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510 lines
19 KiB
510 lines
19 KiB
/*
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* Copyright (c) 2009-2012 jMonkeyEngine
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package com.jme3.bullet.objects;
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import com.bulletphysics.collision.dispatch.CollisionObject;
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import com.bulletphysics.dynamics.vehicle.*;
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import com.jme3.bullet.PhysicsSpace;
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import com.jme3.bullet.collision.shapes.CollisionShape;
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import com.jme3.bullet.util.Converter;
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import com.jme3.export.InputCapsule;
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import com.jme3.export.JmeExporter;
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import com.jme3.export.JmeImporter;
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import com.jme3.export.OutputCapsule;
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import com.jme3.math.Vector3f;
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import com.jme3.scene.Geometry;
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import com.jme3.scene.Node;
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import com.jme3.scene.Spatial;
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import com.jme3.scene.debug.Arrow;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.Iterator;
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/**
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* <p>PhysicsVehicleNode - Special PhysicsNode that implements vehicle functions</p>
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* <p>
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* <i>From bullet manual:</i><br>
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* For most vehicle simulations, it is recommended to use the simplified Bullet
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* vehicle model as provided in btRaycastVehicle. Instead of simulation each wheel
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* and chassis as separate rigid bodies, connected by constraints, it uses a simplified model.
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* This simplified model has many benefits, and is widely used in commercial driving games.<br>
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* The entire vehicle is represented as a single rigidbody, the chassis.
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* The collision detection of the wheels is approximated by ray casts,
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* and the tire friction is a basic anisotropic friction model.
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* </p>
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* @author normenhansen
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*/
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public class PhysicsVehicle extends PhysicsRigidBody {
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protected RaycastVehicle vehicle;
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protected VehicleTuning tuning;
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protected VehicleRaycaster rayCaster;
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protected ArrayList<VehicleWheel> wheels = new ArrayList<VehicleWheel>();
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protected PhysicsSpace physicsSpace;
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public PhysicsVehicle() {
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}
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public PhysicsVehicle(CollisionShape shape) {
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super(shape);
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}
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public PhysicsVehicle(CollisionShape shape, float mass) {
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super(shape, mass);
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}
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/**
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* used internally
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*/
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public void updateWheels() {
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if (vehicle != null) {
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for (int i = 0; i < wheels.size(); i++) {
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vehicle.updateWheelTransform(i, true);
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wheels.get(i).updatePhysicsState();
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}
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}
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}
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/**
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* used internally
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*/
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public void applyWheelTransforms() {
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if (wheels != null) {
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for (int i = 0; i < wheels.size(); i++) {
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wheels.get(i).applyWheelTransform();
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}
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}
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}
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@Override
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protected void postRebuild() {
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super.postRebuild();
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if (tuning == null) {
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tuning = new VehicleTuning();
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}
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rBody.setActivationState(CollisionObject.DISABLE_DEACTIVATION);
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motionState.setVehicle(this);
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if (physicsSpace != null) {
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createVehicle(physicsSpace);
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}
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}
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/**
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* Used internally, creates the actual vehicle constraint when vehicle is added to phyicsspace
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*/
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public void createVehicle(PhysicsSpace space) {
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physicsSpace = space;
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if (space == null) {
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return;
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}
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rayCaster = new DefaultVehicleRaycaster(space.getDynamicsWorld());
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vehicle = new RaycastVehicle(tuning, rBody, rayCaster);
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vehicle.setCoordinateSystem(0, 1, 2);
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for (VehicleWheel wheel : wheels) {
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wheel.setWheelInfo(vehicle.addWheel(Converter.convert(wheel.getLocation()), Converter.convert(wheel.getDirection()), Converter.convert(wheel.getAxle()),
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wheel.getRestLength(), wheel.getRadius(), tuning, wheel.isFrontWheel()));
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}
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}
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/**
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* Add a wheel to this vehicle
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* @param connectionPoint The starting point of the ray, where the suspension connects to the chassis (chassis space)
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* @param direction the direction of the wheel (should be -Y / 0,-1,0 for a normal car)
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* @param axle The axis of the wheel, pointing right in vehicle direction (should be -X / -1,0,0 for a normal car)
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* @param suspensionRestLength The current length of the suspension (metres)
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* @param wheelRadius the wheel radius
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* @param isFrontWheel sets if this wheel is a front wheel (steering)
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* @return the PhysicsVehicleWheel object to get/set infos on the wheel
