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Diffstat (limited to 'engine/src/test/jme3test/bullet/TestAttachDriver.java')
| -rw-r--r-- | engine/src/test/jme3test/bullet/TestAttachDriver.java | 294 |
1 files changed, 294 insertions, 0 deletions
diff --git a/engine/src/test/jme3test/bullet/TestAttachDriver.java b/engine/src/test/jme3test/bullet/TestAttachDriver.java new file mode 100644 index 0000000..31f5f2f --- /dev/null +++ b/engine/src/test/jme3test/bullet/TestAttachDriver.java @@ -0,0 +1,294 @@ +/* + * Copyright (c) 2009-2010 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 + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +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.getPhysicsSpace().enableDebug(assetManager); + 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(Vector3f.ZERO, 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()); + } + } + } +} |