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

/**
 * Sets the mass of this PhysicsRigidBody, objects with mass=0 are static.
 * @param mass
 */
public void setMass(float mass) {
    this.mass = mass;
    if (collisionShape instanceof MeshCollisionShape && mass != 0) {
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (objectId != 0) {
        if (collisionShape != null) {
            updateMassProps(objectId, collisionShape.getObjectId(), mass);
        }
        if (mass == 0.0f) {
            setStatic(objectId, true);
        } else {
            setStatic(objectId, false);
        }
    }
}
 

public void setupFloor() {
    Material mat = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
    TextureKey key = new TextureKey("Interface/Logo/Monkey.jpg", true);
    key.setGenerateMips(true);
    Texture tex = assetManager.loadTexture(key);
    tex.setMinFilter(Texture.MinFilter.Trilinear);
    mat.setTexture("ColorMap", tex);

    Box floor = new Box(Vector3f.ZERO, 100, 1f, 100);
    Geometry floorGeom = new Geometry("Floor", floor);
    floorGeom.setMaterial(mat);
    floorGeom.setLocalTranslation(new Vector3f(0f, -3, 0f));

    floorGeom.addControl(new RigidBodyControl(new MeshCollisionShape(floorGeom.getMesh()), 0));
    rootNode.attachChild(floorGeom);
    getPhysicsSpace().add(floorGeom);
}
 

/**
 * Sets the mass of this PhysicsRigidBody, objects with mass=0 are static.
 * @param mass
 */
public void setMass(float mass) {
    this.mass = mass;
    if(collisionShape instanceof MeshCollisionShape && mass != 0){
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (collisionShape != null) {
        collisionShape.calculateLocalInertia(mass, localInertia);
    }
    if (rBody != null) {
        rBody.setMassProps(mass, localInertia);
        if (mass == 0.0f) {
            rBody.setCollisionFlags(rBody.getCollisionFlags() | CollisionFlags.STATIC_OBJECT);
        } else {
            rBody.setCollisionFlags(rBody.getCollisionFlags() & ~CollisionFlags.STATIC_OBJECT);
        }
    }
}
 

/**
 * Builds/rebuilds the phyiscs body when parameters have changed
 */
protected void rebuildRigidBody() {
    boolean removed = false;
    if (collisionShape instanceof MeshCollisionShape && mass != 0) {
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (objectId != 0) {
        if (isInWorld(objectId)) {
            PhysicsSpace.getPhysicsSpace().remove(this);
            removed = true;
        }
        Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Clearing RigidBody {0}", Long.toHexString(objectId));
        finalizeNative(objectId);
    }
    preRebuild();
    objectId = createRigidBody(mass, motionState.getObjectId(), collisionShape.getObjectId());
    Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created RigidBody {0}", Long.toHexString(objectId));
    postRebuild();
    if (removed) {
        PhysicsSpace.getPhysicsSpace().add(this);
    }
}
 

/**
 * Sets the mass of this PhysicsRigidBody, objects with mass=0 are static.
 * @param mass
 */
public void setMass(float mass) {
    this.mass = mass;
    if(collisionShape instanceof MeshCollisionShape && mass != 0){
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (collisionShape != null) {
        collisionShape.calculateLocalInertia(mass, localInertia);
    }
    if (rBody != null) {
        rBody.setMassProps(mass, localInertia);
        if (mass == 0.0f) {
            rBody.setCollisionFlags(rBody.getCollisionFlags() | CollisionFlags.STATIC_OBJECT);
        } else {
            rBody.setCollisionFlags(rBody.getCollisionFlags() & ~CollisionFlags.STATIC_OBJECT);
        }
    }
}
 

/**
 * Alter this body's mass. Bodies with mass=0 are static. For dynamic
 * bodies, it is best to keep the mass around 1.
 *
 * @param mass the desired mass (>0) or 0 for a static body (default=1)
 */
public void setMass(float mass) {
    this.mass = mass;
    if (collisionShape instanceof MeshCollisionShape && mass != 0) {
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (objectId != 0) {
        if (collisionShape != null) {
            updateMassProps(objectId, collisionShape.getObjectId(), mass);
        }
        if (mass == 0.0f) {
            setStatic(objectId, true);
        } else {
            setStatic(objectId, false);
        }
    }
}
 

