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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.objects.infos;
import com.jme3.bullet.NativePhysicsObject;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.export.Savable;
import com.jme3.util.clone.Cloner;
import com.jme3.util.clone.JmeCloneable;
import java.io.IOException;
import java.util.logging.Logger;
/**
* Tuning parameters for a PhysicsVehicle, based on Bullet's btVehicleTuning.
*
* @author normenhansen
*/
public class VehicleTuning
extends NativePhysicsObject
implements JmeCloneable, Savable {
// *************************************************************************
// constants and loggers
/**
* message logger for this class
*/
final public static Logger logger
= Logger.getLogger(VehicleTuning.class.getName());
/**
* field names for serialization
*/
final private static String tagFrictionSlip = "frictionSlip";
final private static String tagMaxSuspensionForce = "maxSuspensionForce";
final private static String tagMaxSuspensionTravelCm
= "maxSuspensionTravelCm";
final private static String tagSuspensionStiffness = "suspensionStiffness";
final private static String tagWheelsDampingRelaxation
= "wheelsDampingRelaxation";
final private static String tagWheelsDampingCompression
= "wheelsDampingCompression";
// *************************************************************************
// fields
/**
* coefficient of friction between tires and ground (0.8→realistic car,
* 10000→kart racer)
*/
private float frictionSlip = 10.5f;
/**
* maximum force exerted by each wheel's suspension
*/
private float maxSuspensionForce = 6000f;
/**
* maximum suspension travel distance (in hundredths of a PSU)
*/
private float maxSuspensionTravelCm = 500f;
/**
* suspension damping when compressed (0→no damping)
*/
private float suspensionCompression = 0.83f;
/**
* suspension damping when expanded (0→no damping)
*/
private float suspensionDamping = 0.88f;
/**
* suspension stiffness constant (10→off-road buggy, 50→sports
* car, 200→Formula-1 race car)
*/
private float suspensionStiffness = 5.88f;
// *************************************************************************
// constructors
/**
* Instantiate an instance with the default parameter values.
*/
public VehicleTuning() {
create();
}
// *************************************************************************
// new methods exposed
/**
* Read the friction between tires and ground (native field:
* m_frictionSlip).
*
* @return the coefficient of friction
*/
public float getFrictionSlip() {
return frictionSlip;
}
/**
* Read the maximum force exerted by each wheel's suspension (native field:
* m_maxSuspensionForce).
*
* @return the maximum force
*/
public float getMaxSuspensionForce() {
return maxSuspensionForce;
}
/**
* Determine the maximum travel distance for each wheel's suspension (native
* field: m_maxSuspensionTravelCm).
*
* Note that the units are centimeters ONLY if the physics-space unit is
* exactly one meter.
*
* @return the maximum amount the suspension can be compressed or expanded,
* relative to its rest length (in hundredths of a physics-space unit)
*/
public float getMaxSuspensionTravelCm() {
return maxSuspensionTravelCm;
}
/**
* Read the suspension damping when compressed (native field:
* m_suspensionCompression).
*
* @return the damping amount
*/
public float getSuspensionCompression() {
return suspensionCompression;
}
/**
* Read the suspension damping when expanded (native field:
* m_suspensionDamping).
*
* @return the damping amount (0→no damping, default=0.88)
*/
public float getSuspensionDamping() {
return suspensionDamping;
}
/**
* Read the suspension stiffness (native field: m_suspensionStiffness).
*
* @return the stiffness constant
*/
public float getSuspensionStiffness() {
return suspensionStiffness;
}
/**
* Alter the friction between tires and ground (native field:
* m_frictionSlip).
*
* @param coeff the desired coefficient of friction (0.8→realistic car,
* 10000→kart racer, default=10.5)
*/
public void setFrictionSlip(float coeff) {
this.frictionSlip = coeff;
long tuningId = nativeId();
setFrictionSlip(tuningId, coeff);
}
/**
* Alter the force exerted by each wheel's suspension (native field:
* m_maxSuspensionForce).
*
* @param maxForce the desired maximum force (default=6000)
*/
public void setMaxSuspensionForce(float maxForce) {
this.maxSuspensionForce = maxForce;
long tuningId = nativeId();
setMaxSuspensionForce(tuningId, maxForce);
}
/**
* Alter the maximum travel distance for the suspension (native field:
* m_maxSuspensionTravelCm).
*
* Note that the units are centimeters ONLY if the physics-space unit is
* exactly one meter.
*
* @param travelCm the desired maximum amount the suspension can be
* compressed or expanded, relative to its rest length (in hundredths of a
* physics-space unit, default=500)
*/
public void setMaxSuspensionTravelCm(float travelCm) {
this.maxSuspensionTravelCm = travelCm;
long tuningId = nativeId();
setMaxSuspensionTravelCm(tuningId, travelCm);
}
/**
* Alter the suspension damping when compressed (native field:
* m_suspensionCompression).
