com.jme3.bullet.collision.shapes.BoxCollisionShape Java Examples

public void setupJoint() {
    Node holderNode = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(.1f, .1f, .1f)), 0);
    holderNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, 0, 0f));
    rootNode.attachChild(holderNode);
    getPhysicsSpace().add(holderNode);

    Node hammerNode = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(.3f, .3f, .3f)), 1);
    hammerNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -1, 0f));
    rootNode.attachChild(hammerNode);
    getPhysicsSpace().add(hammerNode);

    //immovable
    collisionNode = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(.3f, .3f, .3f)), 0);
    collisionNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(1.8f, 0, 0f));
    rootNode.attachChild(collisionNode);
    getPhysicsSpace().add(collisionNode);

    //ghost node
    ghostControl = new GhostControl(new SphereCollisionShape(0.7f));

    hammerNode.addControl(ghostControl);
    getPhysicsSpace().add(ghostControl);

    joint = new HingeJoint(holderNode.getControl(RigidBodyControl.class), hammerNode.getControl(RigidBodyControl.class), Vector3f.ZERO, new Vector3f(0f, -1, 0f), Vector3f.UNIT_Z, Vector3f.UNIT_Z);
    getPhysicsSpace().add(joint);
}
 

public void setupJoint() {
    Node holderNode = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(.1f, .1f, .1f)), 0);
    holderNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, 0, 0f));
    rootNode.attachChild(holderNode);
    getPhysicsSpace().add(holderNode);

    Node hammerNode = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(.3f, .3f, .3f)), 1);
    hammerNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -1, 0f));
    rootNode.attachChild(hammerNode);
    getPhysicsSpace().add(hammerNode);

    //immovable
    collisionNode = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(.3f, .3f, .3f)), 0);
    collisionNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(1.8f, 0, 0f));
    rootNode.attachChild(collisionNode);
    getPhysicsSpace().add(collisionNode);

    //ghost node
    ghostControl = new GhostControl(new SphereCollisionShape(0.7f));

    hammerNode.addControl(ghostControl);
    getPhysicsSpace().add(ghostControl);

    joint = new HingeJoint(holderNode.getControl(RigidBodyControl.class), hammerNode.getControl(RigidBodyControl.class), Vector3f.ZERO, new Vector3f(0f, -1, 0f), Vector3f.UNIT_Z, Vector3f.UNIT_Z);
    getPhysicsSpace().add(joint);
}
 

private void scanSpatial(Spatial model) {
    AnimControl animControl = model.getControl(AnimControl.class);
    Map<Integer, List<Float>> pointsMap = null;
    if (weightThreshold == -1.0f) {
        pointsMap = RagdollUtils.buildPointMap(model);
    }

    skeleton = animControl.getSkeleton();
    skeleton.resetAndUpdate();
    for (int i = 0; i < skeleton.getRoots().length; i++) {
        Bone childBone = skeleton.getRoots()[i];
        if (childBone.getParent() == null) {
            logger.log(Level.INFO, "Found root bone in skeleton {0}", skeleton);
            baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(0.1f)), 1);
            baseRigidBody.setKinematic(mode == Mode.Kinetmatic);
            boneRecursion(model, childBone, baseRigidBody, 1, pointsMap);
        }
    }
}
 

private void scanSpatial(Spatial model) {
    AnimControl animControl = model.getControl(AnimControl.class);
    Map<Integer, List<Float>> pointsMap = null;
    if (weightThreshold == -1.0f) {
        pointsMap = RagdollUtils.buildPointMap(model);
    }

    skeleton = animControl.getSkeleton();
    skeleton.resetAndUpdate();
    for (int i = 0; i < skeleton.getRoots().length; i++) {
        Bone childBone = skeleton.getRoots()[i];
        if (childBone.getParent() == null) {
            logger.log(Level.INFO, "Found root bone in skeleton {0}", skeleton);
            baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(0.1f)), 1);
            baseRigidBody.setKinematic(mode == Mode.Kinetmatic);
            boneRecursion(model, childBone, baseRigidBody, 1, pointsMap);
        }
    }
}
 

