PhysicsVehicle (jMonkeyEngine 3.1 jme3-bullet Javadoc)

java.lang.Object
- com.jme3.bullet.collision.PhysicsCollisionObject
- - com.jme3.bullet.objects.PhysicsRigidBody
  - - com.jme3.bullet.objects.PhysicsVehicle

All Implemented Interfaces:

com.jme3.export.Savable

Direct Known Subclasses:

VehicleControl
```
public class PhysicsVehicle
extends PhysicsRigidBody
```
PhysicsVehicleNode - Special PhysicsNode that implements vehicle functions

From bullet manual:
For most vehicle simulations, it is recommended to use the simplified Bullet vehicle model as provided in btRaycastVehicle. Instead of simulation each wheel and chassis as separate rigid bodies, connected by constraints, it uses a simplified model. This simplified model has many benefits, and is widely used in commercial driving games.
The entire vehicle is represented as a single rigidbody, the chassis. The collision detection of the wheels is approximated by ray casts, and the tire friction is a basic anisotropic friction model.

Author:

normenhansen

Field Summary

Fields
Modifier and Type	Field and Description
`protected PhysicsSpace`	`physicsSpace`
`protected long`	`rayCasterId`
`protected VehicleTuning`	`tuning`
`protected long`	`vehicleId`
`protected java.util.ArrayList<VehicleWheel>`	`wheels`

Fields inherited from class com.jme3.bullet.objects.PhysicsRigidBody
joints, kinematic, mass, motionState

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
COLLISION_GROUP_01, COLLISION_GROUP_02, COLLISION_GROUP_03, COLLISION_GROUP_04, COLLISION_GROUP_05, COLLISION_GROUP_06, COLLISION_GROUP_07, COLLISION_GROUP_08, COLLISION_GROUP_09, COLLISION_GROUP_10, COLLISION_GROUP_11, COLLISION_GROUP_12, COLLISION_GROUP_13, COLLISION_GROUP_14, COLLISION_GROUP_15, COLLISION_GROUP_16, COLLISION_GROUP_NONE, collisionGroup, collisionGroupsMask, collisionShape, objectId

Constructor Summary

Constructors
Constructor and Description

PhysicsVehicle()

PhysicsVehicle(CollisionShape shape)

PhysicsVehicle(CollisionShape shape, float mass)

Constructors
Constructor and Description
`PhysicsVehicle()`
`PhysicsVehicle(CollisionShape shape)`
`PhysicsVehicle(CollisionShape shape, float mass)`

