com.jme3.bullet.control.RigidBodyControl Maven / Gradle / Ivy
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/*
* Copyright (c) 2009-2012 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,
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package com.jme3.bullet.control;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.shapes.BoxCollisionShape;
import com.jme3.bullet.collision.shapes.CollisionShape;
import com.jme3.bullet.collision.shapes.SphereCollisionShape;
import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.bullet.util.CollisionShapeFactory;
import com.jme3.export.InputCapsule;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.renderer.RenderManager;
import com.jme3.renderer.ViewPort;
import com.jme3.scene.Geometry;
import com.jme3.scene.Mesh;
import com.jme3.scene.Spatial;
import com.jme3.scene.control.Control;
import com.jme3.scene.shape.Box;
import com.jme3.scene.shape.Sphere;
import com.jme3.util.clone.Cloner;
import com.jme3.util.clone.JmeCloneable;
import java.io.IOException;
/**
* A physics control to link a PhysicsRigidBody to a spatial.
*
* This class is shared between JBullet and Native Bullet.
*
* @author normenhansen
*/
public class RigidBodyControl extends PhysicsRigidBody implements PhysicsControl, JmeCloneable {
/**
* spatial to which this control is added, or null if none
*/
protected Spatial spatial;
/**
* true→control is enabled, false→control is disabled
*/
protected boolean enabled = true;
/**
* true→body is added to the physics space, false→not added
*/
protected boolean added = false;
/**
* space to which the body is (or would be) added
*/
protected PhysicsSpace space = null;
/**
* true→body is kinematic, false→body is static or dynamic
*/
protected boolean kinematicSpatial = true;
/**
* No-argument constructor needed by SavableClassUtil. Do not invoke
* directly!
*/
public RigidBodyControl() {
}
/**
* When using this constructor, the CollisionShape for the RigidBody is
* generated automatically when the control is added to a spatial.
*
* @param mass When not 0, a HullCollisionShape is generated, otherwise a
* MeshCollisionShape is used. For geometries with box or sphere meshes the
* proper box or sphere collision shape is used.
*/
public RigidBodyControl(float mass) {
this.mass = mass;
}
/**
* Instantiate an enabled control with mass=1 and the specified collision
* shape.
*
* @param shape the desired shape (not null, alias created)
*/
public RigidBodyControl(CollisionShape shape) {
super(shape);
}
/**
* Instantiate an enabled control with the specified collision shape and
* mass.
*
* @param shape the desired shape (not null, alias created)
* @param mass the desired mass (≥0)
*/
public RigidBodyControl(CollisionShape shape, float mass) {
super(shape, mass);
}
/**
* Clone this control for a different spatial. No longer used as of JME 3.1.
*
* @param spatial the spatial for the clone to control (or null)
* @return a new control (not null)
*/
@Override
public Control cloneForSpatial(Spatial spatial) {
RigidBodyControl control = new RigidBodyControl(collisionShape, mass);
control.setAngularFactor(getAngularFactor());
control.setAngularSleepingThreshold(getAngularSleepingThreshold());
control.setCcdMotionThreshold(getCcdMotionThreshold());
control.setCcdSweptSphereRadius(getCcdSweptSphereRadius());
control.setCollideWithGroups(getCollideWithGroups());
control.setCollisionGroup(getCollisionGroup());
control.setDamping(getLinearDamping(), getAngularDamping());
control.setFriction(getFriction());
control.setGravity(getGravity());
control.setKinematic(isKinematic());
control.setKinematicSpatial(isKinematicSpatial());
control.setLinearSleepingThreshold(getLinearSleepingThreshold());
control.setPhysicsLocation(getPhysicsLocation(null));
control.setPhysicsRotation(getPhysicsRotationMatrix(null));
control.setRestitution(getRestitution());
if (mass > 0) {
control.setAngularVelocity(getAngularVelocity());
control.setLinearVelocity(getLinearVelocity());
}
control.setApplyPhysicsLocal(isApplyPhysicsLocal());
return control;
}
/**
* Create a shallow clone for the JME cloner.