public boolean doCheckVehicle(Node rootNode) {
    VehicleControl control = rootNode.getControl(VehicleControl.class);
    if (control == null) {
        vehicleControl = new VehicleControl(new BoxCollisionShape(Vector3f.UNIT_XYZ), 200);
        vehicleControl.createDebugShape(SceneApplication.getApplication().getAssetManager());
        rootNode.addControl(vehicleControl);
        return true;
    } else {
        vehicleControl = control;
        vehicleControl.createDebugShape(SceneApplication.getApplication().getAssetManager());
        return false;
    }
}
 

public void setupJoint() {
    Node holderNode=PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f( .1f, .1f, .1f)),0);
    holderNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f,0,0f));
    rootNode.attachChild(holderNode);
    getPhysicsSpace().add(holderNode);

    Node hammerNode=PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f( .3f, .3f, .3f)),1);
    hammerNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f,-1,0f));
    rootNode.attachChild(hammerNode);
    getPhysicsSpace().add(hammerNode);

    joint=new HingeJoint(holderNode.getControl(RigidBodyControl.class), hammerNode.getControl(RigidBodyControl.class), Vector3f.ZERO, new Vector3f(0f,-1,0f), Vector3f.UNIT_Z, Vector3f.UNIT_Z);
    getPhysicsSpace().add(joint);
}
 

public void initFloor() {
    Box floorBox = new Box(Vector3f.ZERO, 10f, 0.1f, 5f);
    floorBox.scaleTextureCoordinates(new Vector2f(3, 6));

    Geometry floor = new Geometry("floor", floorBox);
    floor.setMaterial(mat3);
    floor.setShadowMode(ShadowMode.Receive);
    floor.setLocalTranslation(0, -0.1f, 0);
    floor.addControl(new RigidBodyControl(new BoxCollisionShape(new Vector3f(10f, 0.1f, 5f)), 0));
    this.rootNode.attachChild(floor);
    this.getPhysicsSpace().add(floor);
}
 

public void makeMissile() {
    Vector3f pos = spaceCraft.getWorldTranslation().clone();
    Quaternion rot = spaceCraft.getWorldRotation();
    Vector3f dir = rot.getRotationColumn(2);

    Spatial missile = assetManager.loadModel("Models/SpaceCraft/Rocket.mesh.xml");
    missile.scale(0.5f);
    missile.rotate(0, FastMath.PI, 0);
    missile.updateGeometricState();

    BoundingBox box = (BoundingBox) missile.getWorldBound();
    final Vector3f extent = box.getExtent(null);

    BoxCollisionShape boxShape = new BoxCollisionShape(extent);

    missile.setName("Missile");
    missile.rotate(rot);
    missile.setLocalTranslation(pos.addLocal(0, extent.y * 4.5f, 0));
    missile.setLocalRotation(hoverControl.getPhysicsRotation());
    missile.setShadowMode(ShadowMode.Cast);
    RigidBodyControl control = new BombControl(assetManager, boxShape, 20);
    control.setLinearVelocity(dir.mult(100));
    control.setCollisionGroup(PhysicsCollisionObject.COLLISION_GROUP_03);
    missile.addControl(control);


    rootNode.attachChild(missile);
    getPhysicsSpace().add(missile);
}
 

private void initGhostObject() {
    Vector3f halfExtents = new Vector3f(3, 4.2f, 1);
    ghostControl = new GhostControl(new BoxCollisionShape(halfExtents));
    Node node=new Node("Ghost Object");
    node.addControl(ghostControl);
    rootNode.attachChild(node);
    getPhysicsSpace().add(ghostControl);
}
 

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.getPhysicsSpace().enableDebug(assetManager);

    // Mesh to be shared across several boxes.
    Box boxGeom = new Box(Vector3f.ZERO, 1f, 1f, 1f);
    // CollisionShape to be shared across several boxes.
    CollisionShape shape = new BoxCollisionShape(new Vector3f(1, 1, 1));

    Node physicsBox = PhysicsTestHelper.createPhysicsTestNode(assetManager, shape, 1);
    physicsBox.setName("box0");
    physicsBox.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(.6f, 4, .5f));
    rootNode.attachChild(physicsBox);
    getPhysicsSpace().add(physicsBox);

