com.jme3.math.Matrix3f Java Examples

@FxThread
private void build(@NotNull final ChildCollisionShape shape, @NotNull final VBox container,
                   @NotNull final ModelChangeConsumer changeConsumer) {

    final Vector3f location = shape.location;
    final Matrix3f rotation = shape.rotation;

    final DefaultSinglePropertyControl<ModelChangeConsumer, ChildCollisionShape, Vector3f> locationControl =
            new DefaultSinglePropertyControl<>(location, Messages.MODEL_PROPERTY_LOCATION, changeConsumer);

    locationControl.setSyncHandler(collisionShape -> collisionShape.location);
    locationControl.setToStringFunction(Vector3f::toString);
    locationControl.setEditObject(shape);

    final DefaultSinglePropertyControl<ModelChangeConsumer, ChildCollisionShape, Matrix3f> rotationControl =
            new DefaultSinglePropertyControl<>(rotation, Messages.MODEL_PROPERTY_ROTATION, changeConsumer);

    rotationControl.setSyncHandler(collisionShape -> collisionShape.rotation);
    rotationControl.setToStringFunction(matrix3f -> new Quaternion().fromRotationMatrix(matrix3f).toString());
    rotationControl.setEditObject(shape);
    rotationControl.reload();

    FXUtils.addToPane(locationControl, container);
    FXUtils.addToPane(rotationControl, container);
}
 

@Override
public void write(JmeExporter e) throws IOException {
    super.write(e);
    OutputCapsule capsule = e.getCapsule(this);

    capsule.write(getMass(), "mass", 1.0f);

    capsule.write(getGravity(), "gravity", Vector3f.ZERO);
    capsule.write(getFriction(), "friction", 0.5f);
    capsule.write(getRestitution(), "restitution", 0);
    capsule.write(getAngularFactor(), "angularFactor", 1);
    capsule.write(kinematic, "kinematic", false);

    capsule.write(getLinearDamping(), "linearDamping", 0);
    capsule.write(getAngularDamping(), "angularDamping", 0);
    capsule.write(getLinearSleepingThreshold(), "linearSleepingThreshold", 0.8f);
    capsule.write(getAngularSleepingThreshold(), "angularSleepingThreshold", 1.0f);

    capsule.write(getCcdMotionThreshold(), "ccdMotionThreshold", 0);
    capsule.write(getCcdSweptSphereRadius(), "ccdSweptSphereRadius", 0);

    capsule.write(getPhysicsLocation(new Vector3f()), "physicsLocation", new Vector3f());
    capsule.write(getPhysicsRotationMatrix(new Matrix3f()), "physicsRotation", new Matrix3f());

    capsule.writeSavableArrayList(joints, "joints", null);
}
 

public SceneExplorerProperty(T instance, Class valueType, String getter, String setter, ScenePropertyChangeListener listener) throws NoSuchMethodException {
    super(instance, valueType, getter, setter);
    addPropertyChangeListener(listener);
    if (valueType == Vector3f.class) {
        setPropertyEditorClass(Vector3fPropertyEditor.class);
    } else if (valueType == Quaternion.class) {
        setPropertyEditorClass(QuaternionPropertyEditor.class);
    } else if (valueType == Matrix3f.class) {
        setPropertyEditorClass(Matrix3fPropertyEditor.class);
    } else if (valueType == ColorRGBA.class) {
        setPropertyEditorClass(ColorRGBAPropertyEditor.class);
    } else if (valueType == EmitterShape.class) {
        setPropertyEditorClass(EmitterShapePropertyEditor.class);
    } else if (valueType == Vector2f.class) {
        setPropertyEditorClass(Vector2fPropertyEditor.class);
    }

    for (SceneExplorerPropertyEditor di : Lookup.getDefault().lookupAll(SceneExplorerPropertyEditor.class)) {
        di.setEditor(valueType, this);
    }
}
 

