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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 package com.jme3.bullet.objects;
     33 
     34 import com.bulletphysics.collision.dispatch.CollisionFlags;
     35 import com.bulletphysics.collision.dispatch.PairCachingGhostObject;
     36 import com.bulletphysics.collision.shapes.ConvexShape;
     37 import com.bulletphysics.dynamics.character.KinematicCharacterController;
     38 import com.bulletphysics.linearmath.Transform;
     39 import com.jme3.bullet.collision.PhysicsCollisionObject;
     40 import com.jme3.bullet.collision.shapes.CollisionShape;
     41 import com.jme3.bullet.util.Converter;
     42 import com.jme3.export.InputCapsule;
     43 import com.jme3.export.JmeExporter;
     44 import com.jme3.export.JmeImporter;
     45 import com.jme3.export.OutputCapsule;
     46 import com.jme3.math.Matrix3f;
     47 import com.jme3.math.Quaternion;
     48 import com.jme3.math.Vector3f;
     49 import java.io.IOException;
     50 
     51 /**
     52  * Basic Bullet Character
     53  * @author normenhansen
     54  */
     55 public class PhysicsCharacter extends PhysicsCollisionObject {
     56 
     57     protected KinematicCharacterController character;
     58     protected float stepHeight;
     59     protected Vector3f walkDirection = new Vector3f();
     60     protected float fallSpeed = 55.0f;
     61     protected float jumpSpeed = 10.0f;
     62     protected int upAxis = 1;
     63     protected PairCachingGhostObject gObject;
     64     protected boolean locationDirty = false;
     65     //TEMP VARIABLES
     66     protected final Quaternion tmp_inverseWorldRotation = new Quaternion();
     67     private Transform tempTrans = new Transform(Converter.convert(new Matrix3f()));
     68     private com.jme3.math.Transform physicsLocation = new com.jme3.math.Transform();
     69     private javax.vecmath.Vector3f tempVec = new javax.vecmath.Vector3f();
     70 
     71     public PhysicsCharacter() {
     72     }
     73 
     74     /**
     75      * @param shape The CollisionShape (no Mesh or CompoundCollisionShapes)
     76      * @param stepHeight The quantization size for vertical movement
     77      */
     78     public PhysicsCharacter(CollisionShape shape, float stepHeight) {
     79         this.collisionShape = shape;
     80         if (!(shape.getCShape() instanceof ConvexShape)) {
     81             throw (new UnsupportedOperationException("Kinematic character nodes cannot have mesh collision shapes"));
     82         }
     83         this.stepHeight = stepHeight;
     84         buildObject();
     85     }
     86 
     87     protected void buildObject() {
     88         if (gObject == null) {
     89             gObject = new PairCachingGhostObject();
     90         }
     91         gObject.setCollisionFlags(CollisionFlags.CHARACTER_OBJECT);
     92         gObject.setCollisionFlags(gObject.getCollisionFlags() & ~CollisionFlags.NO_CONTACT_RESPONSE);
     93         gObject.setCollisionShape(collisionShape.getCShape());
     94         gObject.setUserPointer(this);
     95         character = new KinematicCharacterController(gObject, (ConvexShape) collisionShape.getCShape(), stepHeight);
     96     }
     97 
     98     /**
     99      * Sets the location of this physics character
    100      * @param location
    101      */
    102     public void warp(Vector3f location) {
    103         character.warp(Converter.convert(location, tempVec));
    104     }
    105 
    106     /**
    107      * Set the walk direction, works continuously.
    108      * This should probably be called setPositionIncrementPerSimulatorStep.
    109      * This is neither a direction nor a velocity, but the amount to
    110      * increment the position each physics tick. So vector length = accuracy*speed in m/s
    111      * @param vec the walk direction to set
    112      */
    113     public void setWalkDirection(Vector3f vec) {
    114         walkDirection.set(vec);
    115         character.setWalkDirection(Converter.convert(walkDirection, tempVec));
    116     }
    117 
    118     /**
    119      * @return the currently set walkDirection
    120      */
    121     public Vector3f getWalkDirection() {
    122         return walkDirection;
    123     }
    124 
    125     public void setUpAxis(int axis) {
    126         upAxis = axis;
    127         character.setUpAxis(axis);
    128     }
    129 
    130     public int getUpAxis() {
    131         return upAxis;
    132     }
    133 
    134     public void setFallSpeed(float fallSpeed) {
    135         this.fallSpeed = fallSpeed;
    136         character.setFallSpeed(fallSpeed);
    137     }
    138 
    139     public float getFallSpeed() {
    140         return fallSpeed;
    141     }
    142 
    143     public void setJumpSpeed(float jumpSpeed) {
    144         this.jumpSpeed = jumpSpeed;
    145         character.setJumpSpeed(jumpSpeed);
    146     }
    147 
    148     public float getJumpSpeed() {
    149         return jumpSpeed;
    150     }
    151 
    152     //does nothing..