    Node physicsBox1 = PhysicsTestHelper.createPhysicsTestNode(assetManager, shape, 1);
    physicsBox1.setName("box1");
    physicsBox1.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0, 40, 0));
    rootNode.attachChild(physicsBox1);
    getPhysicsSpace().add(physicsBox1);

    Node physicsBox2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(1, 1, 1)), 1);
    physicsBox2.setName("box0");
    physicsBox2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(.5f, 80, -.8f));
    rootNode.attachChild(physicsBox2);
    getPhysicsSpace().add(physicsBox2);

    // the floor, does not move (mass=0)
    Node node = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(100, 1, 100)), 0);
    node.setName("floor");
    node.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -6, 0f));
    rootNode.attachChild(node);
    getPhysicsSpace().add(node);

    initGhostObject();
}
 

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.getPhysicsSpace().enableDebug(assetManager);
    bullet = new Sphere(32, 32, 0.4f, true, false);
    bullet.setTextureMode(TextureMode.Projected);
    bulletCollisionShape = new SphereCollisionShape(0.1f);
    setupKeys();

    mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat.getAdditionalRenderState().setWireframe(true);
    mat.setColor("Color", ColorRGBA.Green);

    mat2 = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat2.getAdditionalRenderState().setWireframe(true);
    mat2.setColor("Color", ColorRGBA.Red);

    // An obstacle mesh, does not move (mass=0)
    Node node2 = new Node();
    node2.setName("mesh");
    node2.setLocalTranslation(new Vector3f(2.5f, 0, 0f));
    node2.addControl(new RigidBodyControl(new MeshCollisionShape(new Box(Vector3f.ZERO, 4, 4, 0.1f)), 0));
    rootNode.attachChild(node2);
    getPhysicsSpace().add(node2);

    // The floor, does not move (mass=0)
    Node node3 = new Node();
    node3.setLocalTranslation(new Vector3f(0f, -6, 0f));
    node3.addControl(new RigidBodyControl(new BoxCollisionShape(new Vector3f(100, 1, 100)), 0));
    rootNode.attachChild(node3);
    getPhysicsSpace().add(node3);

}
 

/**
 * Uses the bounding box of the supplied spatial to create a BoxCollisionShape
 * @param spatial
 * @return BoxCollisionShape with the size of the spatials BoundingBox
 */
private static BoxCollisionShape createSingleBoxShape(Spatial spatial, Spatial parent) {
    spatial.setModelBound(new BoundingBox());
    //TODO: using world bound here instead of "local world" bound...
    BoxCollisionShape shape = new BoxCollisionShape(
            ((BoundingBox) spatial.getWorldBound()).getExtent(new Vector3f()));
    return shape;
}
 

/**
 * Uses the bounding box of the supplied spatial to create a BoxCollisionShape
 * @param spatial
 * @return BoxCollisionShape with the size of the spatials BoundingBox
 */
private static BoxCollisionShape createSingleBoxShape(Spatial spatial, Spatial parent) {
    spatial.setModelBound(new BoundingBox());
    //TODO: using world bound here instead of "local world" bound...
    BoxCollisionShape shape = new BoxCollisionShape(
            ((BoundingBox) spatial.getWorldBound()).getExtent(new Vector3f()));
    return shape;
}
 

/**
 * De-serialize this shape, 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 {
    InputCapsule capsule = im.getCapsule(this);
    location = (Vector3f) capsule.readSavable("location", new Vector3f());
    rotation = (Matrix3f) capsule.readSavable("rotation", new Matrix3f());
    shape = (CollisionShape) capsule.readSavable("shape", new BoxCollisionShape(new Vector3f(1, 1, 1)));
}
 

public void setupJoint() {
    Node holderNode=PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f( .1f, .1f, .1f)),0);
    holderNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f,0,0f));
    rootNode.attachChild(holderNode);
    getPhysicsSpace().add(holderNode);

    Node hammerNode=PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f( .3f, .3f, .3f)),1);
    hammerNode.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f,-1,0f));
    rootNode.attachChild(hammerNode);
    getPhysicsSpace().add(hammerNode);

    joint=new HingeJoint(holderNode.getControl(RigidBodyControl.class), hammerNode.getControl(RigidBodyControl.class), Vector3f.ZERO, new Vector3f(0f,-1,0f), Vector3f.UNIT_Z, Vector3f.UNIT_Z);
    getPhysicsSpace().add(joint);
}
 

public void initFloor() {
    Box floorBox = new Box(10f, 0.1f, 5f);
    floorBox.scaleTextureCoordinates(new Vector2f(3, 6));