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*/
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public VehicleWheel addWheel(Vector3f connectionPoint, Vector3f direction, Vector3f axle, float suspensionRestLength, float wheelRadius, boolean isFrontWheel) {
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return addWheel(null, connectionPoint, direction, axle, suspensionRestLength, wheelRadius, isFrontWheel);
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}
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/**
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* Add a wheel to this vehicle
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* @param spat the wheel Geometry
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* @param connectionPoint The starting point of the ray, where the suspension connects to the chassis (chassis space)
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* @param direction the direction of the wheel (should be -Y / 0,-1,0 for a normal car)
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* @param axle The axis of the wheel, pointing right in vehicle direction (should be -X / -1,0,0 for a normal car)
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* @param suspensionRestLength The current length of the suspension (metres)
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* @param wheelRadius the wheel radius
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* @param isFrontWheel sets if this wheel is a front wheel (steering)
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* @return the PhysicsVehicleWheel object to get/set infos on the wheel
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*/
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public VehicleWheel addWheel(Spatial spat, Vector3f connectionPoint, Vector3f direction, Vector3f axle, float suspensionRestLength, float wheelRadius, boolean isFrontWheel) {
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VehicleWheel wheel = null;
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if (spat == null) {
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wheel = new VehicleWheel(connectionPoint, direction, axle, suspensionRestLength, wheelRadius, isFrontWheel);
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} else {
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wheel = new VehicleWheel(spat, connectionPoint, direction, axle, suspensionRestLength, wheelRadius, isFrontWheel);
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}
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if (vehicle != null) {
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WheelInfo info = vehicle.addWheel(Converter.convert(connectionPoint), Converter.convert(direction), Converter.convert(axle),
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suspensionRestLength, wheelRadius, tuning, isFrontWheel);
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wheel.setWheelInfo(info);
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}
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wheel.setFrictionSlip(tuning.frictionSlip);
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wheel.setMaxSuspensionTravelCm(tuning.maxSuspensionTravelCm);
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wheel.setSuspensionStiffness(tuning.suspensionStiffness);
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wheel.setWheelsDampingCompression(tuning.suspensionCompression);
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wheel.setWheelsDampingRelaxation(tuning.suspensionDamping);
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wheel.setMaxSuspensionForce(tuning.maxSuspensionForce);
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wheels.add(wheel);
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return wheel;
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}
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/**
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* This rebuilds the vehicle as there is no way in bullet to remove a wheel.
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* @param wheel
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*/
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public void removeWheel(int wheel) {
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wheels.remove(wheel);
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rebuildRigidBody();
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}
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/**
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* You can get access to the single wheels via this method.
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* @param wheel the wheel index
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* @return the WheelInfo of the selected wheel
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*/
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public VehicleWheel getWheel(int wheel) {
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return wheels.get(wheel);
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}
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public int getNumWheels() {
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return wheels.size();
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}
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/**
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* @return the frictionSlip
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*/
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public float getFrictionSlip() {
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return tuning.frictionSlip;
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}
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/**
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* Use before adding wheels, this is the default used when adding wheels.
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* After adding the wheel, use direct wheel access.<br>
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* The coefficient of friction between the tyre and the ground.
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* Should be about 0.8 for realistic cars, but can increased for better handling.
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* Set large (10000.0) for kart racers
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* @param frictionSlip the frictionSlip to set
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*/
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public void setFrictionSlip(float frictionSlip) {
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tuning.frictionSlip = frictionSlip;
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}
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/**
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* The coefficient of friction between the tyre and the ground.
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* Should be about 0.8 for realistic cars, but can increased for better handling.
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* Set large (10000.0) for kart racers
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* @param wheel
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* @param frictionSlip
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*/
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public void setFrictionSlip(int wheel, float frictionSlip) {
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wheels.get(wheel).setFrictionSlip(frictionSlip);
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}
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/**
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* Reduces the rolling torque applied from the wheels that cause the vehicle to roll over.
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* This is a bit of a hack, but it's quite effective. 0.0 = no roll, 1.0 = physical behaviour.
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* If m_frictionSlip is too high, you'll need to reduce this to stop the vehicle rolling over.
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* You should also try lowering the vehicle's centre of mass
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*/
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public void setRollInfluence(int wheel, float rollInfluence) {
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wheels.get(wheel).setRollInfluence(rollInfluence);
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}
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/**
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* @return the maxSuspensionTravelCm
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*/
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public float getMaxSuspensionTravelCm() {
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return tuning.maxSuspensionTravelCm;
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}
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/**
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* Use before adding wheels, this is the default used when adding wheels.
