# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325736205 25200
# Node ID 01dbdb0d55008403131b94e408e366496946ae9a
# Parent  77b506ac64f33872dc8c769f3351f634fc8a4f9b
offset cone joints achieved!

diff -r 77b506ac64f3 -r 01dbdb0d5500 assets/Models/creature1/one.blend
Binary file assets/Models/creature1/one.blend has changed
diff -r 77b506ac64f3 -r 01dbdb0d5500 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 77b506ac64f3 -r 01dbdb0d5500 org/test-creature.org
--- a/org/test-creature.org	Wed Jan 04 20:34:00 2012 -0700
+++ b/org/test-creature.org	Wed Jan 04 21:03:25 2012 -0700
@@ -70,6 +70,13 @@
              (.getZ in)
              (- (.getY in))))
 
+(defn jme-to-blender
+  "Convert from JME coordinates to Blender coordinates"
+  [#^Vector3f in]
+  (Vector3f. (.getX in)
+             (- (.getZ in))
+             (.getY in)))
+
 (defn joint-targets
   "Return the two closest two objects to the joint object, ordered
   from bottom to top according to the joint's rotation."
@@ -88,11 +95,15 @@
              (map  #(.getGeometry %) results))]
         (if (>= (count targets) 2)
           (sort-by
-           #(.getY
-             (.mult
-              (.inverse (.getWorldRotation joint))
-              (.subtract (.getWorldTranslation %)
-                         (.getWorldTranslation joint))))
+           #(let [v
+                  (jme-to-blender
+                   (.mult
+                    (.inverse (.getWorldRotation joint))
+                    (.subtract (.getWorldTranslation %)
+                               (.getWorldTranslation joint))))]
+              (println-repl (.getName %) ":" v)
+              (.dot (Vector3f. 1 1 1)
+                    v))                  
            (take 2 targets))
           (recur (float (* radius 2))))))))
 
@@ -103,8 +114,8 @@
    (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
 
    {:type :cone   :limit-xz 0]
-                  :limit-yz 0]
-                  :twist 0]}"
+                  :limit-xy 0]
+                  :twist 0]}   (use XZY rotation mode in blender!)"
   ([#^Node obj-a #^Node obj-b #^Node joint]
      (let [center-a (.getWorldTranslation obj-a)
            center-b (.getWorldTranslation obj-b)
@@ -158,7 +169,7 @@
                  (= :cone joint-type)
                  (do
                    (let [limit-xy (:limit-xz constraints)
-                         limit-yz (:limit-yz constraints)
+                         limit-yz (:limit-xy constraints)
                          twist    (:twist constraints)]
                      
                      (println-repl "creating CONE joint")
@@ -168,19 +179,18 @@
                           control-b
                           pivot-a
                           pivot-b
-                          (doto (Matrix3f.)
-                            (.fromStartEndVectors
-                             Vector3f/UNIT_X
-                             (.normalize
-                              (.subtract (.getWorldTranslation joint)
-                                         (.getWorldTranslation obj-a)))))
+                          
                           (doto (Matrix3f.)
                             (.fromStartEndVectors
                              Vector3f/UNIT_X
                              (.normalize
                               (.subtract
-                               (.getWorldTranslation obj-b)
-                               (.getWorldTranslation joint))))))
+                               (.getWorldTranslation joint)
+                               (.getWorldTranslation obj-a)))))
+                          (doto (Matrix3f.)
+                            (.set (.getWorldRotation joint)))
+                          
+                          )
                        (.setLimit (float limit-xy)
                                   (float limit-yz)
                                   (float twist)))))