    Geometry floor = new Geometry("floor", floorBox);
    floor.setMaterial(mat3);
    floor.setShadowMode(ShadowMode.Receive);
    floor.setLocalTranslation(0, -0.1f, 0);
    floor.addControl(new RigidBodyControl(new BoxCollisionShape(new Vector3f(10f, 0.1f, 5f)), 0));
    this.rootNode.attachChild(floor);
    this.getPhysicsSpace().add(floor);
}
 

Node createTestNode(float mass, Vector3f location) {
    float size = 0.1f;
    Vector3f halfExtents = new Vector3f(size, size, size);
    CollisionShape shape = new BoxCollisionShape(halfExtents);
    RigidBodyControl control = new RigidBodyControl(shape, mass);
    Node node = new Node();
    node.addControl(control);
    rootNode.attachChild(node);
    bulletAppState.getPhysicsSpace().add(node);
    control.setPhysicsLocation(location);

    return node;
}
 

public void makeMissile() {
    Vector3f pos = spaceCraft.getWorldTranslation().clone();
    Quaternion rot = spaceCraft.getWorldRotation();
    Vector3f dir = rot.getRotationColumn(2);

    Spatial missile = assetManager.loadModel("Models/SpaceCraft/Rocket.mesh.xml");
    missile.scale(0.5f);
    missile.rotate(0, FastMath.PI, 0);
    missile.updateGeometricState();

    BoundingBox box = (BoundingBox) missile.getWorldBound();
    final Vector3f extent = box.getExtent(null);

    BoxCollisionShape boxShape = new BoxCollisionShape(extent);

    missile.setName("Missile");
    missile.rotate(rot);
    missile.setLocalTranslation(pos.addLocal(0, extent.y * 4.5f, 0));
    missile.setLocalRotation(hoverControl.getPhysicsRotation());
    missile.setShadowMode(ShadowMode.Cast);
    RigidBodyControl control = new BombControl(assetManager, boxShape, 20);
    control.setLinearVelocity(dir.mult(100));
    control.setCollisionGroup(PhysicsCollisionObject.COLLISION_GROUP_03);
    missile.addControl(control);


    rootNode.attachChild(missile);
    getPhysicsSpace().add(missile);
}
 

@Override
public void simpleInitApp() {
    flyCam.setEnabled(false);

    BulletAppState bulletAppState = new BulletAppState();
    bulletAppState.setDebugEnabled(true);
    bulletAppState.setSpeed(0f);
    stateManager.attach(bulletAppState);
    PhysicsSpace space = bulletAppState.getPhysicsSpace();

    float radius = 1f;
    CollisionShape sphere = new SphereCollisionShape(radius);
    CollisionShape box = new BoxCollisionShape(Vector3f.UNIT_XYZ);

    RigidBodyControl rbc = new RigidBodyControl(box);
    rbc.setEnabled(false);
    rbc.setPhysicsSpace(space);
    rootNode.addControl(rbc);

    BetterCharacterControl bcc = new BetterCharacterControl(radius, 4f, 1f);
    bcc.setEnabled(false);
    bcc.setPhysicsSpace(space);
    rootNode.addControl(bcc);

    GhostControl gc = new GhostControl(sphere);
    gc.setEnabled(false);
    gc.setPhysicsSpace(space);
    rootNode.addControl(gc);
}
 

/**
 * Serialize this shape, 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 {
    OutputCapsule capsule = ex.getCapsule(this);
    capsule.write(location, "location", new Vector3f());
    capsule.write(rotation, "rotation", new Matrix3f());
    capsule.write(shape, "shape", new BoxCollisionShape(new Vector3f(1, 1, 1)));
}
 

private void initGhostObject() {
    Vector3f halfExtents = new Vector3f(3, 4.2f, 1);
    ghostControl = new GhostControl(new BoxCollisionShape(halfExtents));
    Node node=new Node("Ghost Object");
    node.addControl(ghostControl);
    rootNode.attachChild(node);
    getPhysicsSpace().add(ghostControl);
}
 