/**
 * Build/rebuild this body after parameters have changed.
 */
protected void rebuildRigidBody() {
    boolean removed = false;
    if (collisionShape instanceof MeshCollisionShape && mass != 0) {
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (objectId != 0) {
        if (isInWorld(objectId)) {
            PhysicsSpace.getPhysicsSpace().remove(this);
            removed = true;
        }
        Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Clearing RigidBody {0}", Long.toHexString(objectId));
        finalizeNative(objectId);
    }
    preRebuild();
    objectId = createRigidBody(mass, motionState.getObjectId(), collisionShape.getObjectId());
    Logger.getLogger(this.getClass().getName()).log(Level.FINE, "Created RigidBody {0}", Long.toHexString(objectId));
    postRebuild();
    if (removed) {
        PhysicsSpace.getPhysicsSpace().add(this);
    }
}
 

@Override
public void simpleInitApp() {
    //set far frustum only so we see the outer world longer
    cam.setFrustumFar(10000);
    cam.setLocation(Vector3f.ZERO);
    debugTools = new DebugTools(assetManager);
    rootNode.attachChild(debugTools.debugNode);
    poiMaterial = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
    poiMaterial.setTexture("ColorMap", assetManager.loadTexture("Interface/Logo/Monkey.jpg"));
    poiMesh = new Sphere(16, 16, 1f);

    ballMaterial = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
    ballMaterial.setTexture("ColorMap", assetManager.loadTexture("Interface/Logo/Monkey.jpg"));
    ballMaterial.setColor("Color", ColorRGBA.Red);
    ballMesh = new Sphere(16, 16, 1.0f);

    poiHorizonCollisionShape = new MeshCollisionShape(new Sphere(128, 128, poiRadius));
    poiCollisionShape = new SphereCollisionShape(1f);
    ballCollisionShape = new SphereCollisionShape(1f);
    setupKeys();
    setupDisplay();
    setupFog();
}
 

public void setupFloor() {
    Material mat = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
    TextureKey key = new TextureKey("Interface/Logo/Monkey.jpg", true);
    key.setGenerateMips(true);
    Texture tex = assetManager.loadTexture(key);
    tex.setMinFilter(Texture.MinFilter.Trilinear);
    mat.setTexture("ColorMap", tex);

    Box floor = new Box(100, 1f, 100);
    Geometry floorGeom = new Geometry("Floor", floor);
    floorGeom.setMaterial(mat);
    floorGeom.setLocalTranslation(new Vector3f(0f, -3, 0f));

    floorGeom.addControl(new RigidBodyControl(new MeshCollisionShape(floorGeom.getMesh()), 0));
    rootNode.attachChild(floorGeom);
    getPhysicsSpace().add(floorGeom);
}
 

public void setCollisionShape(CollisionShape collisionShape) {
    super.setCollisionShape(collisionShape);
    if(collisionShape instanceof MeshCollisionShape && mass!=0){
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (rBody == null) {
        rebuildRigidBody();
    } else {
        collisionShape.calculateLocalInertia(mass, localInertia);
        constructionInfo.collisionShape = collisionShape.getCShape();
        rBody.setCollisionShape(collisionShape.getCShape());
    }
}
 

private void setupPlanet() {
    Material material = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
    material.setTexture("ColorMap", assetManager.loadTexture("Interface/Logo/Monkey.jpg"));
    //immovable sphere with mesh collision shape
    Sphere sphere = new Sphere(64, 64, 20);
    planet = new Geometry("Sphere", sphere);
    planet.setMaterial(material);
    planet.setLocalTranslation(30, -15, 30);
    planet.addControl(new RigidBodyControl(new MeshCollisionShape(sphere), 0));
    rootNode.attachChild(planet);
    getPhysicsSpace().add(planet);
}
 

@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);

}
 

@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));
    rootNode.attachChild(physicsSphere);
    getPhysicsSpace().add(physicsSphere);

    // Add a physics sphere to the world
    Node physicsSphere2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new SphereCollisionShape(1), 1);
    physicsSphere2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(4, 8, 0));
    physicsSphere2.getControl(RigidBodyControl.class).addCollideWithGroup(PhysicsCollisionObject.COLLISION_GROUP_02);
    rootNode.attachChild(physicsSphere2);
    getPhysicsSpace().add(physicsSphere2);

    // 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).setCollisionGroup(PhysicsCollisionObject.COLLISION_GROUP_02);
    node2.getControl(RigidBodyControl.class).setCollideWithGroups(PhysicsCollisionObject.COLLISION_GROUP_02);
    rootNode.attachChild(node2);
    getPhysicsSpace().add(node2);

    // the floor, does not move (mass=0)
    Node node3 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new MeshCollisionShape(new Box(Vector3f.ZERO, 100f, 0.2f, 100f)), 0);
    node3.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -6, 0f));
    rootNode.attachChild(node3);
    getPhysicsSpace().add(node3);
}
 