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* After adding the wheel, use direct wheel access.<br>
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* The maximum distance the suspension can be compressed (centimetres)
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* @param maxSuspensionTravelCm the maxSuspensionTravelCm to set
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*/
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public void setMaxSuspensionTravelCm(float maxSuspensionTravelCm) {
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tuning.maxSuspensionTravelCm = maxSuspensionTravelCm;
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}
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/**
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* The maximum distance the suspension can be compressed (centimetres)
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* @param wheel
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* @param maxSuspensionTravelCm
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*/
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public void setMaxSuspensionTravelCm(int wheel, float maxSuspensionTravelCm) {
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wheels.get(wheel).setMaxSuspensionTravelCm(maxSuspensionTravelCm);
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}
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public float getMaxSuspensionForce() {
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return tuning.maxSuspensionForce;
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}
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/**
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* This vaue caps the maximum suspension force, raise this above the default 6000 if your suspension cannot
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* handle the weight of your vehcile.
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* @param maxSuspensionForce
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*/
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public void setMaxSuspensionForce(float maxSuspensionForce) {
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tuning.maxSuspensionForce = maxSuspensionForce;
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}
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/**
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* This vaue caps the maximum suspension force, raise this above the default 6000 if your suspension cannot
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* handle the weight of your vehcile.
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* @param wheel
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* @param maxSuspensionForce
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*/
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public void setMaxSuspensionForce(int wheel, float maxSuspensionForce) {
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wheels.get(wheel).setMaxSuspensionForce(maxSuspensionForce);
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}
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/**
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* @return the suspensionCompression
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*/
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public float getSuspensionCompression() {
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return tuning.suspensionCompression;
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}
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/**
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* Use before adding wheels, this is the default used when adding wheels.
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* After adding the wheel, use direct wheel access.<br>
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* The damping coefficient for when the suspension is compressed.
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* Set to k * 2.0 * FastMath.sqrt(m_suspensionStiffness) so k is proportional to critical damping.<br>
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* k = 0.0 undamped & bouncy, k = 1.0 critical damping<br>
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* 0.1 to 0.3 are good values
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* @param suspensionCompression the suspensionCompression to set
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*/
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public void setSuspensionCompression(float suspensionCompression) {
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tuning.suspensionCompression = suspensionCompression;
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}
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/**
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* The damping coefficient for when the suspension is compressed.
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* Set to k * 2.0 * FastMath.sqrt(m_suspensionStiffness) so k is proportional to critical damping.<br>
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* k = 0.0 undamped & bouncy, k = 1.0 critical damping<br>
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* 0.1 to 0.3 are good values
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* @param wheel
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* @param suspensionCompression
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*/
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public void setSuspensionCompression(int wheel, float suspensionCompression) {
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wheels.get(wheel).setWheelsDampingCompression(suspensionCompression);
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}
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/**
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* @return the suspensionDamping
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*/
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public float getSuspensionDamping() {
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return tuning.suspensionDamping;
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}
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/**
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* Use before adding wheels, this is the default used when adding wheels.
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* After adding the wheel, use direct wheel access.<br>
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* The damping coefficient for when the suspension is expanding.
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* See the comments for setSuspensionCompression for how to set k.
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* @param suspensionDamping the suspensionDamping to set
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*/
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public void setSuspensionDamping(float suspensionDamping) {
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tuning.suspensionDamping = suspensionDamping;
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}
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/**
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* The damping coefficient for when the suspension is expanding.
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* See the comments for setSuspensionCompression for how to set k.
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* @param wheel
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* @param suspensionDamping
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*/
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public void setSuspensionDamping(int wheel, float suspensionDamping) {
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wheels.get(wheel).setWheelsDampingRelaxation(suspensionDamping);
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}
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/**
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* @return the suspensionStiffness
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*/
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public float getSuspensionStiffness() {
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return tuning.suspensionStiffness;
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}
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/**
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* Use before adding wheels, this is the default used when adding wheels.
