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* Copyright (c) 2009-2012 jMonkeyEngine
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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package jme3test.bullet;
import com.jme3.app.SimpleApplication;
import com.jme3.asset.TextureKey;
import com.jme3.bullet.BulletAppState;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.shapes.BoxCollisionShape;
import com.jme3.bullet.collision.shapes.CompoundCollisionShape;
import com.jme3.bullet.collision.shapes.MeshCollisionShape;
import com.jme3.bullet.control.RigidBodyControl;
import com.jme3.bullet.control.VehicleControl;
import com.jme3.bullet.joints.SliderJoint;
import com.jme3.input.KeyInput;
import com.jme3.input.controls.ActionListener;
import com.jme3.input.controls.KeyTrigger;
import com.jme3.material.Material;
import com.jme3.math.*;
import com.jme3.scene.Geometry;
import com.jme3.scene.Node;
import com.jme3.scene.shape.Box;
import com.jme3.scene.shape.Cylinder;
import com.jme3.texture.Texture;
/**
* Tests attaching/detaching nodes via joints
* @author normenhansen
*/
public class TestAttachDriver extends SimpleApplication implements ActionListener {
private VehicleControl vehicle;
private RigidBodyControl driver;
private RigidBodyControl bridge;
private SliderJoint slider;
private final float accelerationForce = 1000.0f;
private final float brakeForce = 100.0f;
private float steeringValue = 0;
private float accelerationValue = 0;
private Vector3f jumpForce = new Vector3f(0, 3000, 0);
private BulletAppState bulletAppState;
public static void main(String[] args) {
TestAttachDriver app = new TestAttachDriver();
app.start();
}
@Override
public void simpleInitApp() {
bulletAppState = new BulletAppState();
stateManager.attach(bulletAppState);
bulletAppState.setDebugEnabled(true);
setupKeys();
setupFloor();
buildPlayer();
}
private PhysicsSpace getPhysicsSpace(){
return bulletAppState.getPhysicsSpace();
}
private void setupKeys() {
inputManager.addMapping("Lefts", new KeyTrigger(KeyInput.KEY_H));
inputManager.addMapping("Rights", new KeyTrigger(KeyInput.KEY_K));
inputManager.addMapping("Ups", new KeyTrigger(KeyInput.KEY_U));
inputManager.addMapping("Downs", new KeyTrigger(KeyInput.KEY_J));
inputManager.addMapping("Space", new KeyTrigger(KeyInput.KEY_SPACE));
inputManager.addMapping("Reset", new KeyTrigger(KeyInput.KEY_RETURN));
inputManager.addListener(this, "Lefts");
inputManager.addListener(this, "Rights");
inputManager.addListener(this, "Ups");
inputManager.addListener(this, "Downs");
inputManager.addListener(this, "Space");
inputManager.addListener(this, "Reset");
}
public void setupFloor() {
Material mat = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
TextureKey key = new TextureKey("Interface/Logo/Monkey.jpg", true);
key.setGenerateMips(true);
Texture tex = assetManager.loadTexture(key);
tex.setMinFilter(Texture.MinFilter.Trilinear);
mat.setTexture("ColorMap", tex);
Box floor = new Box(100, 1f, 100);
Geometry floorGeom = new Geometry("Floor", floor);
floorGeom.setMaterial(mat);
floorGeom.setLocalTranslation(new Vector3f(0f, -3, 0f));
floorGeom.addControl(new RigidBodyControl(new MeshCollisionShape(floorGeom.getMesh()), 0));
rootNode.attachChild(floorGeom);
getPhysicsSpace().add(floorGeom);
}
private void buildPlayer() {
Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
mat.getAdditionalRenderState().setWireframe(true);
mat.setColor("Color", ColorRGBA.Red);
//create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0
//this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0
CompoundCollisionShape compoundShape = new CompoundCollisionShape();
BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f));
compoundShape.addChildShape(box, new Vector3f(0, 1, 0));
//create vehicle node
Node vehicleNode=new Node("vehicleNode");
vehicle = new VehicleControl(compoundShape, 800);
vehicleNode.addControl(vehicle);
//setting suspension values for wheels, this can be a bit tricky
//see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
float stiffness = 60.0f;//200=f1 car
float compValue = .3f; //(should be lower than damp)
float dampValue = .4f;
vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
vehicle.setSuspensionStiffness(stiffness);
vehicle.setMaxSuspensionForce(10000.0f);
//Create four wheels and add them at their locations
Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0
Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -1, 0, 0
float radius = 0.5f;
float restLength = 0.3f;
float yOff = 0.5f;
float xOff = 1f;
float zOff = 2f;
Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);
Node node1 = new Node("wheel 1 node");
Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
node1.attachChild(wheels1);
wheels1.rotate(0, FastMath.HALF_PI, 0);
wheels1.setMaterial(mat);
vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff),
wheelDirection, wheelAxle, restLength, radius, true);
Node node2 = new Node("wheel 2 node");
Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
node2.attachChild(wheels2);
wheels2.rotate(0, FastMath.HALF_PI, 0);
wheels2.setMaterial(mat);
vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff),
wheelDirection, wheelAxle, restLength, radius, true);
Node node3 = new Node("wheel 3 node");
Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
node3.attachChild(wheels3);
wheels3.rotate(0, FastMath.HALF_PI, 0);
wheels3.setMaterial(mat);
vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff),
wheelDirection, wheelAxle, restLength, radius, false);
Node node4 = new Node("wheel 4 node");
Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
node4.attachChild(wheels4);
wheels4.rotate(0, FastMath.HALF_PI, 0);
wheels4.setMaterial(mat);
vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff),
wheelDirection, wheelAxle, restLength, radius, false);
vehicleNode.attachChild(node1);
vehicleNode.attachChild(node2);
vehicleNode.attachChild(node3);
vehicleNode.attachChild(node4);
rootNode.attachChild(vehicleNode);
getPhysicsSpace().add(vehicle);
//driver
Node driverNode=new Node("driverNode");
driverNode.setLocalTranslation(0,2,0);
driver=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,.5f,0.2f)));
driverNode.addControl(driver);
rootNode.attachChild(driverNode);
getPhysicsSpace().add(driver);
//joint
slider=new SliderJoint(driver, vehicle, Vector3f.UNIT_Y.negate(), Vector3f.UNIT_Y, true);
slider.setUpperLinLimit(.1f);
slider.setLowerLinLimit(-.1f);
getPhysicsSpace().add(slider);
Node pole1Node=new Node("pole1Node");
Node pole2Node=new Node("pole1Node");
Node bridgeNode=new Node("pole1Node");
pole1Node.setLocalTranslation(new Vector3f(-2,-1,4));
pole2Node.setLocalTranslation(new Vector3f(2,-1,4));
bridgeNode.setLocalTranslation(new Vector3f(0,1.4f,4));
RigidBodyControl pole1=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,1.25f,0.2f)),0);
pole1Node.addControl(pole1);
RigidBodyControl pole2=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,1.25f,0.2f)),0);
pole2Node.addControl(pole2);
bridge=new RigidBodyControl(new BoxCollisionShape(new Vector3f(2.5f,0.2f,0.2f)));
bridgeNode.addControl(bridge);
rootNode.attachChild(pole1Node);
rootNode.attachChild(pole2Node);
rootNode.attachChild(bridgeNode);
getPhysicsSpace().add(pole1);
getPhysicsSpace().add(pole2);
getPhysicsSpace().add(bridge);
}
@Override
public void simpleUpdate(float tpf) {
Quaternion quat=new Quaternion();
cam.lookAt(vehicle.getPhysicsLocation(), Vector3f.UNIT_Y);
}
public void onAction(String binding, boolean value, float tpf) {
if (binding.equals("Lefts")) {
if (value) {
steeringValue += .5f;
} else {
steeringValue += -.5f;
}
vehicle.steer(steeringValue);
} else if (binding.equals("Rights")) {
if (value) {
steeringValue += -.5f;
} else {
steeringValue += .5f;
}
vehicle.steer(steeringValue);
} else if (binding.equals("Ups")) {
if (value) {
accelerationValue += accelerationForce;
} else {
accelerationValue -= accelerationForce;
}
vehicle.accelerate(accelerationValue);
} else if (binding.equals("Downs")) {
if (value) {
vehicle.brake(brakeForce);
} else {
vehicle.brake(0f);
}
} else if (binding.equals("Space")) {
if (value) {
getPhysicsSpace().remove(slider);
slider.destroy();
vehicle.applyImpulse(jumpForce, Vector3f.ZERO);
}
} else if (binding.equals("Reset")) {
if (value) {
System.out.println("Reset");
vehicle.setPhysicsLocation(new Vector3f(0, 0, 0));
vehicle.setPhysicsRotation(new Matrix3f());
vehicle.setLinearVelocity(Vector3f.ZERO);
vehicle.setAngularVelocity(Vector3f.ZERO);
vehicle.resetSuspension();
bridge.setPhysicsLocation(new Vector3f(0,1.4f,4));
bridge.setPhysicsRotation(Quaternion.DIRECTION_Z.toRotationMatrix());
}
}
}
}