1 files changed, 240 insertions, 0 deletions
diff --git a/engine/src/test/jme3test/bullet/PhysicsHoverControl.java b/engine/src/test/jme3test/bullet/PhysicsHoverControl.java
new file mode 100644
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+++ b/engine/src/test/jme3test/bullet/PhysicsHoverControl.java
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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,
+ * 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.bullet.PhysicsSpace;
+import com.jme3.bullet.PhysicsTickListener;
+import com.jme3.bullet.collision.shapes.CollisionShape;
+import com.jme3.bullet.control.PhysicsControl;
+import com.jme3.bullet.objects.PhysicsVehicle;
+import com.jme3.export.InputCapsule;
+import com.jme3.export.JmeExporter;
+import com.jme3.export.JmeImporter;
+import com.jme3.export.OutputCapsule;
+import com.jme3.math.FastMath;
+import com.jme3.math.Vector3f;
+import com.jme3.renderer.RenderManager;
+import com.jme3.renderer.ViewPort;
+import com.jme3.scene.Spatial;
+import com.jme3.scene.control.Control;
+import java.io.IOException;
+
+/**
+ * PhysicsHoverControl uses a RayCast Vehicle with "slippery wheels" to simulate a hovering tank
+ * @author normenhansen
+ */
+public class PhysicsHoverControl extends PhysicsVehicle implements PhysicsControl, PhysicsTickListener {
+
+    protected Spatial spatial;
+    protected boolean enabled = true;
+    protected PhysicsSpace space = null;
+    protected float steeringValue = 0;
+    protected float accelerationValue = 0;
+    protected int xw = 3;
+    protected int zw = 5;
+    protected int yw = 2;
+    protected Vector3f HOVER_HEIGHT_LF_START = new Vector3f(xw, 1, zw);
+    protected Vector3f HOVER_HEIGHT_RF_START = new Vector3f(-xw, 1, zw);
+    protected Vector3f HOVER_HEIGHT_LR_START = new Vector3f(xw, 1, -zw);
+    protected Vector3f HOVER_HEIGHT_RR_START = new Vector3f(-xw, 1, -zw);
+    protected Vector3f HOVER_HEIGHT_LF = new Vector3f(xw, -yw, zw);
+    protected Vector3f HOVER_HEIGHT_RF = new Vector3f(-xw, -yw, zw);
+    protected Vector3f HOVER_HEIGHT_LR = new Vector3f(xw, -yw, -zw);
+    protected Vector3f HOVER_HEIGHT_RR = new Vector3f(-xw, -yw, -zw);
+    protected Vector3f tempVect1 = new Vector3f(0, 0, 0);
+    protected Vector3f tempVect2 = new Vector3f(0, 0, 0);
+    protected Vector3f tempVect3 = new Vector3f(0, 0, 0);
+//    protected float rotationCounterForce = 10000f;
+//    protected float speedCounterMult = 2000f;
+//    protected float multiplier = 1000f;
+
+    public PhysicsHoverControl() {
+    }
+
+    /**
+     * Creates a new PhysicsNode with the supplied collision shape
+     * @param shape
+     */
+    public PhysicsHoverControl(CollisionShape shape) {
+        super(shape);
+        createWheels();
+    }
+
+    public PhysicsHoverControl(CollisionShape shape, float mass) {
+        super(shape, mass);
+        createWheels();
+    }
+
+    public Control cloneForSpatial(Spatial spatial) {
+        throw new UnsupportedOperationException("Not supported yet.");
+    }
+
+    public void setSpatial(Spatial spatial) {
+        this.spatial = spatial;
+        setUserObject(spatial);
+        if (spatial == null) {
+            return;
+        }
+        setPhysicsLocation(spatial.getWorldTranslation());
+        setPhysicsRotation(spatial.getWorldRotation().toRotationMatrix());
+    }
+
+    public void setEnabled(boolean enabled) {
+        this.enabled = enabled;
+    }
+
+    public boolean isEnabled() {
+        return enabled;
+    }
+
+    private void createWheels() {
+        addWheel(HOVER_HEIGHT_LF_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
+        addWheel(HOVER_HEIGHT_RF_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
+        addWheel(HOVER_HEIGHT_LR_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
+        addWheel(HOVER_HEIGHT_RR_START, new Vector3f(0, -1, 0), new Vector3f(-1, 0, 0), yw, yw, false);
+        for (int i = 0; i < 4; i++) {
+            getWheel(i).setFrictionSlip(0.001f);
+        }
+    }
+
+    public void prePhysicsTick(PhysicsSpace space, float f) {
+        Vector3f angVel = getAngularVelocity();
+        float rotationVelocity = angVel.getY();
+        Vector3f dir = getForwardVector(tempVect2).multLocal(1, 0, 1).normalizeLocal();
+        getLinearVelocity(tempVect3);
+        Vector3f linearVelocity = tempVect3.multLocal(1, 0, 1);
+
+        if (steeringValue != 0) {
+            if (rotationVelocity < 1 && rotationVelocity > -1) {
+                applyTorque(tempVect1.set(0, steeringValue, 0));
+            }
+        } else {
+            // counter the steering value!
