PhysicsVehicle (jMonkeyEngine3)

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

All Implemented Interfaces:

Savable

Direct Known Subclasses:

PhysicsHoverControl, VehicleControl
```
public class PhysicsVehicle
extends PhysicsRigidBody
```
A collision object for simplified vehicle simulation based on Bullet's btRaycastVehicle.
From Bullet manual:
For arcade style 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.

Field Summary

Fields
Modifier and Type	Field and Description
`protected PhysicsSpace`	`physicsSpace` physics space where this vehicle is added, or null if none
`protected long`	`rayCasterId` Unique identifier of the ray caster.
`protected VehicleTuning`	`tuning` tuning parameters applied when a wheel is created
`protected long`	`vehicleId` Unique identifier of the btRaycastVehicle.
`protected java.util.ArrayList<VehicleWheel>`	`wheels` list of 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
Modifier	Constructor and Description
`protected`	`PhysicsVehicle()` No-argument constructor needed by SavableClassUtil.
	`PhysicsVehicle(CollisionShape shape)` Instantiate a vehicle with the specified collision shape and mass=1.
	`PhysicsVehicle(CollisionShape shape, float mass)` Instantiate a vehicle with the specified collision shape and mass.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`accelerate(float force)` Apply the specified engine force to all wheels.
`void`	`accelerate(int wheel, float force)` Apply the given engine force to the indexed wheel.
`VehicleWheel`	`addWheel(Spatial spat, Vector3f connectionPoint, Vector3f direction, Vector3f axle, float suspensionRestLength, float wheelRadius, boolean isFrontWheel)` Add a wheel to this vehicle
`VehicleWheel`	`addWheel(Vector3f connectionPoint, Vector3f direction, 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.
`void`	`brake(int wheel, float force)` Apply the given brake force to the indexed wheel.
`void`	`createVehicle(PhysicsSpace space)` Used internally, creates the actual vehicle constraint when vehicle is added to physics space.
`protected void`	`finalize()` Finalize this vehicle just before it is destroyed.
`float`	`getCurrentVehicleSpeedKmHour()` Read the vehicle's speed in km/h.
`Vector3f`	`getForwardVector(Vector3f vector)` Copy the vehicle's forward direction.
`float`	`getFrictionSlip()` Read the initial friction for new wheels.
`float`	`getMaxSuspensionForce()` Read the initial maximum suspension force for new wheels.
`float`	`getMaxSuspensionTravelCm()` Read the initial maximum suspension travel distance for new wheels.
`int`	`getNumWheels()` Read the number of wheels on this vehicle.
`float`	`getSuspensionCompression()` Read the initial damping (when the suspension is compressed) for new wheels.
`float`	`getSuspensionDamping()` Read the initial damping (when the suspension is expanded) for new wheels.
`float`	`getSuspensionStiffness()` Read the initial suspension stiffness for new wheels.
`long`	`getVehicleId()` used internally
`VehicleWheel`	`getWheel(int wheel)` Access the indexed wheel of this vehicle.
`protected void`	`postRebuild()` For use by subclasses.
`void`	`read(JmeImporter im)` De-serialize this vehicle, for example when loading from a J3O file.
`void`	`removeWheel(int wheel)` Remove a wheel.
`void`	`resetSuspension()` Reset this vehicle's suspension.
`void`	`setFrictionSlip(float frictionSlip)` Alter the initial friction for new wheels.
`void`	`setFrictionSlip(int wheel, float frictionSlip)` Alter the friction of the indexed wheel.
`void`	`setMaxSuspensionForce(float maxSuspensionForce)` Alter the initial maximum suspension force for new wheels.
`void`	`setMaxSuspensionForce(int wheel, float maxSuspensionForce)` Alter the maximum suspension force for the specified wheel.
`void`	`setMaxSuspensionTravelCm(float maxSuspensionTravelCm)` Alter the initial maximum suspension travel distance for new wheels.
`void`	`setMaxSuspensionTravelCm(int wheel, float maxSuspensionTravelCm)` Alter the maximum suspension travel distance for the indexed wheel.
`void`	`setRollInfluence(int wheel, float rollInfluence)` Alter the roll influence of the indexed wheel.
`void`	`setSuspensionCompression(float suspensionCompression)` Alter the initial damping (when the suspension is compressed) for new wheels.
`void`	`setSuspensionCompression(int wheel, float suspensionCompression)` Alter the damping (when the suspension is compressed) for the indexed wheel.
`void`	`setSuspensionDamping(float suspensionDamping)` Alter the initial damping (when the suspension is expanded) for new wheels.
`void`	`setSuspensionDamping(int wheel, float suspensionDamping)` Alter the damping (when the suspension is expanded) for the indexed wheel.
`void`	`setSuspensionStiffness(float suspensionStiffness)` Alter the initial suspension stiffness for new wheels.
`void`	`setSuspensionStiffness(int wheel, float suspensionStiffness)` Alter the suspension stiffness of the indexed wheel.
`void`	`steer(float value)` Alter the steering angle of all front wheels.
`void`	`steer(int wheel, float value)` Alter the steering angle of the indexed wheel.
`void`	`updateWheels()` used internally
`void`	`write(JmeExporter ex)` Serialize this vehicle, for example when saving to a J3O file.

