1 /* 2 * Copyright (c) 2009-2010 jMonkeyEngine 3 * All rights reserved. 4 * 5 * Redistribution and use in source and binary forms, with or without 6 * modification, are permitted provided that the following conditions are 7 * met: 8 * 9 * * Redistributions of source code must retain the above copyright 10 * notice, this list of conditions and the following disclaimer. 11 * 12 * * Redistributions in binary form must reproduce the above copyright 13 * notice, this list of conditions and the following disclaimer in the 14 * documentation and/or other materials provided with the distribution. 15 * 16 * * Neither the name of 'jMonkeyEngine' nor the names of its contributors 17 * may be used to endorse or promote products derived from this software 18 * without specific prior written permission. 19 * 20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 22 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 23 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 24 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 25 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 26 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 27 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 28 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 29 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 30 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 package jme3test.bullet; 34 35 import com.jme3.app.SimpleApplication; 36 import com.jme3.asset.TextureKey; 37 import com.jme3.bullet.BulletAppState; 38 import com.jme3.bullet.PhysicsSpace; 39 import com.jme3.bullet.collision.shapes.BoxCollisionShape; 40 import com.jme3.bullet.collision.shapes.CompoundCollisionShape; 41 import com.jme3.bullet.collision.shapes.MeshCollisionShape; 42 import com.jme3.bullet.control.RigidBodyControl; 43 import com.jme3.bullet.control.VehicleControl; 44 import com.jme3.bullet.joints.SliderJoint; 45 import com.jme3.input.KeyInput; 46 import com.jme3.input.controls.ActionListener; 47 import com.jme3.input.controls.KeyTrigger; 48 import com.jme3.material.Material; 49 import com.jme3.math.*; 50 import com.jme3.scene.Geometry; 51 import com.jme3.scene.Node; 52 import com.jme3.scene.shape.Box; 53 import com.jme3.scene.shape.Cylinder; 54 import com.jme3.texture.Texture; 55 56 /** 57 * Tests attaching/detaching nodes via joints 58 * @author normenhansen 59 */ 60 public class TestAttachDriver extends SimpleApplication implements ActionListener { 61 62 private VehicleControl vehicle; 63 private RigidBodyControl driver; 64 private RigidBodyControl bridge; 65 private SliderJoint slider; 66 private final float accelerationForce = 1000.0f; 67 private final float brakeForce = 100.0f; 68 private float steeringValue = 0; 69 private float accelerationValue = 0; 70 private Vector3f jumpForce = new Vector3f(0, 3000, 0); 71 private BulletAppState bulletAppState; 72 main(String[] args)73 public static void main(String[] args) { 74 TestAttachDriver app = new TestAttachDriver(); 75 app.start(); 76 } 77 78 @Override simpleInitApp()79 public void simpleInitApp() { 80 bulletAppState = new BulletAppState(); 81 stateManager.attach(bulletAppState); 82 bulletAppState.getPhysicsSpace().enableDebug(assetManager); 83 setupKeys(); 84 setupFloor(); 85 buildPlayer(); 86 } 87 getPhysicsSpace()88 private PhysicsSpace getPhysicsSpace(){ 89 return bulletAppState.getPhysicsSpace(); 90 } 91 setupKeys()92 private void setupKeys() { 93 inputManager.addMapping("Lefts", new KeyTrigger(KeyInput.KEY_H)); 94 inputManager.addMapping("Rights", new KeyTrigger(KeyInput.KEY_K)); 95 inputManager.addMapping("Ups", new KeyTrigger(KeyInput.KEY_U)); 96 inputManager.addMapping("Downs", new KeyTrigger(KeyInput.KEY_J)); 