*
* @return a new control (not null)
*/
@Override
public Object jmeClone() {
RigidBodyControl control = new RigidBodyControl(collisionShape, mass);
control.setAngularFactor(getAngularFactor());
control.setAngularSleepingThreshold(getAngularSleepingThreshold());
control.setCcdMotionThreshold(getCcdMotionThreshold());
control.setCcdSweptSphereRadius(getCcdSweptSphereRadius());
control.setCollideWithGroups(getCollideWithGroups());
control.setCollisionGroup(getCollisionGroup());
control.setDamping(getLinearDamping(), getAngularDamping());
control.setFriction(getFriction());
control.setGravity(getGravity());
control.setKinematic(isKinematic());
control.setKinematicSpatial(isKinematicSpatial());
control.setLinearSleepingThreshold(getLinearSleepingThreshold());
control.setPhysicsLocation(getPhysicsLocation(null));
control.setPhysicsRotation(getPhysicsRotationMatrix(null));
control.setRestitution(getRestitution());
if (mass > 0) {
control.setAngularVelocity(getAngularVelocity());
control.setLinearVelocity(getLinearVelocity());
}
control.setApplyPhysicsLocal(isApplyPhysicsLocal());
control.spatial = this.spatial;
control.setEnabled(isEnabled());
return control;
}
/**
* Callback from {@link com.jme3.util.clone.Cloner} to convert this
* shallow-cloned control into a deep-cloned one, using the specified cloner
* and original to resolve copied fields.
*
* @param cloner the cloner that's cloning this control (not null)
* @param original the control from which this control was shallow-cloned
* (unused)
*/
@Override
public void cloneFields( Cloner cloner, Object original ) {
this.spatial = cloner.clone(spatial);
}
/**
* 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)
*/
public void setSpatial(Spatial spatial) {
this.spatial = spatial;
setUserObject(spatial);
if (spatial == null) {
return;
}
if (collisionShape == null) {
createCollisionShape();
rebuildRigidBody();
}
setPhysicsLocation(getSpatialTranslation());
setPhysicsRotation(getSpatialRotation());
}
/**
* Set the collision shape based on the controlled spatial and its
* descendents.
*/
protected void createCollisionShape() {
if (spatial == null) {
return;
}
if (spatial instanceof Geometry) {
Geometry geom = (Geometry) spatial;
Mesh mesh = geom.getMesh();
if (mesh instanceof Sphere) {
collisionShape = new SphereCollisionShape(((Sphere) mesh).getRadius());
return;
} else if (mesh instanceof Box) {
collisionShape = new BoxCollisionShape(new Vector3f(((Box) mesh).getXExtent(), ((Box) mesh).getYExtent(), ((Box) mesh).getZExtent()));
return;
}
}
if (mass > 0) {
collisionShape = CollisionShapeFactory.createDynamicMeshShape(spatial);
} else {
collisionShape = CollisionShapeFactory.createMeshShape(spatial);
}
}
/**
* Enable or disable this control.
*
* When the control is disabled, the body is removed from physics space.
* When the control is enabled again, the body is moved to the current
* location of the spatial and then added to the physics space.
*
* @param enabled true→enable the control, false→disable it
*/
public void setEnabled(boolean enabled) {
this.enabled = enabled;
if (space != null) {
if (enabled && !added) {
if (spatial != null) {
setPhysicsLocation(getSpatialTranslation());
setPhysicsRotation(getSpatialRotation());
}
space.addCollisionObject(this);
added = true;
} else if (!enabled && added) {
space.removeCollisionObject(this);
added = false;
}
}
}
/**
* Test whether this control is enabled.
*
* @return true if enabled, otherwise false
*/
public boolean isEnabled() {
return enabled;
}
/**
* Test whether this control is in kinematic mode.
*
* @return true if the spatial location and rotation are applied to the
* rigid body, otherwise false
*/
public boolean isKinematicSpatial() {
return kinematicSpatial;
}
/**
* Enable or disable kinematic mode. In kinematic mode, the spatial's
* location and rotation will be applied to the rigid body.