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`accelerate(float force)` Apply the given engine force to all wheels, works continuously
`void`	`accelerate(int wheel, float force)` Apply the given engine force, works continuously
`VehicleWheel`	`addWheel(com.jme3.scene.Spatial spat, com.jme3.math.Vector3f connectionPoint, com.jme3.math.Vector3f direction, com.jme3.math.Vector3f axle, float suspensionRestLength, float wheelRadius, boolean isFrontWheel)` Add a wheel to this vehicle
`VehicleWheel`	`addWheel(com.jme3.math.Vector3f connectionPoint, com.jme3.math.Vector3f direction, com.jme3.math.Vector3f axle, float suspensionRestLength, float wheelRadius, boolean isFrontWheel)` Add a wheel to this vehicle
`void`	`applyWheelTransforms()` used internally
`void`	`brake(float force)` Apply the given brake force to all wheels, works continuously
`void`	`brake(int wheel, float force)` Apply the given brake force, works continuously
`void`	`createVehicle(PhysicsSpace space)` Used internally, creates the actual vehicle constraint when vehicle is added to phyicsspace
`protected void`	`finalize()`
`float`	`getCurrentVehicleSpeedKmHour()` Get the current speed of the vehicle in km/h
`com.jme3.math.Vector3f`	`getForwardVector(com.jme3.math.Vector3f vector)` Get the current forward vector of the vehicle in world coordinates
`float`	`getFrictionSlip()`
`float`	`getMaxSuspensionForce()`
`float`	`getMaxSuspensionTravelCm()`
`int`	`getNumWheels()`
`float`	`getSuspensionCompression()`
`float`	`getSuspensionDamping()`
`float`	`getSuspensionStiffness()`
`long`	`getVehicleId()` used internally
`VehicleWheel`	`getWheel(int wheel)` You can get access to the single wheels via this method.
`protected void`	`postRebuild()`
`void`	`read(com.jme3.export.JmeImporter im)`
`void`	`removeWheel(int wheel)` This rebuilds the vehicle as there is no way in bullet to remove a wheel.
`void`	`resetSuspension()` Reset the suspension
`void`	`setFrictionSlip(float frictionSlip)` Use before adding wheels, this is the default used when adding wheels.
`void`	`setFrictionSlip(int wheel, float frictionSlip)` The coefficient of friction between the tyre and the ground.
`void`	`setMaxSuspensionForce(float maxSuspensionForce)` This vaue caps the maximum suspension force, raise this above the default 6000 if your suspension cannot handle the weight of your vehcile.
`void`	`setMaxSuspensionForce(int wheel, float maxSuspensionForce)` This vaue caps the maximum suspension force, raise this above the default 6000 if your suspension cannot handle the weight of your vehcile.
`void`	`setMaxSuspensionTravelCm(float maxSuspensionTravelCm)` Use before adding wheels, this is the default used when adding wheels.
`void`	`setMaxSuspensionTravelCm(int wheel, float maxSuspensionTravelCm)` The maximum distance the suspension can be compressed (centimetres)
`void`	`setRollInfluence(int wheel, float rollInfluence)` Reduces the rolling torque applied from the wheels that cause the vehicle to roll over.
`void`	`setSuspensionCompression(float suspensionCompression)` Use before adding wheels, this is the default used when adding wheels.
`void`	`setSuspensionCompression(int wheel, float suspensionCompression)` The damping coefficient for when the suspension is compressed.
`void`	`setSuspensionDamping(float suspensionDamping)` Use before adding wheels, this is the default used when adding wheels.
`void`	`setSuspensionDamping(int wheel, float suspensionDamping)` The damping coefficient for when the suspension is expanding.
`void`	`setSuspensionStiffness(float suspensionStiffness)` Use before adding wheels, this is the default used when adding wheels.
`void`	`setSuspensionStiffness(int wheel, float suspensionStiffness)` The stiffness constant for the suspension.
`void`	`steer(float value)` Set the given steering value to all front wheels (0 = forward)
`void`	`steer(int wheel, float value)` Set the given steering value to the given wheel (0 = forward)
`void`	`updateWheels()` used internally
`void`	`write(com.jme3.export.JmeExporter ex)`

Methods inherited from class com.jme3.bullet.objects.PhysicsRigidBody
activate, addJoint, applyCentralForce, applyForce, applyImpulse, applyTorque, applyTorqueImpulse, clearForces, getAngularDamping, getAngularFactor, getAngularFactor, getAngularSleepingThreshold, getAngularVelocity, getAngularVelocity, getCcdMotionThreshold, getCcdSquareMotionThreshold, getCcdSweptSphereRadius, getFriction, getGravity, getGravity, getJoints, getLinearDamping, getLinearFactor, getLinearSleepingThreshold, getLinearVelocity, getLinearVelocity, getMass, getMotionState, getPhysicsLocation, getPhysicsLocation, getPhysicsRotation, getPhysicsRotation, getPhysicsRotationMatrix, getPhysicsRotationMatrix, getRestitution, isActive, isInWorld, isKinematic, preRebuild, rebuildRigidBody, removeJoint, setAngularDamping, setAngularFactor, setAngularFactor, setAngularSleepingThreshold, setAngularVelocity, setCcdMotionThreshold, setCcdSweptSphereRadius, setCollisionShape, setDamping, setFriction, setGravity, setKinematic, setLinearDamping, setLinearFactor, setLinearSleepingThreshold, setLinearVelocity, setMass, setPhysicsLocation, setPhysicsRotation, setPhysicsRotation, setRestitution, setSleepingThresholds

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
addCollideWithGroup, attachCollisionShape, finalizeNative, getCollideWithGroups, getCollisionGroup, getCollisionShape, getObjectId, getUserObject, initUserPointer, removeCollideWithGroup, setCollideWithGroups, setCollisionGroup, setUserObject

Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - vehicleId
```
protected long vehicleId
```
  - rayCasterId
```
protected long rayCasterId
```
  - tuning
```
protected VehicleTuning tuning
```
  - wheels
```
protected java.util.ArrayList<VehicleWheel> wheels
```
  - physicsSpace
```
protected PhysicsSpace physicsSpace
```
- Constructor Detail
  - PhysicsVehicle
```
public PhysicsVehicle()
```
  - PhysicsVehicle
```
public PhysicsVehicle(CollisionShape shape)
```
  - PhysicsVehicle
```
public PhysicsVehicle(CollisionShape shape,
              float mass)
```
- Method Detail
  - updateWheels
```
public void updateWheels()
```
    used internally
  - applyWheelTransforms
```
public void applyWheelTransforms()
```
    used internally
  - postRebuild
```
protected void postRebuild()
```
    Overrides:
    
    postRebuild in class PhysicsRigidBody
  - createVehicle
```
public void createVehicle(PhysicsSpace space)
```
    Used internally, creates the actual vehicle constraint when vehicle is added to phyicsspace
  - addWheel
```
public VehicleWheel addWheel(com.jme3.math.Vector3f connectionPoint,
                    com.jme3.math.Vector3f direction,
                    com.jme3.math.Vector3f axle,
                    float suspensionRestLength,
                    float wheelRadius,
                    boolean isFrontWheel)
```
    Add a wheel to this vehicle
    
    Parameters:
    connectionPoint - The starting point of the ray, where the suspension connects to the chassis (chassis space)
    direction - the direction of the wheel (should be -Y / 0,-1,0 for a normal car)
    axle - The axis of the wheel, pointing right in vehicle direction (should be -X / -1,0,0 for a normal car)
    suspensionRestLength - The current length of the suspension (metres)
    wheelRadius - the wheel radius
    isFrontWheel - sets if this wheel is a front wheel (steering)
    
    Returns:
    the PhysicsVehicleWheel object to get/set infos on the wheel
  - addWheel
```
public VehicleWheel addWheel(com.jme3.scene.Spatial spat,
                    com.jme3.math.Vector3f connectionPoint,
                    com.jme3.math.Vector3f direction,
                    com.jme3.math.Vector3f axle,
                    float suspensionRestLength,
                    float wheelRadius,
                    boolean isFrontWheel)
```
    Add a wheel to this vehicle
    
    Parameters:
    spat - the wheel Geometry
    connectionPoint - The starting point of the ray, where the suspension connects to the chassis (chassis space)
    direction - the direction of the wheel (should be -Y / 0,-1,0 for a normal car)
    axle - The axis of the wheel, pointing right in vehicle direction (should be -X / -1,0,0 for a normal car)
    suspensionRestLength - The current length of the suspension (metres)
    wheelRadius - the wheel radius
    isFrontWheel - sets if this wheel is a front wheel (steering)
    
    Returns:
    the PhysicsVehicleWheel object to get/set infos on the wheel
  - removeWheel
```
public void removeWheel(int wheel)
```
    This rebuilds the vehicle as there is no way in bullet to remove a wheel.
    
    Parameters:
    wheel -
  - getWheel
```
public VehicleWheel getWheel(int wheel)
```
    You can get access to the single wheels via this method.
    
    Parameters:
    wheel - the wheel index
    
    Returns:
    the WheelInfo of the selected wheel
  - getNumWheels
```
public int getNumWheels()
```
  - getFrictionSlip
```
public float getFrictionSlip()
```
    Returns:
    the frictionSlip
  - setFrictionSlip
```
public void setFrictionSlip(float frictionSlip)
```
    Use before adding wheels, this is the default used when adding wheels. After adding the wheel, use direct wheel access.
    The coefficient of friction between the tyre and the ground. Should be about 0.8 for realistic cars, but can increased for better handling. Set large (10000.0) for kart racers
    
    Parameters:
    frictionSlip - the frictionSlip to set
  - setFrictionSlip
```
public void setFrictionSlip(int wheel,
                   float frictionSlip)
```
    The coefficient of friction between the tyre and the ground. Should be about 0.8 for realistic cars, but can increased for better handling. Set large (10000.0) for kart racers
    