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.setDebugEnabled(true);

    // Mesh to be shared across several boxes.
    Box boxGeom = new Box(1f, 1f, 1f);
    // CollisionShape to be shared across several boxes.
    CollisionShape shape = new BoxCollisionShape(new Vector3f(1, 1, 1));

    Node physicsBox = PhysicsTestHelper.createPhysicsTestNode(assetManager, shape, 1);
    physicsBox.setName("box0");
    physicsBox.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(.6f, 4, .5f));
    rootNode.attachChild(physicsBox);
    getPhysicsSpace().add(physicsBox);

    Node physicsBox1 = PhysicsTestHelper.createPhysicsTestNode(assetManager, shape, 1);
    physicsBox1.setName("box1");
    physicsBox1.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0, 40, 0));
    rootNode.attachChild(physicsBox1);
    getPhysicsSpace().add(physicsBox1);

    Node physicsBox2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(1, 1, 1)), 1);
    physicsBox2.setName("box0");
    physicsBox2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(.5f, 80, -.8f));
    rootNode.attachChild(physicsBox2);
    getPhysicsSpace().add(physicsBox2);

    // the floor, does not move (mass=0)
    Node node = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(100, 1, 100)), 0);
    node.setName("floor");
    node.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -6, 0f));
    rootNode.attachChild(node);
    getPhysicsSpace().add(node);

    initGhostObject();
}
 

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.setDebugEnabled(true);
    bullet = new Sphere(32, 32, 0.4f, true, false);
    bullet.setTextureMode(TextureMode.Projected);
    bulletCollisionShape = new SphereCollisionShape(0.1f);
    setupKeys();

    mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat.getAdditionalRenderState().setWireframe(true);
    mat.setColor("Color", ColorRGBA.Green);

    mat2 = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat2.getAdditionalRenderState().setWireframe(true);
    mat2.setColor("Color", ColorRGBA.Red);

    // An obstacle mesh, does not move (mass=0)
    Node node2 = new Node();
    node2.setName("mesh");
    node2.setLocalTranslation(new Vector3f(2.5f, 0, 0f));
    node2.addControl(new RigidBodyControl(new MeshCollisionShape(new Box(4, 4, 0.1f)), 0));
    rootNode.attachChild(node2);
    getPhysicsSpace().add(node2);

    // The floor, does not move (mass=0)
    Node node3 = new Node();
    node3.setLocalTranslation(new Vector3f(0f, -6, 0f));
    node3.addControl(new RigidBodyControl(new BoxCollisionShape(new Vector3f(100, 1, 100)), 0));
    rootNode.attachChild(node3);
    getPhysicsSpace().add(node3);

}
 

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.getPhysicsSpace().enableDebug(assetManager);
    physicsRootNode=new Node("PhysicsRootNode");
    rootNode.attachChild(physicsRootNode);

    // Add a physics sphere to the world
    Node physicsSphere = PhysicsTestHelper.createPhysicsTestNode(assetManager, new SphereCollisionShape(1), 1);
    physicsSphere.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(3, 6, 0));
    rootNode.attachChild(physicsSphere);
    getPhysicsSpace().add(physicsSphere);

    // Add a physics sphere to the world using the collision shape from sphere one
    Node physicsSphere2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, physicsSphere.getControl(RigidBodyControl.class).getCollisionShape(), 1);
    physicsSphere2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(4, 8, 0));
    rootNode.attachChild(physicsSphere2);
    getPhysicsSpace().add(physicsSphere2);

    // Add a physics box to the world
    Node physicsBox = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(1, 1, 1)), 1);
    physicsBox.getControl(RigidBodyControl.class).setFriction(0.1f);
    physicsBox.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(.6f, 4, .5f));
    rootNode.attachChild(physicsBox);
    getPhysicsSpace().add(physicsBox);

    // Add a physics cylinder to the world
    Node physicsCylinder = PhysicsTestHelper.createPhysicsTestNode(assetManager, new CylinderCollisionShape(new Vector3f(1f, 1f, 1.5f)), 1);
    physicsCylinder.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(2, 2, 0));
    rootNode.attachChild(physicsCylinder);
    getPhysicsSpace().add(physicsCylinder);