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, getInverseInertiaLocal, 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, setContactResponse, setDamping, setFriction, setGravity, setInverseInertiaLocal, setKinematic, setLinearDamping, setLinearFactor, setLinearSleepingThreshold, setLinearVelocity, setMass, setPhysicsLocation, setPhysicsRotation, setPhysicsRotation, setRestitution, setSleepingThresholds

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
addCollideWithGroup, attachCollisionShape, finalizeNative, getCollideWithGroups, getCollisionFlags, getCollisionGroup, getCollisionShape, getDeactivationTime, getObjectId, getUserObject, initUserPointer, isContactResponse, removeCollideWithGroup, setCollideWithGroups, setCollisionFlags, 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
```
    Unique identifier of the btRaycastVehicle. The constructor sets this to a non-zero value.
  - rayCasterId
```
protected long rayCasterId
```
    Unique identifier of the ray caster.
  - tuning
```
protected VehicleTuning tuning
```
    tuning parameters applied when a wheel is created
  - wheels
```
protected java.util.ArrayList<VehicleWheel> wheels
```
    list of wheels
  - physicsSpace
```
protected PhysicsSpace physicsSpace
```
    physics space where this vehicle is added, or null if none
- Constructor Detail
  - PhysicsVehicle
```
protected PhysicsVehicle()
```
    No-argument constructor needed by SavableClassUtil. Do not invoke directly!
  - PhysicsVehicle
```
public PhysicsVehicle(CollisionShape shape)
```
    Instantiate a vehicle with the specified collision shape and mass=1.
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
  - PhysicsVehicle
```
public PhysicsVehicle(CollisionShape shape,
                      float mass)
```
    Instantiate a vehicle with the specified collision shape and mass.
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
    
    mass - (>0)
- Method Detail
  - updateWheels
```
public void updateWheels()
```
    used internally
  - applyWheelTransforms
```
public void applyWheelTransforms()
```
    used internally
  - postRebuild
```
protected void postRebuild()
```
    Description copied from class: PhysicsRigidBody
    
    For use by subclasses.
    
    Overrides:
    
    postRebuild in class PhysicsRigidBody
  - createVehicle
```
public void createVehicle(PhysicsSpace space)
```
    Used internally, creates the actual vehicle constraint when vehicle is added to physics space.
    
    Parameters:
    
    space - which physics space
  - addWheel
```
public VehicleWheel addWheel(Vector3f connectionPoint,
                             Vector3f direction,
                             Vector3f axle,
                             float suspensionRestLength,
                             float wheelRadius,
                             boolean isFrontWheel)
```
    Add a wheel to this vehicle.
    
    Parameters:
    
    connectionPoint - the location where the suspension connects to the chassis (in chassis coordinates, not null, unaffected)
    
    direction - the suspension direction (in chassis coordinates, not null, unaffected, typically down/0,-1,0)
    
    axle - the axis direction (in chassis coordinates, not null, unaffected, typically -1,0,0)
    
    suspensionRestLength - the rest length of the suspension (in physics-space units)
    
    wheelRadius - the wheel radius (in physics-space units, >0)
    
    isFrontWheel - true→front (steering) wheel, false→non-front wheel
    
    Returns:
    
    a new VehicleWheel for access (not null)
  - addWheel
```
public VehicleWheel addWheel(Spatial spat,
                             Vector3f connectionPoint,
                             Vector3f direction,
                             Vector3f axle,
                             float suspensionRestLength,
                             float wheelRadius,
                             boolean isFrontWheel)
```
    Add a wheel to this vehicle
    
    Parameters:
    
    spat - the associated spatial, or null if none
    
    connectionPoint - the location where the suspension connects to the chassis (in chassis coordinates, not null, unaffected)
    
    direction - the suspension direction (in chassis coordinates, not null, unaffected, typically down/0,-1,0)
    
    axle - the axis direction (in chassis coordinates, not null, unaffected, typically -1,0,0)
    
    suspensionRestLength - the rest length of the suspension (in physics-space units)
    
    wheelRadius - the wheel radius (in physics-space units, >0)
    
    isFrontWheel - true→front (steering) wheel, false→non-front wheel
    
    Returns:
    
    a new VehicleWheel for access (not null)
  - removeWheel
```
public void removeWheel(int wheel)
```
    Remove a wheel.
    
    Parameters:
    
    wheel - the index of the wheel to remove (≥0)
  - getWheel
```
public VehicleWheel getWheel(int wheel)
```
    Access the indexed wheel of this vehicle.
    
    Parameters:
    
    wheel - the index of the wheel to access (≥0, <count)
    
