1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
|
/*
* 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
* 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.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 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 {
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();
}
public Control cloneForSpatial(Spatial spatial) {
throw new UnsupportedOperationException("Not supported yet.");
}
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) {
if (enabled && space != null && space.getDebugManager() != null) {
if (debugShape == null) {
attachDebugShape(space.getDebugManager());
}
debugShape.setLocalTranslation(motionState.getWorldLocation());
debugShape.setLocalRotation(motionState.getWorldRotation());
debugShape.updateLogicalState(0);
debugShape.updateGeometricState();
rm.renderScene(debugShape, vp);
}
}
public void setPhysicsSpace(PhysicsSpace 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();
}
}
|
