com.jme3.bullet.control.VehicleControl Maven / Gradle / Ivy
/*
* Copyright (c) 2009-2012 jMonkeyEngine
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package com.jme3.bullet.control;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.shapes.CollisionShape;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.bullet.objects.VehicleWheel;
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.Node;
import com.jme3.scene.Spatial;
import com.jme3.scene.control.Control;
import com.jme3.util.clone.Cloner;
import com.jme3.util.clone.JmeCloneable;
import java.io.IOException;
import java.util.Iterator;
/**
* A physics control to link a PhysicsVehicle to a spatial.
*
* This class is shared between JBullet and Native Bullet.
*
* @author normenhansen
*/
public class VehicleControl extends PhysicsVehicle 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;
/**
* space to which the vehicle is (or would be) added
*/
protected PhysicsSpace space = null;
/**
* true→vehicle is added to the physics space, false→not added
*/
protected boolean added = false;
/**
* No-argument constructor needed by SavableClassUtil. Do not invoke
* directly!
*/
public VehicleControl() {
}
/**
* Instantiate an enabled control with mass=1 and the specified collision
* shape.
*
* @param shape the desired shape (not null, alias created)
*/
public VehicleControl(CollisionShape shape) {
super(shape);
}
/**
* Instantiate an enabled with the specified collision shape and mass.
*
* @param shape the desired shape (not null, alias created)
* @param mass (>0)
*/
public VehicleControl(CollisionShape shape, float mass) {
super(shape, mass);
}
/**
* 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);
for (Iterator it = wheels.iterator(); it.hasNext();) {
VehicleWheel vehicleWheel = it.next();
vehicleWheel.setApplyLocal(applyPhysicsLocal);
}
}
private Vector3f getSpatialTranslation(){
if(motionState.isApplyPhysicsLocal()){
return spatial.getLocalTranslation();
}
return spatial.getWorldTranslation();
}
private Quaternion getSpatialRotation(){
if(motionState.isApplyPhysicsLocal()){
return spatial.getLocalRotation();
}
return spatial.getWorldRotation();
}
/**
* 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) {
VehicleControl control = new VehicleControl(collisionShape, mass);
control.setAngularFactor(getAngularFactor());
control.setAngularSleepingThreshold(getAngularSleepingThreshold());
control.setAngularVelocity(getAngularVelocity());
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.setLinearSleepingThreshold(getLinearSleepingThreshold());
control.setLinearVelocity(getLinearVelocity());
control.setPhysicsLocation(getPhysicsLocation());
control.setPhysicsRotation(getPhysicsRotationMatrix());
control.setRestitution(getRestitution());
control.setFrictionSlip(getFrictionSlip());
control.setMaxSuspensionTravelCm(getMaxSuspensionTravelCm());
control.setSuspensionStiffness(getSuspensionStiffness());
control.setSuspensionCompression(tuning.suspensionCompression);
control.setSuspensionDamping(tuning.suspensionDamping);
control.setMaxSuspensionForce(getMaxSuspensionForce());
for (Iterator it = wheels.iterator(); it.hasNext();) {
VehicleWheel wheel = it.next();
VehicleWheel newWheel = control.addWheel(wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), wheel.isFrontWheel());
newWheel.setFrictionSlip(wheel.getFrictionSlip());
newWheel.setMaxSuspensionTravelCm(wheel.getMaxSuspensionTravelCm());
newWheel.setSuspensionStiffness(wheel.getSuspensionStiffness());
newWheel.setWheelsDampingCompression(wheel.getWheelsDampingCompression());
newWheel.setWheelsDampingRelaxation(wheel.getWheelsDampingRelaxation());
newWheel.setMaxSuspensionForce(wheel.getMaxSuspensionForce());
//TODO: bad way finding children!
if (spatial instanceof Node) {
Node node = (Node) spatial;
Spatial wheelSpat = node.getChild(wheel.getWheelSpatial().getName());
if (wheelSpat != null) {
newWheel.setWheelSpatial(wheelSpat);
}
}
}
control.setApplyPhysicsLocal(isApplyPhysicsLocal());
return control;
}
/**
* Create a shallow clone for the JME cloner.
*
* @return a new control (not null)
*/
public Object jmeClone() {
VehicleControl control = new VehicleControl(collisionShape, mass);
control.setAngularFactor(getAngularFactor());
control.setAngularSleepingThreshold(getAngularSleepingThreshold());
control.setAngularVelocity(getAngularVelocity());
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.setLinearSleepingThreshold(getLinearSleepingThreshold());
control.setLinearVelocity(getLinearVelocity());
control.setPhysicsLocation(getPhysicsLocation());
control.setPhysicsRotation(getPhysicsRotationMatrix());
control.setRestitution(getRestitution());
control.setFrictionSlip(getFrictionSlip());
control.setMaxSuspensionTravelCm(getMaxSuspensionTravelCm());
control.setSuspensionStiffness(getSuspensionStiffness());
control.setSuspensionCompression(tuning.suspensionCompression);
control.setSuspensionDamping(tuning.suspensionDamping);
control.setMaxSuspensionForce(getMaxSuspensionForce());
for (Iterator it = wheels.iterator(); it.hasNext();) {
VehicleWheel wheel = it.next();
VehicleWheel newWheel = control.addWheel(wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), wheel.isFrontWheel());
newWheel.setFrictionSlip(wheel.getFrictionSlip());
newWheel.setMaxSuspensionTravelCm(wheel.getMaxSuspensionTravelCm());
newWheel.setSuspensionStiffness(wheel.getSuspensionStiffness());
newWheel.setWheelsDampingCompression(wheel.getWheelsDampingCompression());
newWheel.setWheelsDampingRelaxation(wheel.getWheelsDampingRelaxation());
newWheel.setMaxSuspensionForce(wheel.getMaxSuspensionForce());
// Copy the wheel spatial reference directly for now. They'll
// get fixed up in the cloneFields() method
newWheel.setWheelSpatial(wheel.getWheelSpatial());
}
control.setApplyPhysicsLocal(isApplyPhysicsLocal());
control.setEnabled(isEnabled());
control.spatial = spatial;
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);
for( VehicleWheel wheel : wheels ) {
Spatial spatial = cloner.clone(wheel.getWheelSpatial());
wheel.setWheelSpatial(spatial);
}
}
/**
* Alter which spatial is controlled.
*
* @param spatial spatial to control (or null)
*/
public void setSpatial(Spatial spatial) {
this.spatial = spatial;
setUserObject(spatial);
if (spatial == null) {
return;
}
setPhysicsLocation(getSpatialTranslation());
setPhysicsRotation(getSpatialRotation());
}
/**
* Enable or disable this control.
*
* When the control is disabled, the vehicle is removed from physics space.
* When the control is enabled again, the physics object is moved to the
* spatial's location 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;
}
/**
* 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 (getMotionState().applyTransform(spatial)) {
spatial.getWorldTransform();
applyWheelTransforms();
}
} else if (enabled) {
applyWheelTransforms();
}
}
/**
* 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 physics object to the specified physics
* space. In not enabled, alter where the object would be added. The object
* 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 physics object will be
* added to the new space when the control becomes enabled.
*/
space = newSpace;
}
/**
* Access the physics space to which the vehicle 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(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);
spatial = (Spatial) ic.readSavable("spatial", null);
motionState.setApplyPhysicsLocal(ic.readBoolean("applyLocalPhysics", false));
setUserObject(spatial);
}
}