    // an obstacle mesh, does not move (mass=0)
    Node node2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new MeshCollisionShape(new Sphere(16, 16, 1.2f)), 0);
    node2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(2.5f, -4, 0f));
    rootNode.attachChild(node2);
    getPhysicsSpace().add(node2);

    // the floor mesh, does not move (mass=0)
    Node node3 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new PlaneCollisionShape(new Plane(new Vector3f(0, 1, 0), 0)), 0);
    node3.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -6, 0f));
    rootNode.attachChild(node3);
    getPhysicsSpace().add(node3);

    // Join the physics objects with a Point2Point joint
    HingeJoint joint=new HingeJoint(physicsSphere.getControl(RigidBodyControl.class), physicsBox.getControl(RigidBodyControl.class), new Vector3f(-2,0,0), new Vector3f(2,0,0), Vector3f.UNIT_Z,Vector3f.UNIT_Z);
    getPhysicsSpace().add(joint);

    //save and load the physicsRootNode
    try {
        //remove all physics objects from physics space
        getPhysicsSpace().removeAll(physicsRootNode);
        physicsRootNode.removeFromParent();
        //export to byte array
        ByteArrayOutputStream bout=new ByteArrayOutputStream();
        BinaryExporter.getInstance().save(physicsRootNode, bout);
        //import from byte array
        ByteArrayInputStream bin=new ByteArrayInputStream(bout.toByteArray());
        BinaryImporter imp=BinaryImporter.getInstance();
        imp.setAssetManager(assetManager);
        Node newPhysicsRootNode=(Node)imp.load(bin);
        //add all physics objects to physics space
        getPhysicsSpace().addAll(newPhysicsRootNode);
        rootNode.attachChild(newPhysicsRootNode);
    } catch (IOException ex) {
        Logger.getLogger(TestPhysicsReadWrite.class.getName()).log(Level.SEVERE, null, ex);
    }

}
 

public BoxCollisionShapeTreeNode(@NotNull final BoxCollisionShape element, final long objectId) {
    super(element, objectId);
}
 

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    bulletAppState.setThreadingType(BulletAppState.ThreadingType.PARALLEL);
   // bulletAppState.setEnabled(false);
    stateManager.attach(bulletAppState);
    bullet = new Sphere(32, 32, 0.4f, true, false);
    bullet.setTextureMode(TextureMode.Projected);
    bulletCollisionShape = new SphereCollisionShape(0.4f);

    brick = new Box(Vector3f.ZERO, brickWidth, brickHeight, brickDepth);
    brick.scaleTextureCoordinates(new Vector2f(1f, .5f));
  //  bulletAppState.getPhysicsSpace().enableDebug(assetManager);
    initMaterial();
    initTower();
    initFloor();
    initCrossHairs();

    List<BatchedGeometry> bgs = batch.batch(geoms);
    for (BatchedGeometry bg : bgs) {
        RigidBodyControl rb = new RigidBodyControl(1.5f);
        rb.setCollisionShape(new BoxCollisionShape(new Vector3f(brick.getXExtent(), brick.getYExtent(), brick.getZExtent())));
        rb.setFriction(1.6f);
        bg.addControl(rb);
        this.getPhysicsSpace().add(bg);
    }

    batch.setMaterial(mat);
    batch.setShadowMode(ShadowMode.CastAndReceive);

    this.cam.setLocation(new Vector3f(0, 25f, 8f));
    cam.lookAt(Vector3f.ZERO, new Vector3f(0, 1, 0));
    cam.setFrustumFar(80);
    inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
    inputManager.addListener(actionListener, "shoot");
    rootNode.setShadowMode(ShadowMode.Off);
    bsr = new PssmShadowRenderer(assetManager, 1024, 2);
    bsr.setDirection(new Vector3f(-1, -1, -1).normalizeLocal());
    bsr.setLambda(0.50f);
    bsr.setShadowIntensity(0.6f);
    bsr.setCompareMode(CompareMode.Hardware);
    bsr.setFilterMode(FilterMode.PCF4);
    viewPort.addProcessor(bsr);
    flyCam.setMoveSpeed(50);
    rootNode.attachChild(batch);
}
 