*
* @param kinematicSpatial true→kinematic, false→dynamic or static
*/
public void setKinematicSpatial(boolean kinematicSpatial) {
this.kinematicSpatial = kinematicSpatial;
}
/**
* Test whether physics-space coordinates should match the spatial's local
* coordinates.
*
* @return true if matching local coordinates, false if matching world
* coordinates
*/
public boolean isApplyPhysicsLocal() {
return motionState.isApplyPhysicsLocal();
}
/**
* Alter whether physics-space coordinates should match the spatial's local
* coordinates.
*
* @param applyPhysicsLocal true→match local coordinates,
* false→match world coordinates (default=false)
*/
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
motionState.setApplyPhysicsLocal(applyPhysicsLocal);
}
/**
* Access whichever spatial translation corresponds to the physics location.
*
* @return the pre-existing vector (not null)
*/
private Vector3f getSpatialTranslation(){
if(motionState.isApplyPhysicsLocal()){
return spatial.getLocalTranslation();
}
return spatial.getWorldTranslation();
}
/**
* Access whichever spatial rotation corresponds to the physics rotation.
*
* @return the pre-existing quaternion (not null)
*/
private Quaternion getSpatialRotation(){
if(motionState.isApplyPhysicsLocal()){
return spatial.getLocalRotation();
}
return spatial.getWorldRotation();
}
/**
* Update this control. Invoked once per frame, during the logical-state
* update, provided the control is added to a scene.
*
* @param tpf the time interval between frames (in seconds, ≥0)
*/
public void update(float tpf) {
if (enabled && spatial != null) {
if (isKinematic() && kinematicSpatial) {
super.setPhysicsLocation(getSpatialTranslation());
super.setPhysicsRotation(getSpatialRotation());
} else {
getMotionState().applyTransform(spatial);
}
}
}
/**
* Render this control. Invoked once per view port per frame, provided the
* control is added to a scene. Should be invoked only by a subclass or by
* the RenderManager.
*
* @param rm the render manager (not null)
* @param vp the view port to render (not null)
*/
public void render(RenderManager rm, ViewPort vp) {
}
/**
* If enabled, add this control's body to the specified physics space. In
* not enabled, alter where the body would be added. The body is removed
* from any other space it's currently in.
*
* @param newSpace where to add, or null to simply remove
*/
@Override
public void setPhysicsSpace(PhysicsSpace newSpace) {
if (space == newSpace) {
return;
}
if (added) {
space.removeCollisionObject(this);
added = false;
}
if (newSpace != null && isEnabled()) {
newSpace.addCollisionObject(this);
added = true;
}
/*
* If this control isn't enabled, its body will be
* added to the new space when the control becomes enabled.
*/
space = newSpace;
}
/**
* Access the physics space to which the body is (or would be) added.
*
* @return the pre-existing space, or null for none
*/
public PhysicsSpace getPhysicsSpace() {
return space;
}
/**
* Serialize this control, for example when saving to a J3O file.
*
* @param ex exporter (not null)
* @throws IOException from exporter
*/
@Override
public void write(JmeExporter ex) throws IOException {
super.write(ex);
OutputCapsule oc = ex.getCapsule(this);
oc.write(enabled, "enabled", true);
oc.write(motionState.isApplyPhysicsLocal(), "applyLocalPhysics", false);
oc.write(kinematicSpatial, "kinematicSpatial", true);
oc.write(spatial, "spatial", null);
}
/**
* De-serialize this control, for example when loading from a J3O file.
*
* @param im importer (not null)
* @throws IOException from importer
*/
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule ic = im.getCapsule(this);
enabled = ic.readBoolean("enabled", true);
kinematicSpatial = ic.readBoolean("kinematicSpatial", true);
spatial = (Spatial) ic.readSavable("spatial", null);
motionState.setApplyPhysicsLocal(ic.readBoolean("applyLocalPhysics", false));
setUserObject(spatial);
}
}