1/*
2 * Copyright (c) 2009-2010 jMonkeyEngine
3 * All rights reserved.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are
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10 *   notice, this list of conditions and the following disclaimer.
11 *
12 * * Redistributions in binary form must reproduce the above copyright
13 *   notice, this list of conditions and the following disclaimer in the
14 *   documentation and/or other materials provided with the distribution.
15 *
16 * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
17 *   may be used to endorse or promote products derived from this software
18 *   without specific prior written permission.
19 *
20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
22 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
23 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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29 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
30 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 */
32
33package jme3test.bullet;
34
35import com.jme3.app.SimpleApplication;
36import com.jme3.asset.TextureKey;
37import com.jme3.bullet.BulletAppState;
38import com.jme3.bullet.PhysicsSpace;
39import com.jme3.bullet.collision.shapes.BoxCollisionShape;
40import com.jme3.bullet.collision.shapes.CompoundCollisionShape;
41import com.jme3.bullet.collision.shapes.MeshCollisionShape;
42import com.jme3.bullet.control.RigidBodyControl;
43import com.jme3.bullet.control.VehicleControl;
44import com.jme3.bullet.joints.SliderJoint;
45import com.jme3.input.KeyInput;
46import com.jme3.input.controls.ActionListener;
47import com.jme3.input.controls.KeyTrigger;
48import com.jme3.material.Material;
49import com.jme3.math.*;
50import com.jme3.scene.Geometry;
51import com.jme3.scene.Node;
52import com.jme3.scene.shape.Box;
53import com.jme3.scene.shape.Cylinder;
54import com.jme3.texture.Texture;
55
56/**
57 * Tests attaching/detaching nodes via joints
58 * @author normenhansen
59 */
60public class TestAttachDriver extends SimpleApplication implements ActionListener {
61
62    private VehicleControl vehicle;
63    private RigidBodyControl driver;
64    private RigidBodyControl bridge;
65    private SliderJoint slider;
66    private final float accelerationForce = 1000.0f;
67    private final float brakeForce = 100.0f;
68    private float steeringValue = 0;
69    private float accelerationValue = 0;
70    private Vector3f jumpForce = new Vector3f(0, 3000, 0);
71    private BulletAppState bulletAppState;
72
73    public static void main(String[] args) {
74        TestAttachDriver app = new TestAttachDriver();
75        app.start();
76    }
77
78    @Override
79    public void simpleInitApp() {
80        bulletAppState = new BulletAppState();
81        stateManager.attach(bulletAppState);
82        bulletAppState.getPhysicsSpace().enableDebug(assetManager);
83        setupKeys();
84        setupFloor();
85        buildPlayer();
86    }
87
88    private PhysicsSpace getPhysicsSpace(){
89        return bulletAppState.getPhysicsSpace();
90    }
91
92    private void setupKeys() {
93        inputManager.addMapping("Lefts", new KeyTrigger(KeyInput.KEY_H));
94        inputManager.addMapping("Rights", new KeyTrigger(KeyInput.KEY_K));
95        inputManager.addMapping("Ups", new KeyTrigger(KeyInput.KEY_U));
96        inputManager.addMapping("Downs", new KeyTrigger(KeyInput.KEY_J));
97        inputManager.addMapping("Space", new KeyTrigger(KeyInput.KEY_SPACE));
98        inputManager.addMapping("Reset", new KeyTrigger(KeyInput.KEY_RETURN));
99        inputManager.addListener(this, "Lefts");
100        inputManager.addListener(this, "Rights");
101        inputManager.addListener(this, "Ups");
102        inputManager.addListener(this, "Downs");
103        inputManager.addListener(this, "Space");
104        inputManager.addListener(this, "Reset");
105    }
106
107    public void setupFloor() {
108        Material mat = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
109        TextureKey key = new TextureKey("Interface/Logo/Monkey.jpg", true);
110        key.setGenerateMips(true);
111        Texture tex = assetManager.loadTexture(key);
112        tex.setMinFilter(Texture.MinFilter.Trilinear);
113        mat.setTexture("ColorMap", tex);
114
115        Box floor = new Box(Vector3f.ZERO, 100, 1f, 100);
116        Geometry floorGeom = new Geometry("Floor", floor);
117        floorGeom.setMaterial(mat);
118        floorGeom.setLocalTranslation(new Vector3f(0f, -3, 0f));
119
120        floorGeom.addControl(new RigidBodyControl(new MeshCollisionShape(floorGeom.getMesh()), 0));
121        rootNode.attachChild(floorGeom);
122        getPhysicsSpace().add(floorGeom);
123    }
124
125    private void buildPlayer() {
126        Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
127        mat.getAdditionalRenderState().setWireframe(true);
128        mat.setColor("Color", ColorRGBA.Red);
129
130        //create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0
131        //this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0
132        CompoundCollisionShape compoundShape = new CompoundCollisionShape();
133        BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f));
134        compoundShape.addChildShape(box, new Vector3f(0, 1, 0));
135
136        //create vehicle node
137        Node vehicleNode=new Node("vehicleNode");
138        vehicle = new VehicleControl(compoundShape, 800);
139        vehicleNode.addControl(vehicle);
140
141        //setting suspension values for wheels, this can be a bit tricky
142        //see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
143        float stiffness = 60.0f;//200=f1 car
144        float compValue = .3f; //(should be lower than damp)
145        float dampValue = .4f;
146        vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
147        vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
148        vehicle.setSuspensionStiffness(stiffness);
149        vehicle.setMaxSuspensionForce(10000.0f);
150