@Override
@FxThread
protected @NotNull Control createControl(@NotNull final Spatial parent) {
    return new VehicleControl(new BoxCollisionShape(new Vector3f(1F, 1F, 1F)), 1F);
}
 

@Override
@FxThread
protected @NotNull CollisionShape createShape(@NotNull final VarTable vars) {
    final Vector3f halfExtents = vars.get(PROPERTY_HALF_EXTENTS);
    return new BoxCollisionShape(halfExtents);
}
 

@Override
    public void simpleInitApp() {
        bulletAppState = new BulletAppState();
        stateManager.attach(bulletAppState);
        bulletAppState.getPhysicsSpace().enableDebug(assetManager);

        // Add a physics sphere to the world
        Node physicsSphere = PhysicsTestHelper.createPhysicsTestNode(assetManager, new SphereCollisionShape(1), 1);
        physicsSphere.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(3, 6, 0));
        physicsSphere.getControl(RigidBodyControl.class).setApplyPhysicsLocal(true);
        rootNode.attachChild(physicsSphere);
        getPhysicsSpace().add(physicsSphere);

        // Add a physics sphere to the world using the collision shape from sphere one
        Node physicsSphere2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, physicsSphere.getControl(RigidBodyControl.class).getCollisionShape(), 1);
        physicsSphere2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(4, 8, 0));
        physicsSphere2.getControl(RigidBodyControl.class).setApplyPhysicsLocal(true);
        rootNode.attachChild(physicsSphere2);
        getPhysicsSpace().add(physicsSphere2);

        // Add a physics box to the world
        Node physicsBox = PhysicsTestHelper.createPhysicsTestNode(assetManager, new BoxCollisionShape(new Vector3f(1, 1, 1)), 1);
        physicsBox.getControl(RigidBodyControl.class).setFriction(0.1f);
        physicsBox.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(.6f, 4, .5f));
        physicsBox.getControl(RigidBodyControl.class).setApplyPhysicsLocal(true);
        rootNode.attachChild(physicsBox);
        getPhysicsSpace().add(physicsBox);

        // Add a physics cylinder to the world
        Node physicsCylinder = PhysicsTestHelper.createPhysicsTestNode(assetManager, new CylinderCollisionShape(new Vector3f(1f, 1f, 1.5f)), 1);
        physicsCylinder.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(2, 2, 0));
        physicsCylinder.getControl(RigidBodyControl.class).setApplyPhysicsLocal(true);
        rootNode.attachChild(physicsCylinder);
        getPhysicsSpace().add(physicsCylinder);

        // an obstacle mesh, does not move (mass=0)
        Node node2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new MeshCollisionShape(new Sphere(16, 16, 1.2f)), 0);
        node2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(2.5f, -4, 0f));
        node2.getControl(RigidBodyControl.class).setApplyPhysicsLocal(true);
        rootNode.attachChild(node2);
        getPhysicsSpace().add(node2);

        // the floor mesh, does not move (mass=0)
        Node node3 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new PlaneCollisionShape(new Plane(new Vector3f(0, 1, 0), 0)), 0);
        node3.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -6, 0f));
        node3.getControl(RigidBodyControl.class).setApplyPhysicsLocal(true);
        rootNode.attachChild(node3);
        getPhysicsSpace().add(node3);

        // Join the physics objects with a Point2Point joint
//        PhysicsPoint2PointJoint joint=new PhysicsPoint2PointJoint(physicsSphere, physicsBox, new Vector3f(-2,0,0), new Vector3f(2,0,0));
//        PhysicsHingeJoint joint=new PhysicsHingeJoint(physicsSphere, physicsBox, new Vector3f(-2,0,0), new Vector3f(2,0,0), Vector3f.UNIT_Z,Vector3f.UNIT_Z);
//        getPhysicsSpace().add(joint);

    }
 

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, 400);
    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
    float stiffness = 60.0f;//200=f1 car
    float compValue = .3f; //(should be lower than damp)
    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
    Vector3f wheelDirection = new Vector3f(0, -1, 0); // was 0, -1, 0
    Vector3f wheelAxle = new Vector3f(-1, 0, 0); // was -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);
}