@Override
public void influenceParticle(Particle particle, EmitterShape emitterShape) {
    emitterShape.getRandomPointAndNormal(particle.position, particle.velocity);
    // influencing the particle's velocity
    if (surfaceTangentFactor == 0.0f) {
        particle.velocity.multLocal(normalVelocity);
    } else {
        // calculating surface tangent (velocity contains the 'normal' value)
        temp.set(particle.velocity.z * surfaceTangentFactor, particle.velocity.y * surfaceTangentFactor, -particle.velocity.x * surfaceTangentFactor);
        if (surfaceTangentRotation != 0.0f) {// rotating the tangent
            Matrix3f m = new Matrix3f();
            m.fromAngleNormalAxis(FastMath.PI * surfaceTangentRotation, particle.velocity);
            temp = m.multLocal(temp);
        }
        // applying normal factor (this must be done first)
        particle.velocity.multLocal(normalVelocity);
        // adding tangent vector
        particle.velocity.addLocal(temp);
    }
    if (velocityVariation != 0.0f) {
        this.applyVelocityVariation(particle);
    }
}
 

/**
 * Callback from Control.render(), do not use.
 * 
 * @param rm
 * @param vp 
 */
private void renderFromControl(RenderManager rm, ViewPort vp) {
    Camera cam = vp.getCamera();

    if (meshType == ParticleMesh.Type.Point) {
        float C = cam.getProjectionMatrix().m00;
        C *= cam.getWidth() * 0.5f;

        // send attenuation params
        this.getMaterial().setFloat("Quadratic", C);
    }

    Matrix3f inverseRotation = Matrix3f.IDENTITY;
    TempVars vars = null;
    if (!worldSpace) {
        vars = TempVars.get();

        inverseRotation = this.getWorldRotation().toRotationMatrix(vars.tempMat3).invertLocal();
    }
    particleMesh.updateParticleData(particles, cam, inverseRotation);
    if (!worldSpace) {
        vars.release();
    }
}
 

@Override
public void read(JmeImporter e) throws IOException {
    super.read(e);

    InputCapsule capsule = e.getCapsule(this);
    float mass = capsule.readFloat("mass", 1.0f);
    this.mass = mass;
    rebuildRigidBody();
    setGravity((Vector3f) capsule.readSavable("gravity", Vector3f.ZERO.clone()));
    setFriction(capsule.readFloat("friction", 0.5f));
    setKinematic(capsule.readBoolean("kinematic", false));

    setRestitution(capsule.readFloat("restitution", 0));
    setAngularFactor(capsule.readFloat("angularFactor", 1));
    setDamping(capsule.readFloat("linearDamping", 0), capsule.readFloat("angularDamping", 0));
    setSleepingThresholds(capsule.readFloat("linearSleepingThreshold", 0.8f), capsule.readFloat("angularSleepingThreshold", 1.0f));
    setCcdMotionThreshold(capsule.readFloat("ccdMotionThreshold", 0));
    setCcdSweptSphereRadius(capsule.readFloat("ccdSweptSphereRadius", 0));

    setPhysicsLocation((Vector3f) capsule.readSavable("physicsLocation", new Vector3f()));
    setPhysicsRotation((Matrix3f) capsule.readSavable("physicsRotation", new Matrix3f()));

    joints = capsule.readSavableArrayList("joints", null);
}
 

@Override
public void read(JmeImporter e) throws IOException {
    super.read(e);

    InputCapsule capsule = e.getCapsule(this);
    float mass = capsule.readFloat("mass", 1.0f);
    this.mass = mass;
    rebuildRigidBody();
    setGravity((Vector3f) capsule.readSavable("gravity", Vector3f.ZERO.clone()));
    setFriction(capsule.readFloat("friction", 0.5f));
    setKinematic(capsule.readBoolean("kinematic", false));

    setRestitution(capsule.readFloat("restitution", 0));
    setAngularFactor(capsule.readFloat("angularFactor", 1));
    setDamping(capsule.readFloat("linearDamping", 0), capsule.readFloat("angularDamping", 0));
    setSleepingThresholds(capsule.readFloat("linearSleepingThreshold", 0.8f), capsule.readFloat("angularSleepingThreshold", 1.0f));
    setCcdMotionThreshold(capsule.readFloat("ccdMotionThreshold", 0));
    setCcdSweptSphereRadius(capsule.readFloat("ccdSweptSphereRadius", 0));

    setPhysicsLocation((Vector3f) capsule.readSavable("physicsLocation", new Vector3f()));
    setPhysicsRotation((Matrix3f) capsule.readSavable("physicsRotation", new Matrix3f()));

    joints = capsule.readSavableArrayList("joints", null);
}
 

@Override
public void write(JmeExporter e) throws IOException {
    super.write(e);
    OutputCapsule capsule = e.getCapsule(this);