    Returns:
    
    the pre-existing instance
  - getNumWheels
```
public int getNumWheels()
```
    Read the number of wheels on this vehicle.
    
    Returns:
    
    count (≥0)
  - getFrictionSlip
```
public float getFrictionSlip()
```
    Read the initial friction for new wheels.
    
    Returns:
    
    the coefficient of friction between tyre and ground (0.8→realistic car, 10000→kart racer)
  - setFrictionSlip
```
public void setFrictionSlip(float frictionSlip)
```
    Alter the initial friction for new wheels. Effective only before adding wheels. After adding a wheel, use setFrictionSlip(int, float).
    For better handling, increase the friction.
    
    Parameters:
    
    frictionSlip - the desired coefficient of friction between tyre and ground (0.8→realistic car, 10000→kart racer, default=10.5)
  - setFrictionSlip
```
public void setFrictionSlip(int wheel,
                            float frictionSlip)
```
    Alter the friction of the indexed wheel.
    For better handling, increase the friction.
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    frictionSlip - the desired coefficient of friction between tyre and ground (0.8→realistic car, 10000→kart racer)
  - setRollInfluence
```
public void setRollInfluence(int wheel,
                             float rollInfluence)
```
    Alter the roll influence of the indexed wheel.
    The roll-influence factor reduces (or magnifies) any torque contributed by the wheel that would tend to cause the vehicle to roll over. This is a bit of a hack, but it's quite effective.
    If the friction between the tyres and the ground is too high, you may reduce this factor to prevent the vehicle from rolling over. You should also try lowering the vehicle's center of mass.
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    rollInfluence - the desired roll-influence factor (0→no roll torque, 1→realistic behavior, default=1)
  - getMaxSuspensionTravelCm
```
public float getMaxSuspensionTravelCm()
```
    Read the initial maximum suspension travel distance for new wheels.
    
    Returns:
    
    the maximum distance the suspension can be compressed (in centimeters)
  - setMaxSuspensionTravelCm
```
public void setMaxSuspensionTravelCm(float maxSuspensionTravelCm)
```
    Alter the initial maximum suspension travel distance for new wheels. Effective only before adding wheels. After adding a wheel, use setMaxSuspensionTravelCm(int, float).
    
    Parameters:
    
    maxSuspensionTravelCm - the desired maximum distance the suspension can be compressed (in centimeters, default=500)
  - setMaxSuspensionTravelCm
```
public void setMaxSuspensionTravelCm(int wheel,
                                     float maxSuspensionTravelCm)
```
    Alter the maximum suspension travel distance for the indexed wheel.
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    maxSuspensionTravelCm - the desired maximum distance the suspension can be compressed (in centimeters)
  - getMaxSuspensionForce
```
public float getMaxSuspensionForce()
```
    Read the initial maximum suspension force for new wheels.
    
    Returns:
    
    the maximum force per wheel
  - setMaxSuspensionForce
```
public void setMaxSuspensionForce(float maxSuspensionForce)
```
    Alter the initial maximum suspension force for new wheels. Effective only before adding wheels. After adding a wheel, use setMaxSuspensionForce(int, float).
    If the suspension cannot handle the vehicle's weight, increase this limit.
    
    Parameters:
    
    maxSuspensionForce - the desired maximum force per wheel (default=6000)
  - setMaxSuspensionForce
```
public void setMaxSuspensionForce(int wheel,
                                  float maxSuspensionForce)
```
    Alter the maximum suspension force for the specified wheel.
    If the suspension cannot handle the vehicle's weight, increase this limit.
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    maxSuspensionForce - the desired maximum force per wheel (default=6000)
  - getSuspensionCompression
```
public float getSuspensionCompression()
```
    Read the initial damping (when the suspension is compressed) for new wheels.
    
    Returns:
    
    the damping coefficient
  - setSuspensionCompression
```
public void setSuspensionCompression(float suspensionCompression)
```
    Alter the initial damping (when the suspension is compressed) for new wheels. Effective only before adding wheels. After adding a wheel, use setSuspensionCompression(int, float).
    Set to k * 2 * FastMath.sqrt(m_suspensionStiffness) where k is the damping ratio:
    k = 0.0 undamped and bouncy, k = 1.0 critical damping, k between 0.1 and 0.3 are good values
    
    Parameters:
    
    suspensionCompression - the desired damping coefficient (default=0.83)
  - setSuspensionCompression
```
public void setSuspensionCompression(int wheel,
                                     float suspensionCompression)
```
    Alter the damping (when the suspension is compressed) for the indexed wheel.