    Parameters:
    wheel -
    frictionSlip -
  - setRollInfluence
```
public void setRollInfluence(int wheel,
                    float rollInfluence)
```
    Reduces the rolling torque applied from the wheels that cause the vehicle to roll over. This is a bit of a hack, but it's quite effective. 0.0 = no roll, 1.0 = physical behaviour. If m_frictionSlip is too high, you'll need to reduce this to stop the vehicle rolling over. You should also try lowering the vehicle's centre of mass
  - getMaxSuspensionTravelCm
```
public float getMaxSuspensionTravelCm()
```
    Returns:
    the maxSuspensionTravelCm
  - setMaxSuspensionTravelCm
```
public void setMaxSuspensionTravelCm(float maxSuspensionTravelCm)
```
    Use before adding wheels, this is the default used when adding wheels. After adding the wheel, use direct wheel access.
    The maximum distance the suspension can be compressed (centimetres)
    
    Parameters:
    maxSuspensionTravelCm - the maxSuspensionTravelCm to set
  - setMaxSuspensionTravelCm
```
public void setMaxSuspensionTravelCm(int wheel,
                            float maxSuspensionTravelCm)
```
    The maximum distance the suspension can be compressed (centimetres)
    
    Parameters:
    wheel -
    maxSuspensionTravelCm -
  - getMaxSuspensionForce
```
public float getMaxSuspensionForce()
```
  - setMaxSuspensionForce
```
public void setMaxSuspensionForce(float maxSuspensionForce)
```
    This vaue caps the maximum suspension force, raise this above the default 6000 if your suspension cannot handle the weight of your vehcile.
    
    Parameters:
    maxSuspensionForce -
  - setMaxSuspensionForce
```
public void setMaxSuspensionForce(int wheel,
                         float maxSuspensionForce)
```
    This vaue caps the maximum suspension force, raise this above the default 6000 if your suspension cannot handle the weight of your vehcile.
    
    Parameters:
    wheel -
    maxSuspensionForce -
  - getSuspensionCompression
```
public float getSuspensionCompression()
```
    Returns:
    the suspensionCompression
  - setSuspensionCompression
```
public void setSuspensionCompression(float suspensionCompression)
```
    Use before adding wheels, this is the default used when adding wheels. After adding the wheel, use direct wheel access.
    The damping coefficient for when the suspension is compressed. Set to k * 2.0 * FastMath.sqrt(m_suspensionStiffness) so k is proportional to critical damping.
    k = 0.0 undamped & bouncy, k = 1.0 critical damping
    0.1 to 0.3 are good values
    
    Parameters:
    suspensionCompression - the suspensionCompression to set
  - setSuspensionCompression
```
public void setSuspensionCompression(int wheel,
                            float suspensionCompression)
```
    The damping coefficient for when the suspension is compressed. Set to k * 2.0 * FastMath.sqrt(m_suspensionStiffness) so k is proportional to critical damping.
    k = 0.0 undamped & bouncy, k = 1.0 critical damping
    0.1 to 0.3 are good values
    
    Parameters:
    wheel -
    suspensionCompression -
  - getSuspensionDamping
```
public float getSuspensionDamping()
```
    Returns:
    the suspensionDamping
  - setSuspensionDamping
```
public void setSuspensionDamping(float suspensionDamping)
```
    Use before adding wheels, this is the default used when adding wheels. After adding the wheel, use direct wheel access.
    The damping coefficient for when the suspension is expanding. See the comments for setSuspensionCompression for how to set k.
    
    Parameters:
    suspensionDamping - the suspensionDamping to set
  - setSuspensionDamping
```
public void setSuspensionDamping(int wheel,
                        float suspensionDamping)
```
    The damping coefficient for when the suspension is expanding. See the comments for setSuspensionCompression for how to set k.
    