*
* @param damping the desired damping amount (0→no damping,
* default=0.83)
*/
public void setSuspensionCompression(float damping) {
this.suspensionCompression = damping;
long tuningId = nativeId();
setSuspensionCompression(tuningId, damping);
}
/**
* Alter the suspension damping when expanded (native field:
* m_suspensionDamping).
*
* @param damping the desired damping (0→no damping, default=0.88)
*/
public void setSuspensionDamping(float damping) {
this.suspensionDamping = damping;
long tuningId = nativeId();
setSuspensionDamping(tuningId, damping);
}
/**
* Alter the stiffness of the suspension (native field:
* m_suspensionStiffness).
*
* @param stiffness the desired stiffness constant (10→off-road buggy,
* 50→sports car, 200→Formula-1 race car, default=5.88)
*/
public void setSuspensionStiffness(float stiffness) {
this.suspensionStiffness = stiffness;
long tuningId = nativeId();
setSuspensionStiffness(tuningId, stiffness);
}
// *************************************************************************
// JmeCloneable methods
/**
* Callback from {@link com.jme3.util.clone.Cloner} to convert this
* shallow-cloned tuning into a deep-cloned one, using the specified Cloner
* and original to resolve copied fields.
*
* @param cloner the Cloner that's cloning this tuning (unused)
* @param original the instance from which this tuning was shallow-cloned
* (unused)
*/
@Override
public void cloneFields(Cloner cloner, Object original) {
unassignNativeObject();
create();
}
/**
* Create a shallow clone for the JME cloner.
*
* @return a new instance
*/
@Override
public VehicleTuning jmeClone() {
try {
VehicleTuning clone = (VehicleTuning) clone();
return clone;
} catch (CloneNotSupportedException exception) {
throw new RuntimeException(exception);
}
}
// *************************************************************************
// Savable methods
/**
* De-serialize these parameters from the specified importer, for example
* when loading from a J3O file.
*
* @param importer (not null)
* @throws IOException from the importer
*/
@Override
public void read(JmeImporter importer) throws IOException {
InputCapsule capsule = importer.getCapsule(this);
setSuspensionStiffness(
capsule.readFloat(tagSuspensionStiffness, 5.88f));
setSuspensionDamping(
capsule.readFloat(tagWheelsDampingRelaxation, 0.88f));
setSuspensionCompression(
capsule.readFloat(tagWheelsDampingCompression, 0.83f));
setFrictionSlip(capsule.readFloat(tagFrictionSlip, 10.5f));
setMaxSuspensionTravelCm(
capsule.readFloat(tagMaxSuspensionTravelCm, 500f));
setMaxSuspensionForce(capsule.readFloat(tagMaxSuspensionForce, 6000f));
}
/**
* Serialize these parameters, for example when saving to a J3O file.
*
* @param exporter (not null)
* @throws IOException from the exporter
*/
@Override
public void write(JmeExporter exporter) throws IOException {
OutputCapsule capsule = exporter.getCapsule(this);
capsule.write(suspensionStiffness, tagSuspensionStiffness, 5.88f);
capsule.write(suspensionDamping, tagWheelsDampingRelaxation, 0.88f);
capsule.write(suspensionCompression, tagWheelsDampingCompression,
0.83f);
capsule.write(frictionSlip, tagFrictionSlip, 10.5f);
capsule.write(maxSuspensionTravelCm, tagMaxSuspensionTravelCm, 500f);
capsule.write(maxSuspensionForce, tagMaxSuspensionForce, 6000f);
}
// *************************************************************************
// Java private methods
/**
* Instantiate the configured tuning in Bullet.
*/
private void create() {
long tuningId = createNative();
setNativeId(tuningId);
setFrictionSlip(tuningId, frictionSlip);
setMaxSuspensionForce(tuningId, maxSuspensionForce);
setMaxSuspensionTravelCm(tuningId, maxSuspensionTravelCm);
setSuspensionCompression(tuningId, suspensionCompression);
setSuspensionDamping(tuningId, suspensionDamping);
setSuspensionStiffness(tuningId, suspensionStiffness);
}
/**
* Free the identified tracked native object. Invoked by reflection.
*
* @param tuningId the native identifier (not zero)
*/
private static void freeNativeObject(long tuningId) {
assert tuningId != 0L;
finalizeNative(tuningId);
}
// *************************************************************************
// native private methods
native private static long createNative();
native private static void finalizeNative(long tuningId);
native private static void setFrictionSlip(long tuningId, float slip);
native private static void
setMaxSuspensionForce(long tuningId, float maxForce);
native private static void
setMaxSuspensionTravelCm(long tuningId, float travel);
native private static void
setSuspensionCompression(long tuningId, float damping);
native private static void
setSuspensionDamping(long tuningId, float damping);
native private static void
setSuspensionStiffness(long tuningId, float stiff);
}
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