    153 //    public void setMaxJumpHeight(float height) {
    154 //        character.setMaxJumpHeight(height);
    155 //    }
    156     public void setGravity(float value) {
    157         character.setGravity(value);
    158     }
    159 
    160     public float getGravity() {
    161         return character.getGravity();
    162     }
    163 
    164     public void setMaxSlope(float slopeRadians) {
    165         character.setMaxSlope(slopeRadians);
    166     }
    167 
    168     public float getMaxSlope() {
    169         return character.getMaxSlope();
    170     }
    171 
    172     public boolean onGround() {
    173         return character.onGround();
    174     }
    175 
    176     public void jump() {
    177         character.jump();
    178     }
    179 
    180     @Override
    181     public void setCollisionShape(CollisionShape collisionShape) {
    182         if (!(collisionShape.getCShape() instanceof ConvexShape)) {
    183             throw (new UnsupportedOperationException("Kinematic character nodes cannot have mesh collision shapes"));
    184         }
    185         super.setCollisionShape(collisionShape);
    186         if (gObject == null) {
    187             buildObject();
    188         }else{
    189             gObject.setCollisionShape(collisionShape.getCShape());
    190         }
    191     }
    192 
    193     /**
    194      * Set the physics location (same as warp())
    195      * @param location the location of the actual physics object
    196      */
    197     public void setPhysicsLocation(Vector3f location) {
    198         warp(location);
    199     }
    200 
    201     /**
    202      * @return the physicsLocation
    203      */
    204     public Vector3f getPhysicsLocation(Vector3f trans) {
    205         if (trans == null) {
    206             trans = new Vector3f();
    207         }
    208         gObject.getWorldTransform(tempTrans);
    209         Converter.convert(tempTrans.origin, physicsLocation.getTranslation());
    210         return trans.set(physicsLocation.getTranslation());
    211     }
    212 
    213     /**
    214      * @return the physicsLocation
    215      */
    216     public Vector3f getPhysicsLocation() {
    217         gObject.getWorldTransform(tempTrans);
    218         Converter.convert(tempTrans.origin, physicsLocation.getTranslation());
    219         return physicsLocation.getTranslation();
    220     }
    221 
    222     public void setCcdSweptSphereRadius(float radius) {
    223         gObject.setCcdSweptSphereRadius(radius);
    224     }
    225 
    226     public void setCcdMotionThreshold(float threshold) {
    227         gObject.setCcdMotionThreshold(threshold);
    228     }
    229 
    230     public float getCcdSweptSphereRadius() {
    231         return gObject.getCcdSweptSphereRadius();
    232     }
    233 
    234     public float getCcdMotionThreshold() {
    235         return gObject.getCcdMotionThreshold();
    236     }
    237 
    238     public float getCcdSquareMotionThreshold() {
    239         return gObject.getCcdSquareMotionThreshold();
    240     }
    241 
    242     /**
    243      * used internally
    244      */
    245     public KinematicCharacterController getControllerId() {
    246         return character;
    247     }
    248 
    249     /**
    250      * used internally
    251      */
    252     public PairCachingGhostObject getObjectId() {
    253         return gObject;
    254     }
    255 
    256     public void destroy() {
    257     }
    258 
    259     @Override
    260     public void write(JmeExporter e) throws IOException {
    261         super.write(e);
    262         OutputCapsule capsule = e.getCapsule(this);
    263         capsule.write(stepHeight, "stepHeight", 1.0f);
    264         capsule.write(getGravity(), "gravity", 9.8f * 3);
    265         capsule.write(getMaxSlope(), "maxSlope", 1.0f);
    266         capsule.write(fallSpeed, "fallSpeed", 55.0f);
    267         capsule.write(jumpSpeed, "jumpSpeed", 10.0f);
    268         capsule.write(upAxis, "upAxis", 1);
    269         capsule.write(getCcdMotionThreshold(), "ccdMotionThreshold", 0);
    270         capsule.write(getCcdSweptSphereRadius(), "ccdSweptSphereRadius", 0);
    271         capsule.write(getPhysicsLocation(new Vector3f()), "physicsLocation", new Vector3f());
    272     }
    273 
    274     @Override
    275     public void read(JmeImporter e) throws IOException {
    276         super.read(e);
    277         InputCapsule capsule = e.getCapsule(this);
    278         stepHeight = capsule.readFloat("stepHeight", 1.0f);
    279         buildObject();
    280         character = new KinematicCharacterController(gObject, (ConvexShape) collisionShape.getCShape(), stepHeight);
    281         setGravity(capsule.readFloat("gravity", 9.8f * 3));
    282         setMaxSlope(capsule.readFloat("maxSlope", 1.0f));
    283         setFallSpeed(capsule.readFloat("fallSpeed", 55.0f));
    284         setJumpSpeed(capsule.readFloat("jumpSpeed", 10.0f));
    285         setUpAxis(capsule.readInt("upAxis", 1));
    286         setCcdMotionThreshold(capsule.readFloat("ccdMotionThreshold", 0));
    287         setCcdSweptSphereRadius(capsule.readFloat("ccdSweptSphereRadius", 0));
    288         setPhysicsLocation((Vector3f) capsule.readSavable("physicsLocation", new Vector3f()));
    289     }
    290 }
    291