engine/src/test/jme3test/bullet/TestPhysicsCar.java - platform/external/jmonkeyengine - Git at Google

 /*
  * Copyright (c) 2009-2010 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.app.SimpleApplication;
 import com.jme3.bullet.BulletAppState;
 import com.jme3.bullet.PhysicsSpace;
 import com.jme3.bullet.collision.shapes.BoxCollisionShape;
 import com.jme3.bullet.collision.shapes.CompoundCollisionShape;
 import com.jme3.bullet.control.VehicleControl;
 import com.jme3.input.KeyInput;
 import com.jme3.input.controls.ActionListener;
 import com.jme3.input.controls.KeyTrigger;
 import com.jme3.material.Material;
 import com.jme3.math.ColorRGBA;
 import com.jme3.math.FastMath;
 import com.jme3.math.Matrix3f;
 import com.jme3.math.Vector3f;
 import com.jme3.scene.Geometry;
 import com.jme3.scene.Node;
 import com.jme3.scene.shape.Cylinder;

 public class TestPhysicsCar extends SimpleApplication implements ActionListener {

     private BulletAppState bulletAppState;
     private VehicleControl vehicle;
     private final float accelerationForce = 1000.0f;
     private final float brakeForce = 100.0f;
     private float steeringValue = 0;
     private float accelerationValue = 0;
     private Vector3f jumpForce = new Vector3f(0, 3000, 0);

     public static void main(String[] args) {
         TestPhysicsCar app = new TestPhysicsCar();
         app.start();
     }

     @Override
     public void simpleInitApp() {
         bulletAppState = new BulletAppState();
         stateManager.attach(bulletAppState);
         bulletAppState.getPhysicsSpace().enableDebug(assetManager);
         PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
         setupKeys();
         buildPlayer();
     }

     private PhysicsSpace getPhysicsSpace(){
         return bulletAppState.getPhysicsSpace();
     }

     private void setupKeys() {
         inputManager.addMapping("Lefts", new KeyTrigger(KeyInput.KEY_H));
         inputManager.addMapping("Rights", new KeyTrigger(KeyInput.KEY_K));
         inputManager.addMapping("Ups", new KeyTrigger(KeyInput.KEY_U));
         inputManager.addMapping("Downs", new KeyTrigger(KeyInput.KEY_J));
         inputManager.addMapping("Space", new KeyTrigger(KeyInput.KEY_SPACE));
         inputManager.addMapping("Reset", new KeyTrigger(KeyInput.KEY_RETURN));
         inputManager.addListener(this, "Lefts");
         inputManager.addListener(this, "Rights");
         inputManager.addListener(this, "Ups");
         inputManager.addListener(this, "Downs");
         inputManager.addListener(this, "Space");
         inputManager.addListener(this, "Reset");
     }

     private void buildPlayer() {
         Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
         mat.getAdditionalRenderState().setWireframe(true);
         mat.setColor("Color", ColorRGBA.Red);

         //create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0
         //this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0
         CompoundCollisionShape compoundShape = new CompoundCollisionShape();
         BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f));
         compoundShape.addChildShape(box, new Vector3f(0, 1, 0));

         //create vehicle node
         Node vehicleNode=new Node("vehicleNode");
         vehicle = new VehicleControl(compoundShape, 400);
         vehicleNode.addControl(vehicle);

         //setting suspension values for wheels, this can be a bit tricky
         //see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
         float stiffness = 60.0f;//200=f1 car
         float compValue = .3f; //(should be lower than damp)
         float dampValue = .4f;
         vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
         vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
         vehicle.setSuspensionStiffness(stiffness);
         vehicle.setMaxSuspensionForce(10000.0f);

         //Create four wheels and add them at their locations
         Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0
         Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -1, 0, 0
         float radius = 0.5f;
         float restLength = 0.3f;
         float yOff = 0.5f;
         float xOff = 1f;
         float zOff = 2f;

         Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);

         Node node1 = new Node("wheel 1 node");
         Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
         node1.attachChild(wheels1);
         wheels1.rotate(0, FastMath.HALF_PI, 0);
         wheels1.setMaterial(mat);
         vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff),
                 wheelDirection, wheelAxle, restLength, radius, true);

         Node node2 = new Node("wheel 2 node");
         Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
         node2.attachChild(wheels2);
         wheels2.rotate(0, FastMath.HALF_PI, 0);
         wheels2.setMaterial(mat);
         vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff),
                 wheelDirection, wheelAxle, restLength, radius, true);

