AbstractPhysicsDebugControl.java

/*
 * Copyright (c) 2009-2018 jMonkeyEngine
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 * * Redistributions in binary form must reproduce the above copyright
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 *   may be used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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package com.jme3.bullet.debug;

import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.Spatial;
import com.jme3.scene.control.AbstractControl;

/**
 * The abstract base class for physics-debug controls (such as
 * BulletRigidBodyDebugControl) used to visualize individual collision objects
 * and joints.
 * <p>
 * This class is shared between JBullet and Native Bullet.
 *
 * @author normenhansen
 */
@Deprecated
public abstract class AbstractPhysicsDebugControl extends AbstractControl {

    private final Quaternion tmp_inverseWorldRotation = new Quaternion();
    /**
     * the app state that this control serves
     */
    protected final BulletDebugAppState debugAppState;

    /**
     * Instantiate an enabled control to serve the specified debug app state.
     *
     * @param debugAppState which app state (not null, alias created)
     */
    public AbstractPhysicsDebugControl(BulletDebugAppState debugAppState) {
        this.debugAppState = debugAppState;
    }

    /**
     * This is called on the physics thread for debug controls
     */
    @Override
    protected abstract void controlUpdate(float tpf);

    /**
     * Apply the specified location and orientation to the controlled spatial.
     *
     * @param worldLocation location vector (in physics-space coordinates, not
     * null, unaffected)
     * @param worldRotation orientation (in physics-space coordinates, not null,
     * unaffected)
     */
    protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation) {
        applyPhysicsTransform(worldLocation, worldRotation, this.spatial);
    }

    /**
     * Apply the specified location and orientation to the specified spatial.
     *
     * @param worldLocation location vector (in physics-space coordinates, not
     * null, unaffected)
     * @param worldRotation orientation (in physics-space coordinates, not null,
     * unaffected)
     * @param spatial where to apply (may be null)
     */
    protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation, Spatial spatial) {
        if (spatial != null) {
            Vector3f localLocation = spatial.getLocalTranslation();
            Quaternion localRotationQuat = spatial.getLocalRotation();
            if (spatial.getParent() != null) {
                localLocation.set(worldLocation).subtractLocal(spatial.getParent().getWorldTranslation());
                localLocation.divideLocal(spatial.getParent().getWorldScale());
                tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
                localRotationQuat.set(worldRotation);
                tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().mult(localRotationQuat, localRotationQuat);
                spatial.setLocalTranslation(localLocation);
                spatial.setLocalRotation(localRotationQuat);
            } else {
                spatial.setLocalTranslation(worldLocation);
                spatial.setLocalRotation(worldRotation);
            }
        }

    }
}