97 inputManager.addMapping("Space", new KeyTrigger(KeyInput.KEY_SPACE)); 98 inputManager.addMapping("Reset", new KeyTrigger(KeyInput.KEY_RETURN)); 99 inputManager.addListener(this, "Lefts"); 100 inputManager.addListener(this, "Rights"); 101 inputManager.addListener(this, "Ups"); 102 inputManager.addListener(this, "Downs"); 103 inputManager.addListener(this, "Space"); 104 inputManager.addListener(this, "Reset"); 105 } 106 setupFloor()107 public void setupFloor() { 108 Material mat = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md"); 109 TextureKey key = new TextureKey("Interface/Logo/Monkey.jpg", true); 110 key.setGenerateMips(true); 111 Texture tex = assetManager.loadTexture(key); 112 tex.setMinFilter(Texture.MinFilter.Trilinear); 113 mat.setTexture("ColorMap", tex); 114 115 Box floor = new Box(Vector3f.ZERO, 100, 1f, 100); 116 Geometry floorGeom = new Geometry("Floor", floor); 117 floorGeom.setMaterial(mat); 118 floorGeom.setLocalTranslation(new Vector3f(0f, -3, 0f)); 119 120 floorGeom.addControl(new RigidBodyControl(new MeshCollisionShape(floorGeom.getMesh()), 0)); 121 rootNode.attachChild(floorGeom); 122 getPhysicsSpace().add(floorGeom); 123 } 124 buildPlayer()125 private void buildPlayer() { 126 Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md"); 127 mat.getAdditionalRenderState().setWireframe(true); 128 mat.setColor("Color", ColorRGBA.Red); 129 130 //create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0 131 //this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0 132 CompoundCollisionShape compoundShape = new CompoundCollisionShape(); 133 BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f)); 134 compoundShape.addChildShape(box, new Vector3f(0, 1, 0)); 135 136 //create vehicle node 137 Node vehicleNode=new Node("vehicleNode"); 138 vehicle = new VehicleControl(compoundShape, 800); 139 vehicleNode.addControl(vehicle); 140 141 //setting suspension values for wheels, this can be a bit tricky 142 //see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en 143 float stiffness = 60.0f;//200=f1 car 144 float compValue = .3f; //(should be lower than damp) 145 float dampValue = .4f; 146 vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness)); 147 vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness)); 148 vehicle.setSuspensionStiffness(stiffness); 149 vehicle.setMaxSuspensionForce(10000.0f); 150 151 //Create four wheels and add them at their locations 152 Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0 153 Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -1, 0, 0 154 float radius = 0.5f; 155 float restLength = 0.3f; 156 float yOff = 0.5f; 157 float xOff = 1f; 158 float zOff = 2f; 159 160 Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true); 161 162 Node node1 = new Node("wheel 1 node"); 163 Geometry wheels1 = new Geometry("wheel 1", wheelMesh); 164 node1.attachChild(wheels1); 165 wheels1.rotate(0, FastMath.HALF_PI, 0); 166 wheels1.setMaterial(mat); 167 vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff), 168 wheelDirection, wheelAxle, restLength, radius, true); 169 170 Node node2 = new Node("wheel 2 node"); 171 Geometry wheels2 = new Geometry("wheel 2", wheelMesh); 172 node2.attachChild(wheels2); 173 wheels2.rotate(0, FastMath.HALF_PI, 0); 174 wheels2.setMaterial(mat); 175 vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff), 176 wheelDirection, wheelAxle, restLength, radius, true); 177 178 Node node3 = new Node("wheel 3 node"); 179 Geometry wheels3 = new Geometry("wheel 3", wheelMesh); 180 node3.attachChild(wheels3); 181 wheels3.rotate(0, FastMath.HALF_PI, 0); 182 wheels3.setMaterial(mat); 183 vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff), 