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a physics library for jMonkeyEngine
/*
* Copyright (c) 2009-2018 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 com.jme3.bullet.debug;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.bullet.objects.VehicleWheel;
import com.jme3.bullet.objects.infos.RigidBodyMotionState;
import com.jme3.material.Material;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.Geometry;
import com.jme3.scene.Node;
import com.jme3.scene.Spatial;
import com.jme3.scene.debug.Arrow;
import java.util.logging.Logger;
/**
* A physics-debug control used to visualize a PhysicsVehicle.
*
* @author normenhansen
*/
public class BulletVehicleDebugControl extends AbstractPhysicsDebugControl {
// *************************************************************************
// constants and loggers
/**
* message logger for this class
*/
final public static Logger logger
= Logger.getLogger(BulletVehicleDebugControl.class.getName());
// *************************************************************************
// fields
final private Node suspensionNode;
/**
* vehicle to visualize (not null)
*/
final private PhysicsVehicle vehicle;
/**
* temporary storage for physics rotation
*/
final private Quaternion rotation = new Quaternion();
/**
* temporary storage for physics location
*/
final private Vector3f location = new Vector3f();
// *************************************************************************
// constructors
/**
* Instantiate an enabled control to visualize the specified vehicle.
*
* @param debugAppState which app state (not null, alias created)
* @param ve which vehicle to visualize (not null, alias created)
*/
public BulletVehicleDebugControl(
BulletDebugAppState debugAppState, PhysicsVehicle ve) {
super(debugAppState);
this.vehicle = ve;
this.suspensionNode = new Node("Suspension");
createVehicle();
}
// *************************************************************************
// AbstractPhysicsDebugControl methods
/**
* Update this control. Invoked once per frame during the logical-state
* update, provided the control is enabled and added to a scene. Should be
* invoked only by a subclass or by AbstractControl.
*
* @param tpf the time interval between frames (in seconds, ≥0)
*/
@Override
protected void controlUpdate(float tpf) {
for (int i = 0; i < vehicle.getNumWheels(); ++i) {
VehicleWheel physicsVehicleWheel = vehicle.getWheel(i);
Vector3f wLocation = physicsVehicleWheel.getLocation(null);
Vector3f wDirection = physicsVehicleWheel.getDirection(null);
Vector3f axle = physicsVehicleWheel.getAxle(null);
float restLength = physicsVehicleWheel.getRestLength();
float radius = physicsVehicleWheel.getRadius();
Geometry locGeom = (Geometry) suspensionNode.getChild(
"WheelLocationDebugShape" + i);
Geometry dirGeom = (Geometry) suspensionNode.getChild(
"WheelDirectionDebugShape" + i);
Geometry axleGeom = (Geometry) suspensionNode.getChild(
"WheelAxleDebugShape" + i);
Geometry wheelGeom = (Geometry) suspensionNode.getChild(
"WheelRadiusDebugShape" + i);
Arrow locArrow = (Arrow) locGeom.getMesh();
locArrow.setArrowExtent(wLocation);
Arrow axleArrow = (Arrow) axleGeom.getMesh();
axleArrow.setArrowExtent(
axle.normalizeLocal().multLocal(0.3f));
Arrow wheelArrow = (Arrow) wheelGeom.getMesh();
wheelArrow.setArrowExtent(
wDirection.normalizeLocal().multLocal(radius));
Arrow dirArrow = (Arrow) dirGeom.getMesh();
dirArrow.setArrowExtent(
wDirection.normalizeLocal().multLocal(restLength));
dirGeom.setLocalTranslation(wLocation);
axleGeom.setLocalTranslation(wLocation.addLocal(wDirection));
wheelGeom.setLocalTranslation(wLocation);
}
RigidBodyMotionState motionState = vehicle.getMotionState();
motionState.getLocation(location);
motionState.getOrientation(rotation);
applyPhysicsTransform(location, rotation);
}
/**
* Alter which Spatial is controlled. Invoked when the Control is added to
* or removed from a Spatial. Should be invoked only by a subclass or from
* Spatial. Do not invoke directly from user code.
*
* @param spatial the Spatial to control (or null)
*/
@Override
public void setSpatial(Spatial spatial) {
if (spatial instanceof Node) {
Node node = (Node) spatial;
node.attachChild(suspensionNode);
} else if (spatial == null && this.spatial != null) {
Node node = (Node) this.spatial;
node.detachChild(suspensionNode);
}
super.setSpatial(spatial);
}
// *************************************************************************
// private methods
private void createVehicle() {
suspensionNode.detachAllChildren();
for (int i = 0; i < vehicle.getNumWheels(); ++i) {
VehicleWheel physicsVehicleWheel = vehicle.getWheel(i);
Vector3f wLocation = physicsVehicleWheel.getLocation(null);
Vector3f wDirection = physicsVehicleWheel.getDirection(null);
Vector3f axle = physicsVehicleWheel.getAxle(null);
float restLength = physicsVehicleWheel.getRestLength();
float radius = physicsVehicleWheel.getRadius();
Arrow locArrow = new Arrow(wLocation);
Arrow axleArrow = new Arrow(axle.normalizeLocal().multLocal(0.3f));
Arrow wheelArrow = new Arrow(
wDirection.normalizeLocal().multLocal(radius));
Arrow dirArrow = new Arrow(
wDirection.normalizeLocal().multLocal(restLength));
Geometry locGeom = new Geometry(
"WheelLocationDebugShape" + i, locArrow);
Geometry dirGeom = new Geometry(
"WheelDirectionDebugShape" + i, dirArrow);
Geometry axleGeom = new Geometry(
"WheelAxleDebugShape" + i, axleArrow);
Geometry wheelGeom = new Geometry(
"WheelRadiusDebugShape" + i, wheelArrow);
dirGeom.setLocalTranslation(wLocation);
axleGeom.setLocalTranslation(wLocation.add(wDirection));
wheelGeom.setLocalTranslation(wLocation.add(wDirection));
Material material = debugAppState.getActiveMaterial(1);
locGeom.setMaterial(material);
dirGeom.setMaterial(material);
axleGeom.setMaterial(material);
wheelGeom.setMaterial(material);
suspensionNode.attachChild(locGeom);
suspensionNode.attachChild(dirGeom);
suspensionNode.attachChild(axleGeom);
suspensionNode.attachChild(wheelGeom);
}
}
}
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