You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
245 lines
8.8 KiB
245 lines
8.8 KiB
/*
|
|
* 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 com.jme3.util.clone.Cloner;
|
|
import com.jme3.util.clone.JmeCloneable;
|
|
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, JmeCloneable {
|
|
|
|
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();
|
|
}
|
|
|
|
@Override
|
|
public Control cloneForSpatial(Spatial spatial) {
|
|
throw new UnsupportedOperationException("Not supported yet.");
|
|
}
|
|
|
|
@Override
|
|
public Object jmeClone() {
|
|
throw new UnsupportedOperationException("Not yet implemented.");
|
|
}
|
|
|
|
@Override
|
|
public void cloneFields( Cloner cloner, Object original ) {
|
|
throw new UnsupportedOperationException("Not yet implemented.");
|
|
}
|
|
|
|
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) {
|
|
}
|
|
|
|
public void setPhysicsSpace(PhysicsSpace space) {
|
|
createVehicle(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();
|
|
}
|
|
|
|
}
|
|
|