/**
 * This type of collision shape is mesh-accurate and meant for immovable "world objects".
 * Examples include terrain, houses or whole shooter levels.<br>
 * Objects with "mesh" type collision shape will not collide with each other.
 */
private static MeshCollisionShape createSingleMeshShape(Geometry geom, Spatial parent) {
    Mesh mesh = geom.getMesh();
    Transform trans = getTransform(geom, parent);
    if (mesh != null) {
        MeshCollisionShape mColl = new MeshCollisionShape(mesh);
        mColl.setScale(trans.getScale());
        return mColl;
    } else {
        return null;
    }
}
 

/**
 * This type of collision shape is mesh-accurate and meant for immovable "world objects".
 * Examples include terrain, houses or whole shooter levels.<br>
 * Objects with "mesh" type collision shape will not collide with each other.
 */
private static MeshCollisionShape createSingleMeshShape(Geometry geom, Spatial parent) {
    Mesh mesh = geom.getMesh();
    Transform trans = getTransform(geom, parent);
    if (mesh != null) {
        MeshCollisionShape mColl = new MeshCollisionShape(mesh);
        mColl.setScale(trans.getScale());
        return mColl;
    } else {
        return null;
    }
}
 

public void setCollisionShape(CollisionShape collisionShape) {
    super.setCollisionShape(collisionShape);
    if (collisionShape instanceof MeshCollisionShape && mass != 0) {
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (objectId == 0) {
        rebuildRigidBody();
    } else {
        setCollisionShape(objectId, collisionShape.getObjectId());
        updateMassProps(objectId, collisionShape.getObjectId(), mass);
    }
}
 

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

    // 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
    Node physicsSphere2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new SphereCollisionShape(1), 1);
    physicsSphere2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(4, 8, 0));
    physicsSphere2.getControl(RigidBodyControl.class).addCollideWithGroup(PhysicsCollisionObject.COLLISION_GROUP_02);
    rootNode.attachChild(physicsSphere2);
    getPhysicsSpace().add(physicsSphere2);

    // 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).setCollisionGroup(PhysicsCollisionObject.COLLISION_GROUP_02);
    node2.getControl(RigidBodyControl.class).setCollideWithGroups(PhysicsCollisionObject.COLLISION_GROUP_02);
    rootNode.attachChild(node2);
    getPhysicsSpace().add(node2);

    // the floor, does not move (mass=0)
    Node node3 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new MeshCollisionShape(new Box(100f, 0.2f, 100f)), 0);
    node3.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(0f, -6, 0f));
    rootNode.attachChild(node3);
    getPhysicsSpace().add(node3);
}
 

@Override
public void setCollisionShape(CollisionShape collisionShape) {
    super.setCollisionShape(collisionShape);
    if(collisionShape instanceof MeshCollisionShape && mass!=0){
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (rBody == null) {
        rebuildRigidBody();
    } else {
        collisionShape.calculateLocalInertia(mass, localInertia);
        constructionInfo.collisionShape = collisionShape.getCShape();
        rBody.setCollisionShape(collisionShape.getCShape());
    }
}
 

@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);

}
 

/**
 * Apply the specified CollisionShape to this body.
 * <p>
 * Note that the body should not be in any physics space while changing
 * shape; the body gets rebuilt on the physics side.
 *
 * @param collisionShape the shape to apply (not null, alias created)
 */
@Override
public void setCollisionShape(CollisionShape collisionShape) {
    super.setCollisionShape(collisionShape);
    if (collisionShape instanceof MeshCollisionShape && mass != 0) {
        throw new IllegalStateException("Dynamic rigidbody can not have mesh collision shape!");
    }
    if (objectId == 0) {
        rebuildRigidBody();
    } else {
        setCollisionShape(objectId, collisionShape.getObjectId());
        updateMassProps(objectId, collisionShape.getObjectId(), mass);
    }
}
 

public MeshCollisionShapeTreeNode(@NotNull final MeshCollisionShape element, final long objectId) {
    super(element, objectId);
}
 

@Override
public void simpleInitApp() {

    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.setDebugEnabled(true);
    // 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);

    //Setting the rigidBody to kinematic before adding it to the physics space
    physicsSphere.getControl(RigidBodyControl.class).setKinematic(true);
    //adding it to the physics space
    getPhysicsSpace().add(physicsSphere);
    //Making it not kinematic again, it should fall under gravity, it doesn't
    physicsSphere.getControl(RigidBodyControl.class).setKinematic(false);