+            if (rotationVelocity > 0.2f) {
+                applyTorque(tempVect1.set(0, -mass * 20, 0));
+            } else if (rotationVelocity < -0.2f) {
+                applyTorque(tempVect1.set(0, mass * 20, 0));
+            }
+        }
+        if (accelerationValue > 0) {
+            // counter force that will adjust velocity
+            // if we are not going where we want to go.
+            // this will prevent "drifting" and thus improve control
+            // of the vehicle
+            float d = dir.dot(linearVelocity.normalize());
+            Vector3f counter = dir.project(linearVelocity).normalizeLocal().negateLocal().multLocal(1 - d);
+            applyForce(counter.multLocal(mass * 10), Vector3f.ZERO);
+
+            if (linearVelocity.length() < 30) {
+                applyForce(dir.multLocal(accelerationValue), Vector3f.ZERO);
+            }
+        } else {
+            // counter the acceleration value
+            if (linearVelocity.length() > FastMath.ZERO_TOLERANCE) {
+                linearVelocity.normalizeLocal().negateLocal();
+                applyForce(linearVelocity.mult(mass * 10), Vector3f.ZERO);
+            }
+        }
+    }
+
+    public void physicsTick(PhysicsSpace space, float f) {
+    }
+
+    public void update(float tpf) {
+        if (enabled && spatial != null) {
+            getMotionState().applyTransform(spatial);
+        }
+    }
+
+    public void render(RenderManager rm, ViewPort vp) {
+        if (enabled && space != null && space.getDebugManager() != null) {
+            if (debugShape == null) {
+                attachDebugShape(space.getDebugManager());
+            }
+            debugShape.setLocalTranslation(motionState.getWorldLocation());
+            debugShape.setLocalRotation(motionState.getWorldRotation());
+            debugShape.updateLogicalState(0);
+            debugShape.updateGeometricState();
+            rm.renderScene(debugShape, vp);
+        }
+    }
+
+    public void setPhysicsSpace(PhysicsSpace space) {
+        if (space == null) {
+            if (this.space != null) {
+                this.space.removeCollisionObject(this);
+                this.space.removeTickListener(this);
+            }
+            this.space = space;
+        } else {
+            space.addCollisionObject(this);
+            space.addTickListener(this);
+        }
+        this.space = space;
+    }
+
+    public PhysicsSpace getPhysicsSpace() {
+        return space;
+    }
+
+    @Override
+    public void write(JmeExporter ex) throws IOException {
+        super.write(ex);
+        OutputCapsule oc = ex.getCapsule(this);
+        oc.write(enabled, "enabled", true);
+        oc.write(spatial, "spatial", null);
+    }
+
+    @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);
+    }
+
+    /**
+     * @param steeringValue the steeringValue to set
+     */
+    @Override
+    public void steer(float steeringValue) {
+        this.steeringValue = steeringValue * getMass();
+    }
+
+    /**
+     * @param accelerationValue the accelerationValue to set
+     */
+    @Override
+    public void accelerate(float accelerationValue) {
+        this.accelerationValue = accelerationValue * getMass();
+    }
+}