         Node node3 = new Node("wheel 3 node");
         Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
         node3.attachChild(wheels3);
         wheels3.rotate(0, FastMath.HALF_PI, 0);
         wheels3.setMaterial(mat);
         vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff),
                 wheelDirection, wheelAxle, restLength, radius, false);

         Node node4 = new Node("wheel 4 node");
         Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
         node4.attachChild(wheels4);
         wheels4.rotate(0, FastMath.HALF_PI, 0);
         wheels4.setMaterial(mat);
         vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff),
                 wheelDirection, wheelAxle, restLength, radius, false);

         vehicleNode.attachChild(node1);
         vehicleNode.attachChild(node2);
         vehicleNode.attachChild(node3);
         vehicleNode.attachChild(node4);
         rootNode.attachChild(vehicleNode);

         getPhysicsSpace().add(vehicle);
     }

     @Override
     public void simpleUpdate(float tpf) {
         cam.lookAt(vehicle.getPhysicsLocation(), Vector3f.UNIT_Y);
     }

     public void onAction(String binding, boolean value, float tpf) {
         if (binding.equals("Lefts")) {
             if (value) {
                 steeringValue += .5f;
             } else {
                 steeringValue += -.5f;
             }
             vehicle.steer(steeringValue);
         } else if (binding.equals("Rights")) {
             if (value) {
                 steeringValue += -.5f;
             } else {
                 steeringValue += .5f;
             }
             vehicle.steer(steeringValue);
         } else if (binding.equals("Ups")) {
             if (value) {
                 accelerationValue += accelerationForce;
             } else {
                 accelerationValue -= accelerationForce;
             }
             vehicle.accelerate(accelerationValue);
         } else if (binding.equals("Downs")) {
             if (value) {
                 vehicle.brake(brakeForce);
             } else {
                 vehicle.brake(0f);
             }
         } else if (binding.equals("Space")) {
             if (value) {
                 vehicle.applyImpulse(jumpForce, Vector3f.ZERO);
             }
         } else if (binding.equals("Reset")) {
             if (value) {
                 System.out.println("Reset");
                 vehicle.setPhysicsLocation(Vector3f.ZERO);
                 vehicle.setPhysicsRotation(new Matrix3f());
                 vehicle.setLinearVelocity(Vector3f.ZERO);
                 vehicle.setAngularVelocity(Vector3f.ZERO);
                 vehicle.resetSuspension();
             } else {
             }
         }
     }
 }
	/*
	* Copyright (c) 2009-2010 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.app.SimpleApplication;
	import com.jme3.bullet.BulletAppState;
	import com.jme3.bullet.PhysicsSpace;
	import com.jme3.bullet.collision.shapes.BoxCollisionShape;
	import com.jme3.bullet.collision.shapes.CompoundCollisionShape;
	import com.jme3.bullet.control.VehicleControl;
	import com.jme3.input.KeyInput;
	import com.jme3.input.controls.ActionListener;
	import com.jme3.input.controls.KeyTrigger;
	import com.jme3.material.Material;
	import com.jme3.math.ColorRGBA;
	import com.jme3.math.FastMath;
	import com.jme3.math.Matrix3f;
	import com.jme3.math.Vector3f;
	import com.jme3.scene.Geometry;
	import com.jme3.scene.Node;
	import com.jme3.scene.shape.Cylinder;

	public class TestPhysicsCar extends SimpleApplication implements ActionListener {

	private BulletAppState bulletAppState;
	private VehicleControl vehicle;
	private final float accelerationForce = 1000.0f;
	private final float brakeForce = 100.0f;
	private float steeringValue = 0;
	private float accelerationValue = 0;
	private Vector3f jumpForce = new Vector3f(0, 3000, 0);

	public static void main(String[] args) {
	TestPhysicsCar app = new TestPhysicsCar();
	app.start();
	}

	@Override
	public void simpleInitApp() {
	bulletAppState = new BulletAppState();
	stateManager.attach(bulletAppState);
	bulletAppState.getPhysicsSpace().enableDebug(assetManager);
	PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
	setupKeys();
	buildPlayer();
	}

	private PhysicsSpace getPhysicsSpace(){
	return bulletAppState.getPhysicsSpace();
	}

	private void setupKeys() {
	inputManager.addMapping("Lefts", new KeyTrigger(KeyInput.KEY_H));
	inputManager.addMapping("Rights", new KeyTrigger(KeyInput.KEY_K));
	inputManager.addMapping("Ups", new KeyTrigger(KeyInput.KEY_U));
	inputManager.addMapping("Downs", new KeyTrigger(KeyInput.KEY_J));
	inputManager.addMapping("Space", new KeyTrigger(KeyInput.KEY_SPACE));
	inputManager.addMapping("Reset", new KeyTrigger(KeyInput.KEY_RETURN));
	inputManager.addListener(this, "Lefts");
	inputManager.addListener(this, "Rights");
	inputManager.addListener(this, "Ups");
	inputManager.addListener(this, "Downs");
	inputManager.addListener(this, "Space");
	inputManager.addListener(this, "Reset");
	}

	private void buildPlayer() {
	Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
	mat.getAdditionalRenderState().setWireframe(true);
	mat.setColor("Color", ColorRGBA.Red);