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* After adding the wheel, use direct wheel access.<br>
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* The stiffness constant for the suspension. 10.0 - Offroad buggy, 50.0 - Sports car, 200.0 - F1 Car
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* @param suspensionStiffness
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*/
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public void setSuspensionStiffness(float suspensionStiffness) {
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tuning.suspensionStiffness = suspensionStiffness;
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}
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/**
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* The stiffness constant for the suspension. 10.0 - Offroad buggy, 50.0 - Sports car, 200.0 - F1 Car
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* @param wheel
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* @param suspensionStiffness
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*/
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public void setSuspensionStiffness(int wheel, float suspensionStiffness) {
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wheels.get(wheel).setSuspensionStiffness(suspensionStiffness);
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}
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/**
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* Reset the suspension
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*/
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public void resetSuspension() {
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vehicle.resetSuspension();
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}
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/**
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* Apply the given engine force to all wheels, works continuously
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* @param force the force
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*/
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public void accelerate(float force) {
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for (int i = 0; i < wheels.size(); i++) {
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vehicle.applyEngineForce(force, i);
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}
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}
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/**
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* Apply the given engine force, works continuously
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* @param wheel the wheel to apply the force on
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* @param force the force
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*/
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public void accelerate(int wheel, float force) {
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vehicle.applyEngineForce(force, wheel);
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}
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/**
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* Set the given steering value to all front wheels (0 = forward)
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* @param value the steering angle of the front wheels (Pi = 360deg)
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*/
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public void steer(float value) {
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for (int i = 0; i < wheels.size(); i++) {
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if (getWheel(i).isFrontWheel()) {
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vehicle.setSteeringValue(value, i);
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}
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}
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}
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/**
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* Set the given steering value to the given wheel (0 = forward)
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* @param wheel the wheel to set the steering on
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* @param value the steering angle of the front wheels (Pi = 360deg)
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*/
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public void steer(int wheel, float value) {
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vehicle.setSteeringValue(value, wheel);
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}
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/**
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* Apply the given brake force to all wheels, works continuously
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* @param force the force
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*/
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public void brake(float force) {
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for (int i = 0; i < wheels.size(); i++) {
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vehicle.setBrake(force, i);
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}
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}
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/**
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* Apply the given brake force, works continuously
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* @param wheel the wheel to apply the force on
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* @param force the force
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*/
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public void brake(int wheel, float force) {
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vehicle.setBrake(force, wheel);
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}
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/**
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* Get the current speed of the vehicle in km/h
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* @return
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*/
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public float getCurrentVehicleSpeedKmHour() {
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return vehicle.getCurrentSpeedKmHour();
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}
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/**
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* Get the current forward vector of the vehicle in world coordinates
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* @param vector The object to write the forward vector values to.
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* Passing null will cause a new {@link Vector3f} to be created.
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* @return The forward vector
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*/
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public Vector3f getForwardVector(Vector3f vector) {
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if (vector == null) {
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vector = new Vector3f();
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}
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vehicle.getForwardVector(tempVec);
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Converter.convert(tempVec, vector);
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return vector;
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}
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/**
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* used internally
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*/
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public RaycastVehicle getVehicleId() {
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return vehicle;
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}
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@Override
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public void destroy() {
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super.destroy();
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}
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@Override
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public void read(JmeImporter im) throws IOException {
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InputCapsule capsule = im.getCapsule(this);
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tuning = new VehicleTuning();
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tuning.frictionSlip = capsule.readFloat("frictionSlip", 10.5f);
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tuning.maxSuspensionTravelCm = capsule.readFloat("maxSuspensionTravelCm", 500f);
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tuning.maxSuspensionForce = capsule.readFloat("maxSuspensionForce", 6000f);
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tuning.suspensionCompression = capsule.readFloat("suspensionCompression", 0.83f);
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tuning.suspensionDamping = capsule.readFloat("suspensionDamping", 0.88f);
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tuning.suspensionStiffness = capsule.readFloat("suspensionStiffness", 5.88f);
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wheels = capsule.readSavableArrayList("wheelsList", new ArrayList<VehicleWheel>());
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motionState.setVehicle(this);
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super.read(im);
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}
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@Override
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public void write(JmeExporter ex) throws IOException {
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OutputCapsule capsule = ex.getCapsule(this);
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capsule.write(tuning.frictionSlip, "frictionSlip", 10.5f);
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capsule.write(tuning.maxSuspensionTravelCm, "maxSuspensionTravelCm", 500f);
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capsule.write(tuning.maxSuspensionForce, "maxSuspensionForce", 6000f);
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capsule.write(tuning.suspensionCompression, "suspensionCompression", 0.83f);
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capsule.write(tuning.suspensionDamping, "suspensionDamping", 0.88f);
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capsule.write(tuning.suspensionStiffness, "suspensionStiffness", 5.88f);
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capsule.writeSavableArrayList(wheels, "wheelsList", new ArrayList<VehicleWheel>());
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super.write(ex);
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}
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}
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