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      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
      7  * met:
      8  *
      9  * * Redistributions of source code must retain the above copyright
     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
     24  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
     25  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
     26  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
     27  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
     28  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
     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 
     33 package jme3test.bullet;
     34 
     35 import com.jme3.app.SimpleApplication;
     36 import com.jme3.bullet.BulletAppState;
     37 import com.jme3.bullet.PhysicsSpace;
     38 import com.jme3.bullet.collision.shapes.BoxCollisionShape;
     39 import com.jme3.bullet.collision.shapes.CompoundCollisionShape;
     40 import com.jme3.bullet.control.VehicleControl;
     41 import com.jme3.input.KeyInput;
     42 import com.jme3.input.controls.ActionListener;
     43 import com.jme3.input.controls.KeyTrigger;
     44 import com.jme3.material.Material;
     45 import com.jme3.math.ColorRGBA;
     46 import com.jme3.math.FastMath;
     47 import com.jme3.math.Matrix3f;
     48 import com.jme3.math.Vector3f;
     49 import com.jme3.scene.Geometry;
     50 import com.jme3.scene.Node;
     51 import com.jme3.scene.shape.Cylinder;
     52 
     53 public 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