1/*
2 * Copyright (c) 2009-2010 jMonkeyEngine
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31 */
32
33package jme3test.bullet;
34
35import com.jme3.app.SimpleApplication;
36import com.jme3.bullet.BulletAppState;
37import com.jme3.bullet.PhysicsSpace;
38import com.jme3.bullet.collision.shapes.BoxCollisionShape;
39import com.jme3.bullet.collision.shapes.CompoundCollisionShape;
40import com.jme3.bullet.control.VehicleControl;
41import com.jme3.input.KeyInput;
42import com.jme3.input.controls.ActionListener;
43import com.jme3.input.controls.KeyTrigger;
44import com.jme3.material.Material;
45import com.jme3.math.ColorRGBA;
46import com.jme3.math.FastMath;
47import com.jme3.math.Matrix3f;
48import com.jme3.math.Vector3f;
49import com.jme3.scene.Geometry;
50import com.jme3.scene.Node;
51import com.jme3.scene.shape.Cylinder;
52
53public class TestPhysicsCar extends SimpleApplication implements ActionListener {
54
55    private BulletAppState bulletAppState;
56    private VehicleControl vehicle;
57    private final float accelerationForce = 1000.0f;
58    private final float brakeForce = 100.0f;
59    private float steeringValue = 0;
60    private float accelerationValue = 0;
61    private Vector3f jumpForce = new Vector3f(0, 3000, 0);
62
63    public static void main(String[] args) {
64        TestPhysicsCar app = new TestPhysicsCar();
65        app.start();
66    }
67
68    @Override
69    public void simpleInitApp() {
70        bulletAppState = new BulletAppState();
71        stateManager.attach(bulletAppState);
72        bulletAppState.getPhysicsSpace().enableDebug(assetManager);
73        PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
74        setupKeys();
75        buildPlayer();
76    }
77
78    private PhysicsSpace getPhysicsSpace(){
79        return bulletAppState.getPhysicsSpace();
80    }
81
82    private void setupKeys() {
83        inputManager.addMapping("Lefts", new KeyTrigger(KeyInput.KEY_H));
84        inputManager.addMapping("Rights", new KeyTrigger(KeyInput.KEY_K));
85        inputManager.addMapping("Ups", new KeyTrigger(KeyInput.KEY_U));
86        inputManager.addMapping("Downs", new KeyTrigger(KeyInput.KEY_J));
87        inputManager.addMapping("Space", new KeyTrigger(KeyInput.KEY_SPACE));
88        inputManager.addMapping("Reset", new KeyTrigger(KeyInput.KEY_RETURN));
89        inputManager.addListener(this, "Lefts");
90        inputManager.addListener(this, "Rights");
91        inputManager.addListener(this, "Ups");
92        inputManager.addListener(this, "Downs");
93        inputManager.addListener(this, "Space");
94        inputManager.addListener(this, "Reset");
95    }
96
97    private void buildPlayer() {
98        Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
99        mat.getAdditionalRenderState().setWireframe(true);
100        mat.setColor("Color", ColorRGBA.Red);
101
102        //create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0
103        //this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0
104        CompoundCollisionShape compoundShape = new CompoundCollisionShape();
105        BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f));
106        compoundShape.addChildShape(box, new Vector3f(0, 1, 0));
107
108        //create vehicle node
109        Node vehicleNode=new Node("vehicleNode");
110        vehicle = new VehicleControl(compoundShape, 400);
111        vehicleNode.addControl(vehicle);
112
113        //setting suspension values for wheels, this can be a bit tricky
114        //see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
115        float stiffness = 60.0f;//200=f1 car
116        float compValue = .3f; //(should be lower than damp)
117        float dampValue = .4f;
118        vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
119        vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
120        vehicle.setSuspensionStiffness(stiffness);
121        vehicle.setMaxSuspensionForce(10000.0f);
122
123        //Create four wheels and add them at their locations
124        Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0
125        Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -1, 0, 0
126        float radius = 0.5f;
127        float restLength = 0.3f;
128        float yOff = 0.5f;
129        float xOff = 1f;
130        float zOff = 2f;
131
132        Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);
133
134        Node node1 = new Node("wheel 1 node");
135        Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
136        node1.attachChild(wheels1);
137        wheels1.rotate(0, FastMath.HALF_PI, 0);
138        wheels1.setMaterial(mat);
139        vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff),
140                wheelDirection, wheelAxle, restLength, radius, true);
141
142        Node node2 = new Node("wheel 2 node");
143        Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
144        node2.attachChild(wheels2);
145        wheels2.rotate(0, FastMath.HALF_PI, 0);
146        wheels2.setMaterial(mat);
147        vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff),
148                wheelDirection, wheelAxle, restLength, radius, true);
149
150        Node node3 = new Node("wheel 3 node");
151        Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
152        node3.attachChild(wheels3);
153        wheels3.rotate(0, FastMath.HALF_PI, 0);
154        wheels3.setMaterial(mat);
155        vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff),
156                wheelDirection, wheelAxle, restLength, radius, false);
157
158        Node node4 = new Node("wheel 4 node");
159        Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
160        node4.attachChild(wheels4);
161        wheels4.rotate(0, FastMath.HALF_PI, 0);
162        wheels4.setMaterial(mat);
163        vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff),
164                wheelDirection, wheelAxle, restLength, radius, false);
165
166        vehicleNode.attachChild(node1);
167        vehicleNode.attachChild(node2);
168        vehicleNode.attachChild(node3);
169        vehicleNode.attachChild(node4);
170        rootNode.attachChild(vehicleNode);
171
172        getPhysicsSpace().add(vehicle);
173    }
174
175    @Override
176    public void simpleUpdate(float tpf) {
177        cam.lookAt(vehicle.getPhysicsLocation(), Vector3f.UNIT_Y);
178    }
179
180    public void onAction(String binding, boolean value, float tpf) {
181        if (binding.equals("Lefts")) {
182            if (value) {
183                steeringValue += .5f;
184            } else {
185                steeringValue += -.5f;
186            }
187            vehicle.steer(steeringValue);
188        } else if (binding.equals("Rights")) {
189            if (value) {
190                steeringValue += -.5f;
191            } else {
192                steeringValue += .5f;
193            }
194            vehicle.steer(steeringValue);
195        } else if (binding.equals("Ups")) {
196            if (value) {
197                accelerationValue += accelerationForce;
198            } else {
199                accelerationValue -= accelerationForce;
200            }
201            vehicle.accelerate(accelerationValue);
202        } else if (binding.equals("Downs")) {
203            if (value) {
204                vehicle.brake(brakeForce);
205            } else {
206                vehicle.brake(0f);
207            }
208        } else if (binding.equals("Space")) {
209            if (value) {
210                vehicle.applyImpulse(jumpForce, Vector3f.ZERO);
211            }
212        } else if (binding.equals("Reset")) {
213            if (value) {
214                System.out.println("Reset");
215                vehicle.setPhysicsLocation(Vector3f.ZERO);
216                vehicle.setPhysicsRotation(new Matrix3f());
217                vehicle.setLinearVelocity(Vector3f.ZERO);
218                vehicle.setAngularVelocity(Vector3f.ZERO);
219                vehicle.resetSuspension();
220            } else {
221            }
222        }
223    }
224}
225