    capsule.write(getMass(), "mass", 1.0f);

    capsule.write(getGravity(), "gravity", Vector3f.ZERO);
    capsule.write(getFriction(), "friction", 0.5f);
    capsule.write(getRestitution(), "restitution", 0);
    capsule.write(getAngularFactor(), "angularFactor", 1);
    capsule.write(kinematic, "kinematic", false);

    capsule.write(constructionInfo.linearDamping, "linearDamping", 0);
    capsule.write(constructionInfo.angularDamping, "angularDamping", 0);
    capsule.write(constructionInfo.linearSleepingThreshold, "linearSleepingThreshold", 0.8f);
    capsule.write(constructionInfo.angularSleepingThreshold, "angularSleepingThreshold", 1.0f);

    capsule.write(getCcdMotionThreshold(), "ccdMotionThreshold", 0);
    capsule.write(getCcdSweptSphereRadius(), "ccdSweptSphereRadius", 0);

    capsule.write(getPhysicsLocation(new Vector3f()), "physicsLocation", new Vector3f());
    capsule.write(getPhysicsRotationMatrix(new Matrix3f()), "physicsRotation", new Matrix3f());

    capsule.writeSavableArrayList(joints, "joints", null);
}
 

@Override
public void influenceParticle(Particle particle, EmitterShape emitterShape) {
    emitterShape.getRandomPointAndNormal(particle.position, particle.velocity);
    // influencing the particle's velocity
    if (surfaceTangentFactor == 0.0f) {
        particle.velocity.multLocal(normalVelocity);
    } else {
        // calculating surface tangent (velocity contains the 'normal' value)
        temp.set(particle.velocity.z * surfaceTangentFactor, particle.velocity.y * surfaceTangentFactor, -particle.velocity.x * surfaceTangentFactor);
        if (surfaceTangentRotation != 0.0f) {// rotating the tangent
            Matrix3f m = new Matrix3f();
            m.fromAngleNormalAxis(FastMath.PI * surfaceTangentRotation, particle.velocity);
            temp = m.multLocal(temp);
        }
        // applying normal factor (this must be done first)
        particle.velocity.multLocal(normalVelocity);
        // adding tangent vector
        particle.velocity.addLocal(temp);
    }
    if (velocityVariation != 0.0f) {
        this.applyVelocityVariation(particle);
    }
}
 

/**
 * @param pivotA local translation of the joint connection point in node A
 * @param pivotB local translation of the joint connection point in node B
 */
public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) {
    super(nodeA, nodeB, pivotA, pivotB);
    this.rotA = rotA;
    this.rotB = rotB;
    createJoint();
}
 

/**
 * @param pivotA local translation of the joint connection point in node A
 * @param pivotB local translation of the joint connection point in node B
 */
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
    super(nodeA, nodeB, pivotA, pivotB);
    this.useLinearReferenceFrameA = useLinearReferenceFrameA;

    Transform transA = new Transform(Converter.convert(new Matrix3f()));
    Converter.convert(pivotA, transA.origin);

    Transform transB = new Transform(Converter.convert(new Matrix3f()));
    Converter.convert(pivotB, transB.origin);

    constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
    gatherMotors();
}
 

void _convPMDEuler(Matrix3f out, float x, float y, float z) {
    Quaternion qx = new Quaternion();
    Quaternion qy = new Quaternion();
    Quaternion qz = new Quaternion();

    qx.fromAngles(x, 0, 0);
    qy.fromAngles(0, y, 0);
    qz.fromAngles(0, 0, z);

    qz.multLocal(qy);
    qz.multLocal(qx);

    qz.toRotationMatrix(out);
}
 

/**
 * @param pivotA local translation of the joint connection point in node A
 * @param pivotB local translation of the joint connection point in node B
 */
public SliderJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
    super(nodeA, nodeB, pivotA, pivotB);
    this.rotA=new Matrix3f();
    this.rotB=new Matrix3f();
    this.useLinearReferenceFrameA=useLinearReferenceFrameA;
    createJoint();
}
 

/**
 * @param pivotA local translation of the joint connection point in node A
 * @param pivotB local translation of the joint connection point in node B
 */
public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB) {
    super(nodeA, nodeB, pivotA, pivotB);
    this.rotA = rotA;
    this.rotB = rotB;
    createJoint();
}
 