151        //Create four wheels and add them at their locations
152        Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0
153        Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -1, 0, 0
154        float radius = 0.5f;
155        float restLength = 0.3f;
156        float yOff = 0.5f;
157        float xOff = 1f;
158        float zOff = 2f;
159
160        Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);
161
162        Node node1 = new Node("wheel 1 node");
163        Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
164        node1.attachChild(wheels1);
165        wheels1.rotate(0, FastMath.HALF_PI, 0);
166        wheels1.setMaterial(mat);
167        vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff),
168                wheelDirection, wheelAxle, restLength, radius, true);
169
170        Node node2 = new Node("wheel 2 node");
171        Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
172        node2.attachChild(wheels2);
173        wheels2.rotate(0, FastMath.HALF_PI, 0);
174        wheels2.setMaterial(mat);
175        vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff),
176                wheelDirection, wheelAxle, restLength, radius, true);
177
178        Node node3 = new Node("wheel 3 node");
179        Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
180        node3.attachChild(wheels3);
181        wheels3.rotate(0, FastMath.HALF_PI, 0);
182        wheels3.setMaterial(mat);
183        vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff),
184                wheelDirection, wheelAxle, restLength, radius, false);
185
186        Node node4 = new Node("wheel 4 node");
187        Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
188        node4.attachChild(wheels4);
189        wheels4.rotate(0, FastMath.HALF_PI, 0);
190        wheels4.setMaterial(mat);
191        vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff),
192                wheelDirection, wheelAxle, restLength, radius, false);
193
194        vehicleNode.attachChild(node1);
195        vehicleNode.attachChild(node2);
196        vehicleNode.attachChild(node3);
197        vehicleNode.attachChild(node4);
198
199        rootNode.attachChild(vehicleNode);
200        getPhysicsSpace().add(vehicle);
201
202        //driver
203        Node driverNode=new Node("driverNode");
204        driverNode.setLocalTranslation(0,2,0);
205        driver=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,.5f,0.2f)));
206        driverNode.addControl(driver);
207
208        rootNode.attachChild(driverNode);
209        getPhysicsSpace().add(driver);
210
211        //joint
212        slider=new SliderJoint(driver, vehicle, Vector3f.UNIT_Y.negate(), Vector3f.UNIT_Y, true);
213        slider.setUpperLinLimit(.1f);
214        slider.setLowerLinLimit(-.1f);
215
216        getPhysicsSpace().add(slider);
217
218        Node pole1Node=new Node("pole1Node");
219        Node pole2Node=new Node("pole1Node");
220        Node bridgeNode=new Node("pole1Node");
221        pole1Node.setLocalTranslation(new Vector3f(-2,-1,4));
222        pole2Node.setLocalTranslation(new Vector3f(2,-1,4));
223        bridgeNode.setLocalTranslation(new Vector3f(0,1.4f,4));
224
225        RigidBodyControl pole1=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,1.25f,0.2f)),0);
226        pole1Node.addControl(pole1);
227        RigidBodyControl pole2=new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f,1.25f,0.2f)),0);
228        pole2Node.addControl(pole2);
229        bridge=new RigidBodyControl(new BoxCollisionShape(new Vector3f(2.5f,0.2f,0.2f)));
230        bridgeNode.addControl(bridge);
231
232        rootNode.attachChild(pole1Node);
233        rootNode.attachChild(pole2Node);
234        rootNode.attachChild(bridgeNode);
235        getPhysicsSpace().add(pole1);
236        getPhysicsSpace().add(pole2);
237        getPhysicsSpace().add(bridge);
238
239    }
240
241    @Override
242    public void simpleUpdate(float tpf) {
243        Quaternion quat=new Quaternion();
244        cam.lookAt(vehicle.getPhysicsLocation(), Vector3f.UNIT_Y);
245    }
246
247    public void onAction(String binding, boolean value, float tpf) {
248        if (binding.equals("Lefts")) {
249            if (value) {
250                steeringValue += .5f;
251            } else {
252                steeringValue += -.5f;
253            }
254            vehicle.steer(steeringValue);
255        } else if (binding.equals("Rights")) {
256            if (value) {
257                steeringValue += -.5f;
258            } else {
259                steeringValue += .5f;
260            }
261            vehicle.steer(steeringValue);
262        } else if (binding.equals("Ups")) {
263            if (value) {
264                accelerationValue += accelerationForce;
265            } else {
266                accelerationValue -= accelerationForce;
267            }
268            vehicle.accelerate(accelerationValue);
269        } else if (binding.equals("Downs")) {
270            if (value) {
271                vehicle.brake(brakeForce);
272            } else {
273                vehicle.brake(0f);
274            }
275        } else if (binding.equals("Space")) {
276            if (value) {
277                getPhysicsSpace().remove(slider);
278                slider.destroy();
279                vehicle.applyImpulse(jumpForce, Vector3f.ZERO);
280            }
281        } else if (binding.equals("Reset")) {
282            if (value) {
283                System.out.println("Reset");
284                vehicle.setPhysicsLocation(new Vector3f(0, 0, 0));
285                vehicle.setPhysicsRotation(new Matrix3f());
286                vehicle.setLinearVelocity(Vector3f.ZERO);
287                vehicle.setAngularVelocity(Vector3f.ZERO);
288                vehicle.resetSuspension();
289                bridge.setPhysicsLocation(new Vector3f(0,1.4f,4));
290                bridge.setPhysicsRotation(Quaternion.DIRECTION_Z.toRotationMatrix());
291            }
292        }
293    }
294}
295