    // Add a physics sphere to the world using the collision shape from sphere one
    Node physicsSphere2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new SphereCollisionShape(1), 1);
    physicsSphere2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(5, 6, 0));
    rootNode.attachChild(physicsSphere2);

    //Adding the rigid body to physics space
    getPhysicsSpace().add(physicsSphere2);
    //making it kinematic
    physicsSphere2.getControl(RigidBodyControl.class).setKinematic(false);
    //Making it not kinematic again, it works properly, the rigidbody is affected by grvity.
    physicsSphere2.getControl(RigidBodyControl.class).setKinematic(false);



    // 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);

}
 

@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));
        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
//        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);

    }
 

@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);
    }

}
 

@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));
    rootNode.attachChild(physicsSphere);

    //Setting the rigidBody to kinematic before adding it to the physic space
    physicsSphere.getControl(RigidBodyControl.class).setKinematic(true);
    //adding it to the physic space
    getPhysicsSpace().add(physicsSphere);         
    //Making it not kinematic again, it should fall under gravity, it doesn't
    physicsSphere.getControl(RigidBodyControl.class).setKinematic(false);

    // Add a physics sphere to the world using the collision shape from sphere one
    Node physicsSphere2 = PhysicsTestHelper.createPhysicsTestNode(assetManager, new SphereCollisionShape(1), 1);
    physicsSphere2.getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(5, 6, 0));
    rootNode.attachChild(physicsSphere2);
    
    //Adding the rigid body to physic space
    getPhysicsSpace().add(physicsSphere2);
    //making it kinematic
    physicsSphere2.getControl(RigidBodyControl.class).setKinematic(false);
    //Making it not kinematic again, it works properly, the rigidbody is affected by grvity.
    physicsSphere2.getControl(RigidBodyControl.class).setKinematic(false);

  

    // 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);

}
 

/**
     * creates a simple physics test world with a floor, an obstacle and some test boxes
     *
     * @param rootNode where lights and geometries should be added
     * @param assetManager for loading assets
     * @param space where collision objects should be added
     */
    public static void createPhysicsTestWorld(Node rootNode, AssetManager assetManager, PhysicsSpace space) {
        AmbientLight light = new AmbientLight();
        light.setColor(ColorRGBA.LightGray);
        rootNode.addLight(light);

        Material material = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
        material.setTexture("ColorMap", assetManager.loadTexture("Interface/Logo/Monkey.jpg"));

        Box floorBox = new Box(140, 0.25f, 140);
        Geometry floorGeometry = new Geometry("Floor", floorBox);
        floorGeometry.setMaterial(material);
        floorGeometry.setLocalTranslation(0, -5, 0);
//        Plane plane = new Plane();
//        plane.setOriginNormal(new Vector3f(0, 0.25f, 0), Vector3f.UNIT_Y);
//        floorGeometry.addControl(new RigidBodyControl(new PlaneCollisionShape(plane), 0));
        floorGeometry.addControl(new RigidBodyControl(0));
        rootNode.attachChild(floorGeometry);
        space.add(floorGeometry);

        //movable boxes
        for (int i = 0; i < 12; i++) {
            Box box = new Box(0.25f, 0.25f, 0.25f);
            Geometry boxGeometry = new Geometry("Box", box);
            boxGeometry.setMaterial(material);
            boxGeometry.setLocalTranslation(i, 5, -3);
            //RigidBodyControl automatically uses box collision shapes when attached to single geometry with box mesh
            boxGeometry.addControl(new RigidBodyControl(2));
            rootNode.attachChild(boxGeometry);
            space.add(boxGeometry);
        }

        //immovable sphere with mesh collision shape
        Sphere sphere = new Sphere(8, 8, 1);
        Geometry sphereGeometry = new Geometry("Sphere", sphere);
        sphereGeometry.setMaterial(material);
        sphereGeometry.setLocalTranslation(4, -4, 2);
        sphereGeometry.addControl(new RigidBodyControl(new MeshCollisionShape(sphere), 0));
        rootNode.attachChild(sphereGeometry);
        space.add(sphereGeometry);

    }
 

@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);

    }
 

/**
     * creates a simple physics test world with a floor, an obstacle and some test boxes
     * @param rootNode
     * @param assetManager
     * @param space
     */
    public static void createPhysicsTestWorld(Node rootNode, AssetManager assetManager, PhysicsSpace space) {
        AmbientLight light = new AmbientLight();
        light.setColor(ColorRGBA.LightGray);
        rootNode.addLight(light);

        Material material = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
        material.setTexture("ColorMap", assetManager.loadTexture("Interface/Logo/Monkey.jpg"));