    Parameters:
    wheel -
    suspensionDamping -
  - getSuspensionStiffness
```
public float getSuspensionStiffness()
```
    Returns:
    the suspensionStiffness
  - setSuspensionStiffness
```
public void setSuspensionStiffness(float suspensionStiffness)
```
    Use before adding wheels, this is the default used when adding wheels. After adding the wheel, use direct wheel access.
    The stiffness constant for the suspension. 10.0 - Offroad buggy, 50.0 - Sports car, 200.0 - F1 Car
    
    Parameters:
    suspensionStiffness -
  - setSuspensionStiffness
```
public void setSuspensionStiffness(int wheel,
                          float suspensionStiffness)
```
    The stiffness constant for the suspension. 10.0 - Offroad buggy, 50.0 - Sports car, 200.0 - F1 Car
    
    Parameters:
    wheel -
    suspensionStiffness -
  - resetSuspension
```
public void resetSuspension()
```
    Reset the suspension
  - accelerate
```
public void accelerate(float force)
```
    Apply the given engine force to all wheels, works continuously
    
    Parameters:
    force - the force
  - accelerate
```
public void accelerate(int wheel,
              float force)
```
    Apply the given engine force, works continuously
    
    Parameters:
    wheel - the wheel to apply the force on
    force - the force
  - steer
```
public void steer(float value)
```
    Set the given steering value to all front wheels (0 = forward)
    
    Parameters:
    value - the steering angle of the front wheels (Pi = 360deg)
  - steer
```
public void steer(int wheel,
         float value)
```
    Set the given steering value to the given wheel (0 = forward)
    
    Parameters:
    wheel - the wheel to set the steering on
    value - the steering angle of the front wheels (Pi = 360deg)
  - brake
```
public void brake(float force)
```
    Apply the given brake force to all wheels, works continuously
    
    Parameters:
    force - the force
  - brake
```
public void brake(int wheel,
         float force)
```
    Apply the given brake force, works continuously
    
    Parameters:
    wheel - the wheel to apply the force on
    force - the force
  - getCurrentVehicleSpeedKmHour
```
public float getCurrentVehicleSpeedKmHour()
```
    Get the current speed of the vehicle in km/h
    
    Returns:
  - getForwardVector
```
public com.jme3.math.Vector3f getForwardVector(com.jme3.math.Vector3f vector)
```
    Get the current forward vector of the vehicle in world coordinates
    
    Parameters:
    vector -
    
    Returns:
  - getVehicleId
```
public long getVehicleId()
```
    used internally
  - read
```
public void read(com.jme3.export.JmeImporter im)
          throws java.io.IOException
```
    Specified by:
    
    read in interface com.jme3.export.Savable
    
    Overrides:
    
    read in class PhysicsRigidBody
    
    Throws:
    
    java.io.IOException
  - write
```
public void write(com.jme3.export.JmeExporter ex)
           throws java.io.IOException
```
    Specified by:
    
    write in interface com.jme3.export.Savable
    
    Overrides:
    
    write in class PhysicsRigidBody
    
    Throws:
    
    java.io.IOException
  - finalize
```
protected void finalize()
                 throws java.lang.Throwable
```
    Overrides:
    
    finalize in class PhysicsCollisionObject
    
    Throws:
    
    java.lang.Throwable

Class PhysicsVehicle

Field Summary

Fields inherited from class com.jme3.bullet.objects.PhysicsRigidBody

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Constructor Summary

Method Summary

Methods inherited from class com.jme3.bullet.objects.PhysicsRigidBody

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Methods inherited from class java.lang.Object

Field Detail

vehicleId

rayCasterId

tuning

wheels

physicsSpace

Constructor Detail

PhysicsVehicle

PhysicsVehicle

PhysicsVehicle

Method Detail

updateWheels

applyWheelTransforms

postRebuild

createVehicle

addWheel

addWheel

removeWheel

getWheel

getNumWheels

getFrictionSlip

setFrictionSlip

setFrictionSlip

setRollInfluence

getMaxSuspensionTravelCm

setMaxSuspensionTravelCm

setMaxSuspensionTravelCm

getMaxSuspensionForce

setMaxSuspensionForce

setMaxSuspensionForce

getSuspensionCompression

setSuspensionCompression

setSuspensionCompression

getSuspensionDamping

setSuspensionDamping

setSuspensionDamping

getSuspensionStiffness

setSuspensionStiffness

setSuspensionStiffness

resetSuspension

accelerate

accelerate

steer

steer

brake

brake

getCurrentVehicleSpeedKmHour

getForwardVector

getVehicleId

read

write

finalize