Examples with SliderJoint com.jme3.bullet.joints.SliderJoint used on opensource projects

Example 1 with SliderJoint

use of com.jme3.bullet.joints.SliderJoint in project jmonkeyengine by jMonkeyEngine.

the class TestAttachDriver method buildPlayer.

private void buildPlayer() {
    Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat.getAdditionalRenderState().setWireframe(true);
    mat.setColor("Color", ColorRGBA.Red);
    //create a compound shape and attach the BoxCollisionShape for the car body at 0,1,0
    //this shifts the effective center of mass of the BoxCollisionShape to 0,-1,0
    CompoundCollisionShape compoundShape = new CompoundCollisionShape();
    BoxCollisionShape box = new BoxCollisionShape(new Vector3f(1.2f, 0.5f, 2.4f));
    compoundShape.addChildShape(box, new Vector3f(0, 1, 0));
    //create vehicle node
    Node vehicleNode = new Node("vehicleNode");
    vehicle = new VehicleControl(compoundShape, 800);
    vehicleNode.addControl(vehicle);
    //setting suspension values for wheels, this can be a bit tricky
    //see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
    //200=f1 car
    float stiffness = 60.0f;
    //(should be lower than damp)
    float compValue = .3f;
    float dampValue = .4f;
    vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
    vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
    vehicle.setSuspensionStiffness(stiffness);
    vehicle.setMaxSuspensionForce(10000.0f);
    //Create four wheels and add them at their locations
    // was 0, -1, 0
    Vector3f wheelDirection = new Vector3f(0, -1, 0);
    // was -1, 0, 0
    Vector3f wheelAxle = new Vector3f(-1, 0, 0);
    float radius = 0.5f;
    float restLength = 0.3f;
    float yOff = 0.5f;
    float xOff = 1f;
    float zOff = 2f;
    Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);
    Node node1 = new Node("wheel 1 node");
    Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
    node1.attachChild(wheels1);
    wheels1.rotate(0, FastMath.HALF_PI, 0);
    wheels1.setMaterial(mat);
    vehicle.addWheel(node1, new Vector3f(-xOff, yOff, zOff), wheelDirection, wheelAxle, restLength, radius, true);
    Node node2 = new Node("wheel 2 node");
    Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
    node2.attachChild(wheels2);
    wheels2.rotate(0, FastMath.HALF_PI, 0);
    wheels2.setMaterial(mat);
    vehicle.addWheel(node2, new Vector3f(xOff, yOff, zOff), wheelDirection, wheelAxle, restLength, radius, true);
    Node node3 = new Node("wheel 3 node");
    Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
    node3.attachChild(wheels3);
    wheels3.rotate(0, FastMath.HALF_PI, 0);
    wheels3.setMaterial(mat);
    vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff), wheelDirection, wheelAxle, restLength, radius, false);
    Node node4 = new Node("wheel 4 node");
    Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
    node4.attachChild(wheels4);
    wheels4.rotate(0, FastMath.HALF_PI, 0);
    wheels4.setMaterial(mat);
    vehicle.addWheel(node4, new Vector3f(xOff, yOff, -zOff), wheelDirection, wheelAxle, restLength, radius, false);
    vehicleNode.attachChild(node1);
    vehicleNode.attachChild(node2);
    vehicleNode.attachChild(node3);
    vehicleNode.attachChild(node4);
    rootNode.attachChild(vehicleNode);
    getPhysicsSpace().add(vehicle);
    //driver
    Node driverNode = new Node("driverNode");
    driverNode.setLocalTranslation(0, 2, 0);
    driver = new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f, .5f, 0.2f)));
    driverNode.addControl(driver);
    rootNode.attachChild(driverNode);
    getPhysicsSpace().add(driver);
    //joint
    slider = new SliderJoint(driver, vehicle, Vector3f.UNIT_Y.negate(), Vector3f.UNIT_Y, true);
    slider.setUpperLinLimit(.1f);
    slider.setLowerLinLimit(-.1f);
    getPhysicsSpace().add(slider);
    Node pole1Node = new Node("pole1Node");
    Node pole2Node = new Node("pole1Node");
    Node bridgeNode = new Node("pole1Node");
    pole1Node.setLocalTranslation(new Vector3f(-2, -1, 4));
    pole2Node.setLocalTranslation(new Vector3f(2, -1, 4));
    bridgeNode.setLocalTranslation(new Vector3f(0, 1.4f, 4));
    RigidBodyControl pole1 = new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f, 1.25f, 0.2f)), 0);
    pole1Node.addControl(pole1);
    RigidBodyControl pole2 = new RigidBodyControl(new BoxCollisionShape(new Vector3f(0.2f, 1.25f, 0.2f)), 0);
    pole2Node.addControl(pole2);
    bridge = new RigidBodyControl(new BoxCollisionShape(new Vector3f(2.5f, 0.2f, 0.2f)));
    bridgeNode.addControl(bridge);
    rootNode.attachChild(pole1Node);
    rootNode.attachChild(pole2Node);
    rootNode.attachChild(bridgeNode);
    getPhysicsSpace().add(pole1);
    getPhysicsSpace().add(pole2);
    getPhysicsSpace().add(bridge);
}