.Iterator;
import java.util.LinkedList;
import java.util.logging.Level;
import java.util.logging.Logger;

/**
 * <i>From bullet manual:</i><br>
 * This generic constraint can emulate a variety of standard constraints,
 * by configuring each of the 6 degrees of freedom (dof).
 * The first 3 dof axis are linear axis, which represent translation of rigidbodies,
 * and the latter 3 dof axis represent the angular motion. Each axis can be either locked,
 * free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked.
 * Afterwards the axis can be reconfigured. Note that several combinations that
 * include free and/or limited angular degrees of freedom are undefined.
 * @author normenhansen
 */
public class SixDofSpringJoint extends SixDofJoint {

	final boolean		springEnabled[] = new boolean[6];
	final float	equilibriumPoint[] = new float[6];
	final float	springStiffness[] = new float[6];
	final float	springDamping[] = new float[6]; // between 0 and 1 (1 == no damping)
    
    public SixDofSpringJoint() {
    }

    /**
     * @param pivotA local translation of the joint connection point in node A
     * @param pivotB local translation of the joint connection point in node B
     */
    public SixDofSpringJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
        super(nodeA, nodeB, pivotA, pivotB, rotA, rotB, useLinearReferenceFrameA);
    }
    public void enableSpring(int index, boolean onOff) {
        enableSpring(objectId, index, onOff);
    }
    native void enableSpring(long objctId, int index, boolean onOff);
    
    public void setStiffness(int index, float stiffness) {
        setStiffness(objectId, index, stiffness);
    }
    native void setStiffness(long objctId, int index, float stiffness);
    
    public void setDamping(int index, float damping) {
        setDamping(objectId, index, damping);
        
    }
    native void setDamping(long objctId, int index, float damping);
    public void setEquilibriumPoint() { // set the current constraint position/orientation as an equilibrium point for all DOF
        setEquilibriumPoint(objectId);
    }
    native void setEquilibriumPoint(long objctId);
    public void setEquilibriumPoint(int index){ // set the current constraint position/orientation as an equilibrium point for given DOF
        setEquilibriumPoint(objectId, index);
    }
    native void setEquilibriumPoint(long objctId, int index);
    @Override
    native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB, boolean useLinearReferenceFrameA);
    
}

// between 0 and 1 (1 == no damping)
/*
 * Copyright (c) 2009-2010 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
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package com.jme3.bullet.joints;

import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.math.Matrix3f;
import com.jme3.math.Vector3f;
import com.jme3.bullet.joints.motors.RotationalLimitMotor;
import com.jme3.bullet.joints.motors.TranslationalLimitMotor;
import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.export.InputCapsule;
import com.jme3.export.OutputCapsule;
import java.io.IOException;
import java.util.Iterator;
import java.util.LinkedList;
import java.util.logging.Level;
import java.util.logging.Logger;

/**
 * <i>From bullet manual:</i><br>
 * This generic constraint can emulate a variety of standard constraints,
 * by configuring each of the 6 degrees of freedom (dof).
 * The first 3 dof axis are linear axis, which represent translation of rigidbodies,
 * and the latter 3 dof axis represent the angular motion. Each axis can be either locked,
 * free or limited. On construction of a new btGeneric6DofConstraint, all axis are locked.
 * Afterwards the axis can be reconfigured. Note that several combinations that
 * include free and/or limited angular degrees of freedom are undefined.
 * @author normenhansen
 */
public class SixDofSpringJoint extends SixDofJoint {

	final boolean		springEnabled[] = new boolean[6];
	final float	equilibriumPoint[] = new float[6];
	final float	springStiffness[] = new float[6];
	final float	springDamping[] = new float[6]; // between 0<SUF>
    
    public SixDofSpringJoint() {
    }

    /**
     * @param pivotA local translation of the joint connection point in node A
     * @param pivotB local translation of the joint connection point in node B
     */
    public SixDofSpringJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
        super(nodeA, nodeB, pivotA, pivotB, rotA, rotB, useLinearReferenceFrameA);
    }
    public void enableSpring(int index, boolean onOff) {
        enableSpring(objectId, index, onOff);
    }
    native void enableSpring(long objctId, int index, boolean onOff);
    
    public void setStiffness(int index, float stiffness) {
        setStiffness(objectId, index, stiffness);
    }
    native void setStiffness(long objctId, int index, float stiffness);
    
    public void setDamping(int index, float damping) {
        setDamping(objectId, index, damping);
        
    }
    native void setDamping(long objctId, int index, float damping);
    public void setEquilibriumPoint() { // set the current constraint position/orientation as an equilibrium point for all DOF
        setEquilibriumPoint(objectId);
    }
    native void setEquilibriumPoint(long objctId);
    public void setEquilibriumPoint(int index){ // set the current constraint position/orientation as an equilibrium point for given DOF
        setEquilibriumPoint(objectId, index);
    }
    native void setEquilibriumPoint(long objctId, int index);
    @Override
    native long createJoint(long objectIdA, long objectIdB, Vector3f pivotA, Matrix3f rotA, Vector3f pivotB, Matrix3f rotB, boolean useLinearReferenceFrameA);
    
}
