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/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package com.jme3.bullet.control;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.shapes.CollisionShape;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.bullet.objects.VehicleWheel;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.renderer.RenderManager;
import com.jme3.renderer.ViewPort;
import com.jme3.scene.Geometry;
import com.jme3.scene.Node;
import com.jme3.scene.Spatial;
import com.jme3.scene.control.Control;
import com.jme3.scene.debug.Arrow;
import java.io.IOException;
import java.util.Iterator;
/**
*
* @author normenhansen
*/
public class VehicleControl extends PhysicsVehicle implements PhysicsControl {
protected Spatial spatial;
protected boolean enabled = true;
protected PhysicsSpace space = null;
protected boolean added = false;
public VehicleControl() {
}
/**
* Creates a new PhysicsNode with the supplied collision shape
* @param shape
*/
public VehicleControl(CollisionShape shape) {
super(shape);
}
public VehicleControl(CollisionShape shape, float mass) {
super(shape, mass);
}
public boolean isApplyPhysicsLocal() {
return motionState.isApplyPhysicsLocal();
}
/**
* When set to true, the physics coordinates will be applied to the local
* translation of the Spatial
* @param applyPhysicsLocal
*/
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
motionState.setApplyPhysicsLocal(applyPhysicsLocal);
for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
VehicleWheel vehicleWheel = it.next();
vehicleWheel.setApplyLocal(applyPhysicsLocal);
}
}
private Vector3f getSpatialTranslation(){
if(motionState.isApplyPhysicsLocal()){
return spatial.getLocalTranslation();
}
return spatial.getWorldTranslation();
}
private Quaternion getSpatialRotation(){
if(motionState.isApplyPhysicsLocal()){
return spatial.getLocalRotation();
}
return spatial.getWorldRotation();
}
public Control cloneForSpatial(Spatial spatial) {
VehicleControl control = new VehicleControl(collisionShape, mass);
control.setAngularFactor(getAngularFactor());
control.setAngularSleepingThreshold(getAngularSleepingThreshold());
control.setAngularVelocity(getAngularVelocity());
control.setCcdMotionThreshold(getCcdMotionThreshold());
control.setCcdSweptSphereRadius(getCcdSweptSphereRadius());
control.setCollideWithGroups(getCollideWithGroups());
control.setCollisionGroup(getCollisionGroup());
control.setDamping(getLinearDamping(), getAngularDamping());
control.setFriction(getFriction());
control.setGravity(getGravity());
control.setKinematic(isKinematic());
control.setLinearSleepingThreshold(getLinearSleepingThreshold());
control.setLinearVelocity(getLinearVelocity());
control.setPhysicsLocation(getPhysicsLocation());
control.setPhysicsRotation(getPhysicsRotationMatrix());
control.setRestitution(getRestitution());
control.setFrictionSlip(getFrictionSlip());
control.setMaxSuspensionTravelCm(getMaxSuspensionTravelCm());
control.setSuspensionStiffness(getSuspensionStiffness());
control.setSuspensionCompression(tuning.suspensionCompression);
control.setSuspensionDamping(tuning.suspensionDamping);
control.setMaxSuspensionForce(getMaxSuspensionForce());
for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
VehicleWheel wheel = it.next();
VehicleWheel newWheel = control.addWheel(wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), wheel.isFrontWheel());
newWheel.setFrictionSlip(wheel.getFrictionSlip());
newWheel.setMaxSuspensionTravelCm(wheel.getMaxSuspensionTravelCm());
newWheel.setSuspensionStiffness(wheel.getSuspensionStiffness());
newWheel.setWheelsDampingCompression(wheel.getWheelsDampingCompression());
newWheel.setWheelsDampingRelaxation(wheel.getWheelsDampingRelaxation());
newWheel.setMaxSuspensionForce(wheel.getMaxSuspensionForce());
//TODO: bad way finding children!