@Override
public void write(JmeExporter ex) throws IOException {
    super.write(ex);
    OutputCapsule capsule = ex.getCapsule(this);
    capsule.write(rotA, "rotA", new Matrix3f());
    capsule.write(rotB, "rotB", new Matrix3f());

    capsule.write(angularOnly, "angularOnly", false);
    capsule.write(swingSpan1, "swingSpan1", 1e30f);
    capsule.write(swingSpan2, "swingSpan2", 1e30f);
    capsule.write(twistSpan, "twistSpan", 1e30f);
}
 

@Override
public void read(JmeImporter e) throws IOException {
    super.read(e);
    InputCapsule capsule = e.getCapsule(this);
    buildObject();
    setPhysicsLocation((Vector3f) capsule.readSavable("physicsLocation", new Vector3f()));
    setPhysicsRotation(((Matrix3f) capsule.readSavable("physicsRotation", new Matrix3f())));
    setCcdMotionThreshold(capsule.readFloat("ccdMotionThreshold", 0));
    setCcdSweptSphereRadius(capsule.readFloat("ccdSweptSphereRadius", 0));
}
 

/**
 * Serialize this body, for example when saving to a J3O file.
 *
 * @param e exporter (not null)
 * @throws IOException from exporter
 */
@Override
public void write(JmeExporter e) throws IOException {
    super.write(e);
    OutputCapsule capsule = e.getCapsule(this);

    capsule.write(getMass(), "mass", 1.0f);

    capsule.write(getGravity(), "gravity", Vector3f.ZERO);
    capsule.write(isContactResponse(), "contactResponse", true);
    capsule.write(getFriction(), "friction", 0.5f);
    capsule.write(getRestitution(), "restitution", 0);
    Vector3f angularFactor = getAngularFactor(null);
    if (angularFactor.x == angularFactor.y && angularFactor.y == angularFactor.z) {
        capsule.write(getAngularFactor(), "angularFactor", 1);
    } else {
        capsule.write(getAngularFactor(null), "angularFactor", Vector3f.UNIT_XYZ);
        capsule.write(getLinearFactor(), "linearFactor", Vector3f.UNIT_XYZ);
    }
    capsule.write(kinematic, "kinematic", false);

    capsule.write(getLinearDamping(), "linearDamping", 0);
    capsule.write(getAngularDamping(), "angularDamping", 0);
    capsule.write(getLinearSleepingThreshold(), "linearSleepingThreshold", 0.8f);
    capsule.write(getAngularSleepingThreshold(), "angularSleepingThreshold", 1.0f);

    capsule.write(getCcdMotionThreshold(), "ccdMotionThreshold", 0);
    capsule.write(getCcdSweptSphereRadius(), "ccdSweptSphereRadius", 0);

    capsule.write(getPhysicsLocation(new Vector3f()), "physicsLocation", new Vector3f());
    capsule.write(getPhysicsRotationMatrix(new Matrix3f()), "physicsRotation", new Matrix3f());
    capsule.write(getLinearVelocity(), "linearVelocity", null);
    capsule.write(getAngularVelocity(), "angularVelocity", null);

    capsule.writeSavableArrayList(joints, "joints", null);
}
 

@Override
public void read(JmeImporter im) throws IOException {
    super.read(im);
    InputCapsule capsule = im.getCapsule(this);
    this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f());
    this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f());

    this.angularOnly = capsule.readBoolean("angularOnly", false);
    this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f);
    this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f);
    this.twistSpan = capsule.readFloat("twistSpan", 1e30f);
    createJoint();
}
 

/**
 * @param pivotA local translation of the joint connection point in node A
 * @param pivotB local translation of the joint connection point in node B
 */
public ConeJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB) {
    super(nodeA, nodeB, pivotA, pivotB);
    this.rotA = new Matrix3f();
    this.rotB = new Matrix3f();
    createJoint();
}
 

/**
 * adds a child shape at the given local translation
 * @param shape the child shape to add
 * @param location the local location of the child shape
 */
public void addChildShape(CollisionShape shape, Vector3f location, Matrix3f rotation) {
    if(shape instanceof CompoundCollisionShape){
        throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
    }
    Transform transA = new Transform(Converter.convert(rotation));
    Converter.convert(location, transA.origin);
    Converter.convert(rotation, transA.basis);
    children.add(new ChildCollisionShape(location.clone(), rotation.clone(), shape));
    ((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
 

