/*
* Copyright (c) 2009-2012 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
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package jme3test.bullet;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.PhysicsTickListener;
import com.jme3.bullet.collision.shapes.CollisionShape;
import com.jme3.bullet.control.PhysicsControl;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.math.FastMath;
import com.jme3.math.Vector3f;
import com.jme3.renderer.RenderManager;
import com.jme3.renderer.ViewPort;
import com.jme3.scene.Spatial;
import com.jme3.scene.control.Control;
import com.jme3.util.clone.Cloner;
import com.jme3.util.clone.JmeCloneable;
import java.io.IOException;
/**
* PhysicsHoverControl uses a RayCast Vehicle with "slippery wheels" to simulate a hovering tank
* @author normenhansen
*/
public class PhysicsHoverControl extends PhysicsVehicle implements PhysicsControl, PhysicsTickListener, JmeCloneable {
protected Spatial spatial;
protected boolean enabled = true;
protected PhysicsSpace space = null;
protected float steeringValue = 0;
protected float accelerationValue = 0;
protected int xw = 3;
protected int zw = 5;
protected int yw = 2;
protected Vector3f HOVER_HEIGHT_LF_START = new Vector3f(xw, 1, zw);
protected Vector3f HOVER_HEIGHT_RF_START = new Vector3f(-xw, 1, zw);
protected Vector3f HOVER_HEIGHT_LR_START = new Vector3f(xw, 1, -zw);
protected Vector3f HOVER_HEIGHT_RR_START = new Vector3f(-xw, 1, -zw);
protected Vector3f HOVER_HEIGHT_LF = new Vector3f(xw, -yw, zw);
protected Vector3f HOVER_HEIGHT_RF = new Vector3f(-xw, -yw, zw);
protected Vector3f HOVER_HEIGHT_LR = new Vector3f(xw, -yw, -zw);
protected Vector3f HOVER_HEIGHT_RR = new Vector3f(-xw, -yw, -zw);
protected Vector3f tempVect1 = new Vector3f(0, 0, 0);
protected Vector3f tempVect2 = new Vector3f(0, 0, 0);
protected Vector3f tempVect3 = new Vector3f(0, 0, 0);
// protected float rotationCounterForce = 10000f;
// protected float speedCounterMult = 2000f;
// protected float multiplier = 1000f;
public PhysicsHoverControl() {
}
/**
* Creates a new PhysicsNode with the supplied collision shape
* @param shape
*/
public PhysicsHoverControl(CollisionShape shape) {
super(shape);
createWheels();
}
public PhysicsHoverControl(CollisionShape shape, float mass) {
super(shape, mass);
createWheels();
}
@Override
public Control cloneForSpatial(Spatial spatial) {
throw new UnsupportedOperationException("Not supported yet.");
}
@Override
public Object jmeClone() {
throw new UnsupportedOperationException("Not yet implemented.");
}
@Override
public void cloneFields( Cloner cloner, Object original ) {
throw new UnsupportedOperationException("Not yet implemented.");
}
public void setSpatial(Spatial spatial) {
this.spatial = spatial;
setUserObject(spatial);
if (spatial == null) {
return;
}
setPhysicsLocation(spatial.getWorldTranslation());
setPhysicsRotation(spatial.getWorldRotation().toRotationMatrix());
}
public void setEnabled(boolean enabled) {
this.enabled = enabled;
}
public boolean isEnabled() {
return enabled;
}
private void createWheels() {
addWheel(HOVER_HEIGHT_LF_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
addWheel(HOVER_HEIGHT_RF_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
addWheel(HOVER_HEIGHT_LR_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
addWheel(HOVER_HEIGHT_RR_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
for (int i = 0; i < 4; i++) {
getWheel(i).setFrictionSlip(0.001f);
}
}
public void prePhysicsTick(PhysicsSpace space, float f) {
Vector3f angVel = getAngularVelocity();
float rotationVelocity = angVel.getY();
Vector3f dir = getForwardVector(tempVect2).multLocal(1, 0, 1).normalizeLocal();
getLinearVelocity(tempVect3);
Vector3f linearVelocity = tempVect3.multLocal(1, 0, 1);
if (steeringValue != 0) {
if (rotationVelocity < 1 && rotationVelocity > -1) {
applyTorque(tempVect1.set(0, steeringValue, 0));
}
} else {
// counter the steering value!
if (rotationVelocity > 0.2f) {
applyTorque(tempVect1.set(0, -mass * 20, 0));
} else if (rotationVelocity < -0.2f) {
applyTorque(tempVect1.set(0, mass * 20, 0));
}
}
if (accelerationValue > 0) {
// counter force that will adjust velocity
// if we are not going where we want to go.
// this will prevent "drifting" and thus improve control
// of the vehicle
float d = dir.dot(linearVelocity.normalize());
Vector3f counter = dir.project(linearVelocity).normalizeLocal().negateLocal().multLocal(1 - d);
applyForce(counter.multLocal(mass * 10), Vector3f.ZERO);
if (linearVelocity.length() < 30) {
applyForce(dir.multLocal(accelerationValue), Vector3f.ZERO);
}
} else {
// counter the acceleration value
if (linearVelocity.length() > FastMath.ZERO_TOLERANCE) {
linearVelocity.normalizeLocal().negateLocal();
applyForce(linearVelocity.mult(mass * 10), Vector3f.ZERO);
}
}
}
public void physicsTick(PhysicsSpace space, float f) {
}
public void update(float tpf) {
if (enabled && spatial != null) {
getMotionState().applyTransform(spatial);
}
}
public void render(RenderManager rm, ViewPort vp) {
}
public void setPhysicsSpace(PhysicsSpace space) {
createVehicle(space);
if (space == null) {
if (this.space != null) {
this.space.removeCollisionObject(this);
this.space.removeTickListener(this);
}
this.space = space;
} else {
space.addCollisionObject(this);
space.addTickListener(this);
}
this.space = space;
}
public PhysicsSpace getPhysicsSpace() {
return space;
}
@Override
public void write(JmeExporter ex) throws IOException {
super.write(ex);
OutputCapsule oc = ex.getCapsule(this);
oc.write(enabled, "enabled", true);
oc.write(spatial, "spatial", null);
}
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule ic = im.getCapsule(this);
enabled = ic.readBoolean("enabled", true);
spatial = (Spatial) ic.readSavable("spatial", null);
}
/**
* @param steeringValue the steeringValue to set
*/
@Override
public void steer(float steeringValue) {
this.steeringValue = steeringValue * getMass();
}
/**
* @param accelerationValue the accelerationValue to set
*/
@Override
public void accelerate(float accelerationValue) {
this.accelerationValue = accelerationValue * getMass();
}
}