        Box floorBox = new Box(140, 0.25f, 140);
        Geometry floorGeometry = new Geometry("Floor", floorBox);
        floorGeometry.setMaterial(material);
        floorGeometry.setLocalTranslation(0, -5, 0);
//        Plane plane = new Plane();
//        plane.setOriginNormal(new Vector3f(0, 0.25f, 0), Vector3f.UNIT_Y);
//        floorGeometry.addControl(new RigidBodyControl(new PlaneCollisionShape(plane), 0));
        floorGeometry.addControl(new RigidBodyControl(0));
        rootNode.attachChild(floorGeometry);
        space.add(floorGeometry);

        //movable boxes
        for (int i = 0; i < 12; i++) {
            Box box = new Box(0.25f, 0.25f, 0.25f);
            Geometry boxGeometry = new Geometry("Box", box);
            boxGeometry.setMaterial(material);
            boxGeometry.setLocalTranslation(i, 5, -3);
            //RigidBodyControl automatically uses box collision shapes when attached to single geometry with box mesh
            boxGeometry.addControl(new RigidBodyControl(2));
            rootNode.attachChild(boxGeometry);
            space.add(boxGeometry);
        }

        //immovable sphere with mesh collision shape
        Sphere sphere = new Sphere(8, 8, 1);
        Geometry sphereGeometry = new Geometry("Sphere", sphere);
        sphereGeometry.setMaterial(material);
        sphereGeometry.setLocalTranslation(4, -4, 2);
        sphereGeometry.addControl(new RigidBodyControl(new MeshCollisionShape(sphere), 0));
        rootNode.attachChild(sphereGeometry);
        space.add(sphereGeometry);

    }
 

public static void createPhysicsTestWorldSoccer(Node rootNode, AssetManager assetManager, PhysicsSpace space) {
        AmbientLight light = new AmbientLight();
        light.setColor(ColorRGBA.LightGray);
        rootNode.addLight(light);

        Material material = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
        material.setTexture("ColorMap", assetManager.loadTexture("Interface/Logo/Monkey.jpg"));

        Box floorBox = new Box(140, 0.25f, 140);
        Geometry floorGeometry = new Geometry("Floor", floorBox);
        floorGeometry.setMaterial(material);
        floorGeometry.setLocalTranslation(0, -0.25f, 0);
//        Plane plane = new Plane();
//        plane.setOriginNormal(new Vector3f(0, 0.25f, 0), Vector3f.UNIT_Y);
//        floorGeometry.addControl(new RigidBodyControl(new PlaneCollisionShape(plane), 0));
        floorGeometry.addControl(new RigidBodyControl(0));
        rootNode.attachChild(floorGeometry);
        space.add(floorGeometry);

        //movable spheres
        for (int i = 0; i < 5; i++) {
            Sphere sphere = new Sphere(16, 16, .5f);
            Geometry ballGeometry = new Geometry("Soccer ball", sphere);
            ballGeometry.setMaterial(material);
            ballGeometry.setLocalTranslation(i, 2, -3);
            //RigidBodyControl automatically uses Sphere collision shapes when attached to single geometry with sphere mesh
            ballGeometry.addControl(new RigidBodyControl(.001f));
            ballGeometry.getControl(RigidBodyControl.class).setRestitution(1);
            rootNode.attachChild(ballGeometry);
            space.add(ballGeometry);
        }

        //immovable Box with mesh collision shape
        Box box = new Box(1, 1, 1);
        Geometry boxGeometry = new Geometry("Box", box);
        boxGeometry.setMaterial(material);
        boxGeometry.setLocalTranslation(4, 1, 2);
        boxGeometry.addControl(new RigidBodyControl(new MeshCollisionShape(box), 0));
        rootNode.attachChild(boxGeometry);
        space.add(boxGeometry);

    }
 

/**
 * Creates a curved "floor" with a MeshCollisionShape provided as the RigidBodyControl's collision shape.
 * Surface has four slightly concave corners to allow for multiple tests and minimize falling off the edge
 * of the floor.
 *
 * @param assetManager for loading assets
 * @param floorDimensions width/depth of the "floor" (X/Z)
 * @param position sets the floor's local translation
 * @return
 */
public static Geometry createMeshTestFloor(AssetManager assetManager, float floorDimensions, Vector3f position) {
    Geometry floor = createTestFloor(assetManager, floorDimensions, position, new ColorRGBA(0.5f, 0.5f, 0.9f, 1));
    RigidBodyControl floorControl = new RigidBodyControl(new MeshCollisionShape(floor.getMesh()), 0);
    floor.addControl(floorControl);
    return floor;
}