/**
 * adds a child shape at the given local translation
 * @param shape the child shape to add
 * @param location the local location of the child shape
 */
public void addChildShape(CollisionShape shape, Vector3f location) {
    Transform transA = new Transform(Converter.convert(new Matrix3f()));
    Converter.convert(location, transA.origin);
    children.add(new ChildCollisionShape(location.clone(), new Matrix3f(), shape));
    ((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
 

/**
 * @param pivotA local translation of the joint connection point in node A
 * @param pivotB local translation of the joint connection point in node B
 */
public SliderJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
    super(nodeA, nodeB, pivotA, pivotB);
    this.rotA = rotA;
    this.rotB = rotB;
    this.useLinearReferenceFrameA = useLinearReferenceFrameA;
    createJoint();
}
 

/**
 * This method moves each child shape of a compound shape by the given vector
 * @param vector
 */
public static void shiftCompoundShapeContents(CompoundCollisionShape compoundShape, Vector3f vector) {
    for (Iterator<ChildCollisionShape> it = new LinkedList<>(compoundShape.getChildren()).iterator(); it.hasNext();) {
        ChildCollisionShape childCollisionShape = it.next();
        CollisionShape child = childCollisionShape.shape;
        Vector3f location = childCollisionShape.location;
        Matrix3f rotation = childCollisionShape.rotation;
        compoundShape.removeChildShape(child);
        compoundShape.addChildShape(child, location.add(vector), rotation);
    }
}
 

/**
 * Creates a debug shape from the given collision shape. This is mostly used internally.<br>
 * To attach a debug shape to a physics object, call <code>attachDebugShape(AssetManager manager);</code> on it.
 * @param collisionShape
 * @return
 */
public static Spatial getDebugShape(CollisionShape collisionShape) {
    if (collisionShape == null) {
        return null;
    }
    Spatial debugShape;
    if (collisionShape instanceof CompoundCollisionShape) {
        CompoundCollisionShape shape = (CompoundCollisionShape) collisionShape;
        List<ChildCollisionShape> children = shape.getChildren();
        Node node = new Node("DebugShapeNode");
        for (Iterator<ChildCollisionShape> it = children.iterator(); it.hasNext();) {
            ChildCollisionShape childCollisionShape = it.next();
            CollisionShape ccollisionShape = childCollisionShape.shape;
            Geometry geometry = createDebugShape(ccollisionShape);

            // apply translation
            geometry.setLocalTranslation(childCollisionShape.location);

            // apply rotation
            TempVars vars = TempVars.get();                
            Matrix3f tempRot = vars.tempMat3;

            tempRot.set(geometry.getLocalRotation());
            childCollisionShape.rotation.mult(tempRot, tempRot);
            geometry.setLocalRotation(tempRot);

            vars.release();

            node.attachChild(geometry);
        }
        debugShape = node;
    } else {
        debugShape = createDebugShape(collisionShape);
    }
    if (debugShape == null) {
        return null;
    }
    debugShape.updateGeometricState();
    return debugShape;
}
 

@Override
public void read(JmeImporter im) throws IOException {
    super.read(im);
    InputCapsule capsule = im.getCapsule(this);
    this.rotA = (Matrix3f) capsule.readSavable("rotA", new Matrix3f());
    this.rotB = (Matrix3f) capsule.readSavable("rotB", new Matrix3f());

    this.angularOnly = capsule.readBoolean("angularOnly", false);
    this.swingSpan1 = capsule.readFloat("swingSpan1", 1e30f);
    this.swingSpan2 = capsule.readFloat("swingSpan2", 1e30f);
    this.twistSpan = capsule.readFloat("twistSpan", 1e30f);
    createJoint();
}
 

private void addChildShapeDirect(CollisionShape shape, Vector3f location, Matrix3f rotation) {
    if(shape instanceof CompoundCollisionShape){
        throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
    }
    Transform transA = new Transform(Converter.convert(rotation));
    Converter.convert(location, transA.origin);
    Converter.convert(rotation, transA.basis);
    ((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
 

/**
 * Sets the physics object rotation
 * @param rotation the rotation of the actual physics object
 */
public void setPhysicsRotation(Matrix3f rotation) {
    rBody.getCenterOfMassTransform(tempTrans);
    Converter.convert(rotation, tempTrans.basis);
    rBody.setCenterOfMassTransform(tempTrans);
    motionState.setWorldTransform(tempTrans);
}
 