184 wheelDirection, wheelAxle, restLength, radius, false); 185 186 Node node4 = new Node("wheel 4 node"); 187 Geometry wheels4 = new Geometry("wheel 4", wheelMesh); 188 node4.attachChild(wheels4); 189 wheels4.rotate(0, FastMath.HALF_PI, 0); 190 wheels4.setMaterial(mat); 191 vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff), 192 wheelDirection, wheelAxle, restLength, radius, false); 193 194 vehicleNode.attachChild(node1); 195 vehicleNode.attachChild(node2); 196 vehicleNode.attachChild(node3); 197 vehicleNode.attachChild(node4); 198 199 rootNode.attachChild(vehicleNode); 200 getPhysicsSpace().add(vehicle); 201 202 //driver 203 Node driverNode=new Node("driverNode"); 204 driverNode.setLocalTranslation(0,2,0); 205 driver=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,.5f,0.2f))); 206 driverNode.addControl(driver); 207 208 rootNode.attachChild(driverNode); 209 getPhysicsSpace().add(driver); 210 211 //joint 212 slider=new SliderJoint(driver, vehicle, Vector3f.UNIT_Y.negate(), Vector3f.UNIT_Y, true); 213 slider.setUpperLinLimit(.1f); 214 slider.setLowerLinLimit(-.1f); 215 216 getPhysicsSpace().add(slider); 217 218 Node pole1Node=new Node("pole1Node"); 219 Node pole2Node=new Node("pole1Node"); 220 Node bridgeNode=new Node("pole1Node"); 221 pole1Node.setLocalTranslation(new Vector3f(-2,-1,4)); 222 pole2Node.setLocalTranslation(new Vector3f(2,-1,4)); 223 bridgeNode.setLocalTranslation(new Vector3f(0,1.4f,4)); 224 225 RigidBodyControl pole1=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,1.25f,0.2f)),0); 226 pole1Node.addControl(pole1); 227 RigidBodyControl pole2=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,1.25f,0.2f)),0); 228 pole2Node.addControl(pole2); 229 bridge=new RigidBodyControl(new BoxCollisionShape(new Vector3f(2.5f,0.2f,0.2f))); 230 bridgeNode.addControl(bridge); 231 232 rootNode.attachChild(pole1Node); 233 rootNode.attachChild(pole2Node); 234 rootNode.attachChild(bridgeNode); 235 getPhysicsSpace().add(pole1); 236 getPhysicsSpace().add(pole2); 237 getPhysicsSpace().add(bridge); 238 239 } 240 241 @Override simpleUpdate(float tpf)242 public void simpleUpdate(float tpf) { 243 Quaternion quat=new Quaternion(); 244 cam.lookAt(vehicle.getPhysicsLocation(), Vector3f.UNIT_Y); 245 } 246 onAction(String binding, boolean value, float tpf)247 public void onAction(String binding, boolean value, float tpf) { 248 if (binding.equals("Lefts")) { 249 if (value) { 250 steeringValue += .5f; 251 } else { 252 steeringValue += -.5f; 253 } 254 vehicle.steer(steeringValue); 255 } else if (binding.equals("Rights")) { 256 if (value) { 257 steeringValue += -.5f; 258 } else { 259 steeringValue += .5f; 260 } 261 vehicle.steer(steeringValue); 262 } else if (binding.equals("Ups")) { 263 if (value) { 264 accelerationValue += accelerationForce; 265 } else { 266 accelerationValue -= accelerationForce; 267 } 268 vehicle.accelerate(accelerationValue); 269 } else if (binding.equals("Downs")) { 270 if (value) { 271 vehicle.brake(brakeForce); 272 } else { 273 vehicle.brake(0f); 274 } 275 } else if (binding.equals("Space")) { 276 if (value) { 277 getPhysicsSpace().remove(slider); 278 slider.destroy(); 279 vehicle.applyImpulse(jumpForce, Vector3f.ZERO); 280 } 281 } else if (binding.equals("Reset")) { 282 if (value) { 283 System.out.println("Reset"); 284 vehicle.setPhysicsLocation(new Vector3f(0, 0, 0)); 285 vehicle.setPhysicsRotation(new Matrix3f()); 286 vehicle.setLinearVelocity(Vector3f.ZERO); 287 vehicle.setAngularVelocity(Vector3f.ZERO); 288 vehicle.resetSuspension(); 289 bridge.setPhysicsLocation(new Vector3f(0,1.4f,4)); 290 bridge.setPhysicsRotation(Quaternion.DIRECTION_Z.toRotationMatrix()); 291 } 292 } 293 } 294 } 295