	//create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0
	//this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0
	CompoundCollisionShape compoundShape = new CompoundCollisionShape();
	BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f));
	compoundShape.addChildShape(box, new Vector3f(0, 1, 0));

	//create vehicle node
	Node vehicleNode=new Node("vehicleNode");
	vehicle = new VehicleControl(compoundShape, 400);
	vehicleNode.addControl(vehicle);

	//setting suspension values for wheels, this can be a bit tricky
	//see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
	float stiffness = 60.0f;//200=f1 car
	float compValue = .3f; //(should be lower than damp)
	float dampValue = .4f;
	vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
	vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
	vehicle.setSuspensionStiffness(stiffness);
	vehicle.setMaxSuspensionForce(10000.0f);

	//Create four wheels and add them at their locations
	Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0
	Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -1, 0, 0
	float radius = 0.5f;
	float restLength = 0.3f;
	float yOff = 0.5f;
	float xOff = 1f;
	float zOff = 2f;

	Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);

	Node node1 = new Node("wheel 1 node");
	Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
	node1.attachChild(wheels1);
	wheels1.rotate(0, FastMath.HALF_PI, 0);
	wheels1.setMaterial(mat);
	vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff),
	wheelDirection, wheelAxle, restLength, radius, true);

	Node node2 = new Node("wheel 2 node");
	Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
	node2.attachChild(wheels2);
	wheels2.rotate(0, FastMath.HALF_PI, 0);
	wheels2.setMaterial(mat);
	vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff),
	wheelDirection, wheelAxle, restLength, radius, true);

	Node node3 = new Node("wheel 3 node");
	Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
	node3.attachChild(wheels3);
	wheels3.rotate(0, FastMath.HALF_PI, 0);
	wheels3.setMaterial(mat);
	vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff),
	wheelDirection, wheelAxle, restLength, radius, false);

	Node node4 = new Node("wheel 4 node");
	Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
	node4.attachChild(wheels4);
	wheels4.rotate(0, FastMath.HALF_PI, 0);
	wheels4.setMaterial(mat);
	vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff),
	wheelDirection, wheelAxle, restLength, radius, false);

	vehicleNode.attachChild(node1);
	vehicleNode.attachChild(node2);
	vehicleNode.attachChild(node3);
	vehicleNode.attachChild(node4);
	rootNode.attachChild(vehicleNode);

	getPhysicsSpace().add(vehicle);
	}

	@Override
	public void simpleUpdate(float tpf) {
	cam.lookAt(vehicle.getPhysicsLocation(), Vector3f.UNIT_Y);
	}

	public void onAction(String binding, boolean value, float tpf) {
	if (binding.equals("Lefts")) {
	if (value) {
	steeringValue += .5f;
	} else {
	steeringValue += -.5f;
	}
	vehicle.steer(steeringValue);
	} else if (binding.equals("Rights")) {
	if (value) {
	steeringValue += -.5f;
	} else {
	steeringValue += .5f;
	}
	vehicle.steer(steeringValue);
	} else if (binding.equals("Ups")) {
	if (value) {
	accelerationValue += accelerationForce;
	} else {
	accelerationValue -= accelerationForce;
	}
	vehicle.accelerate(accelerationValue);
	} else if (binding.equals("Downs")) {
	if (value) {
	vehicle.brake(brakeForce);
	} else {
	vehicle.brake(0f);
	}
	} else if (binding.equals("Space")) {
	if (value) {
	vehicle.applyImpulse(jumpForce, Vector3f.ZERO);
	}
	} else if (binding.equals("Reset")) {
	if (value) {
	System.out.println("Reset");
	vehicle.setPhysicsLocation(Vector3f.ZERO);
	vehicle.setPhysicsRotation(new Matrix3f());
	vehicle.setLinearVelocity(Vector3f.ZERO);
	vehicle.setAngularVelocity(Vector3f.ZERO);
	vehicle.resetSuspension();
	} else {
	}
	}
	}
	}