/**
 * Serialize this body, for example when saving to a J3O file.
 *
 * @param e exporter (not null)
 * @throws IOException from exporter
 */
@Override
public void write(JmeExporter e) throws IOException {
    super.write(e);
    OutputCapsule capsule = e.getCapsule(this);

    capsule.write(getMass(), "mass", 1.0f);

    capsule.write(getGravity(), "gravity", Vector3f.ZERO);
    capsule.write(getFriction(), "friction", 0.5f);
    capsule.write(getRestitution(), "restitution", 0);
    capsule.write(getAngularFactor(), "angularFactor", 1);
    capsule.write(kinematic, "kinematic", false);

    capsule.write(constructionInfo.linearDamping, "linearDamping", 0);
    capsule.write(constructionInfo.angularDamping, "angularDamping", 0);
    capsule.write(constructionInfo.linearSleepingThreshold, "linearSleepingThreshold", 0.8f);
    capsule.write(constructionInfo.angularSleepingThreshold, "angularSleepingThreshold", 1.0f);

    capsule.write(getCcdMotionThreshold(), "ccdMotionThreshold", 0);
    capsule.write(getCcdSweptSphereRadius(), "ccdSweptSphereRadius", 0);

    capsule.write(getPhysicsLocation(new Vector3f()), "physicsLocation", new Vector3f());
    capsule.write(getPhysicsRotationMatrix(new Matrix3f()), "physicsRotation", new Matrix3f());
    capsule.write(getLinearVelocity(), "linearVelocity", null);
    capsule.write(getAngularVelocity(), "angularVelocity", null);

    capsule.writeSavableArrayList(joints, "joints", null);
}
 

/**
 * De-serialize this body, for example when loading from a J3O file.
 *
 * @param e importer (not null)
 * @throws IOException from importer
 */
@Override
@SuppressWarnings("unchecked")
public void read(JmeImporter e) throws IOException {
    super.read(e);

    InputCapsule capsule = e.getCapsule(this);
    float mass = capsule.readFloat("mass", 1.0f);
    this.mass = mass;
    rebuildRigidBody();
    setGravity((Vector3f) capsule.readSavable("gravity", Vector3f.ZERO.clone()));
    setContactResponse(capsule.readBoolean("contactResponse", true));
    setFriction(capsule.readFloat("friction", 0.5f));
    setKinematic(capsule.readBoolean("kinematic", false));

    setRestitution(capsule.readFloat("restitution", 0));
    setAngularFactor(capsule.readFloat("angularFactor", 1));
    setDamping(capsule.readFloat("linearDamping", 0), capsule.readFloat("angularDamping", 0));
    setSleepingThresholds(capsule.readFloat("linearSleepingThreshold", 0.8f), capsule.readFloat("angularSleepingThreshold", 1.0f));
    setCcdMotionThreshold(capsule.readFloat("ccdMotionThreshold", 0));
    setCcdSweptSphereRadius(capsule.readFloat("ccdSweptSphereRadius", 0));

    setPhysicsLocation((Vector3f) capsule.readSavable("physicsLocation", new Vector3f()));
    setPhysicsRotation((Matrix3f) capsule.readSavable("physicsRotation", new Matrix3f()));
    setLinearVelocity((Vector3f) capsule.readSavable("linearVelocity", new Vector3f()));
    setAngularVelocity((Vector3f) capsule.readSavable("angularVelocity", new Vector3f()));

    joints = capsule.readSavableArrayList("joints", null);
}
 

public void doStopVehicle() {
        testing = false;
        vehicleControl.setPhysicsLocation(Vector3f.ZERO);
        vehicleControl.setPhysicsRotation(new Matrix3f());
        vehicleControl.setLinearVelocity(Vector3f.ZERO);
        vehicleControl.setAngularVelocity(Vector3f.ZERO);
        vehicleControl.resetSuspension();
        vehicleControl.createDebugShape(SceneApplication.getApplication().getAssetManager());
        bulletState.getPhysicsSpace().removeAll(toolsNode);
        bulletState.getPhysicsSpace().remove(vehicleControl);
//        chaseCam.setEnabled(false);
//        cameraController.enable();
    }