if (spatial instanceof Node) {
Node node = (Node) spatial;
Spatial wheelSpat = node.getChild(wheel.getWheelSpatial().getName());
if (wheelSpat != null) {
newWheel.setWheelSpatial(wheelSpat);
}
}
}
control.setApplyPhysicsLocal(isApplyPhysicsLocal());
control.setSpatial(spatial);
return control;
}
public void setSpatial(Spatial spatial) {
if (getUserObject() == null || getUserObject() == this.spatial) {
setUserObject(spatial);
}
this.spatial = spatial;
if (spatial == null) {
if (getUserObject() == spatial) {
setUserObject(null);
}
this.spatial = null;
this.collisionShape = null;
return;
}
setPhysicsLocation(getSpatialTranslation());
setPhysicsRotation(getSpatialRotation());
}
public void setEnabled(boolean enabled) {
this.enabled = enabled;
if (space != null) {
if (enabled && !added) {
if(spatial!=null){
setPhysicsLocation(getSpatialTranslation());
setPhysicsRotation(getSpatialRotation());
}
space.addCollisionObject(this);
added = true;
} else if (!enabled && added) {
space.removeCollisionObject(this);
added = false;
}
}
}
public boolean isEnabled() {
return enabled;
}
public void update(float tpf) {
if (enabled && spatial != null) {
if (getMotionState().applyTransform(spatial)) {
spatial.getWorldTransform();
applyWheelTransforms();
}
} else if (enabled) {
applyWheelTransforms();
}
}
@Override
protected Spatial getDebugShape() {
return super.getDebugShape();
}
public void render(RenderManager rm, ViewPort vp) {
if (enabled && space != null && space.getDebugManager() != null) {
if (debugShape == null) {
attachDebugShape(space.getDebugManager());
}
Node debugNode = (Node) debugShape;
debugShape.setLocalTranslation(spatial.getWorldTranslation());
debugShape.setLocalRotation(spatial.getWorldRotation());
int i = 0;
for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
VehicleWheel physicsVehicleWheel = it.next();
Vector3f location = physicsVehicleWheel.getLocation().clone();
Vector3f direction = physicsVehicleWheel.getDirection().clone();
Vector3f axle = physicsVehicleWheel.getAxle().clone();
float restLength = physicsVehicleWheel.getRestLength();
float radius = physicsVehicleWheel.getRadius();
Geometry locGeom = (Geometry) debugNode.getChild("WheelLocationDebugShape" + i);
Geometry dirGeom = (Geometry) debugNode.getChild("WheelDirectionDebugShape" + i);
Geometry axleGeom = (Geometry) debugNode.getChild("WheelAxleDebugShape" + i);
Geometry wheelGeom = (Geometry) debugNode.getChild("WheelRadiusDebugShape" + i);
Arrow locArrow = (Arrow) locGeom.getMesh();
locArrow.setArrowExtent(location);
Arrow axleArrow = (Arrow) axleGeom.getMesh();
axleArrow.setArrowExtent(axle.normalizeLocal().multLocal(0.3f));
Arrow wheelArrow = (Arrow) wheelGeom.getMesh();
wheelArrow.setArrowExtent(direction.normalizeLocal().multLocal(radius));
Arrow dirArrow = (Arrow) dirGeom.getMesh();
dirArrow.setArrowExtent(direction.normalizeLocal().multLocal(restLength));
dirGeom.setLocalTranslation(location);
axleGeom.setLocalTranslation(location.addLocal(direction));
wheelGeom.setLocalTranslation(location);
i++;
}
debugShape.updateLogicalState(0);
debugShape.updateGeometricState();
rm.renderScene(debugShape, vp);
}
}
public void setPhysicsSpace(PhysicsSpace space) {
createVehicle(space);
if (space == null) {
if (this.space != null) {
this.space.removeCollisionObject(this);
added = false;
}
} else {
if(this.space==space) return;
space.addCollisionObject(this);
added = true;
}
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(motionState.isApplyPhysicsLocal(), "applyLocalPhysics", false);
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);
motionState.setApplyPhysicsLocal(ic.readBoolean("applyLocalPhysics", false));
setUserObject(spatial);
}
}
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