    Set to k * 2 * FastMath.sqrt(m_suspensionStiffness) where k is the damping ratio:
    k = 0.0 undamped and bouncy, k = 1.0 critical damping, k between 0.1 and 0.3 are good values
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    suspensionCompression - the desired damping coefficient
  - getSuspensionDamping
```
public float getSuspensionDamping()
```
    Read the initial damping (when the suspension is expanded) for new wheels.
    
    Returns:
    
    the damping coefficient
  - setSuspensionDamping
```
public void setSuspensionDamping(float suspensionDamping)
```
    Alter the initial damping (when the suspension is expanded) for new wheels. Effective only before adding wheels. After adding a wheel, use setSuspensionCompression(int, float).
    Set to k * 2 * FastMath.sqrt(m_suspensionStiffness) where k is the damping ratio:
    k = 0.0 undamped and bouncy, k = 1.0 critical damping, k between 0.1 and 0.3 are good values
    
    Parameters:
    
    suspensionDamping - the desired damping coefficient (default=0.88)
  - setSuspensionDamping
```
public void setSuspensionDamping(int wheel,
                                 float suspensionDamping)
```
    Alter the damping (when the suspension is expanded) for the indexed wheel.
    Set to k * 2 * FastMath.sqrt(m_suspensionStiffness) where k is the damping ratio:
    k = 0.0 undamped and bouncy, k = 1.0 critical damping, k between 0.1 and 0.3 are good values
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    suspensionDamping - the desired damping coefficient
  - getSuspensionStiffness
```
public float getSuspensionStiffness()
```
    Read the initial suspension stiffness for new wheels.
    
    Returns:
    
    the stiffness constant (10→off-road buggy, 50→sports car, 200→Formula-1 race car)
  - setSuspensionStiffness
```
public void setSuspensionStiffness(float suspensionStiffness)
```
    Alter the initial suspension stiffness for new wheels. Effective only before adding wheels. After adding a wheel, use setSuspensionStiffness(int, float).
    
    Parameters:
    
    suspensionStiffness - the desired stiffness coefficient (10→off-road buggy, 50→sports car, 200→Formula-1 race car, default=5.88)
  - setSuspensionStiffness
```
public void setSuspensionStiffness(int wheel,
                                   float suspensionStiffness)
```
    Alter the suspension stiffness of the indexed wheel.
    
    Parameters:
    
    wheel - the index of the wheel to modify (≥0)
    
    suspensionStiffness - the desired stiffness coefficient (10→off-road buggy, 50→sports car, 200→Formula-1 race car, default=5.88)
  - resetSuspension
```
public void resetSuspension()
```
    Reset this vehicle's suspension.
  - accelerate
```
public void accelerate(float force)
```
    Apply the specified engine force to all wheels. Works continuously.
    
    Parameters:
    
    force - the desired amount of force
  - accelerate
```
public void accelerate(int wheel,
                       float force)
```
    Apply the given engine force to the indexed wheel. Works continuously.
    
    Parameters:
    
    wheel - the index of the wheel to apply the force to (≥0)
    
    force - the desired amount of force
  - steer
```
public void steer(float value)
```
    Alter the steering angle of all front wheels.
    
    Parameters:
    
    value - the desired steering angle (in radians, 0=straight)
  - steer
```
public void steer(int wheel,
                  float value)
```
    Alter the steering angle of the indexed wheel.
    
    Parameters:
    
    wheel - the index of the wheel to steer (≥0)
    
    value - the desired steering angle (in radians, 0=straight)
  - brake
```
public void brake(float force)
```
    Apply the given brake force to all wheels. Works continuously.
    
    Parameters:
    
    force - the desired amount of force
  - brake
```
public void brake(int wheel,
                  float force)
```
    Apply the given brake force to the indexed wheel. Works continuously.
    
    Parameters:
    
    wheel - the index of the wheel to apply the force to (≥0)
    
    force - the desired amount of force
  - getCurrentVehicleSpeedKmHour
```
public float getCurrentVehicleSpeedKmHour()
```
    Read the vehicle's speed in km/h.
    
    Returns:
    
    speed (in kilometers per hour)
  - getForwardVector
```
public Vector3f getForwardVector(Vector3f vector)
```
    Copy the vehicle's forward direction.
    
    Parameters:
    
    vector - storage for the result (modified if not null)
    
    Returns:
    
    a direction vector (in physics-space coordinates, either the provided storage or a new vector, not null)
  - getVehicleId
```
public long getVehicleId()
```
    used internally
    
    Returns:
    
    the unique identifier
  - read
```
public void read(JmeImporter im)
          throws java.io.IOException
```
    De-serialize this vehicle, for example when loading from a J3O file.
    
    Specified by:
    
    read in interface Savable
    
    Overrides:
    
    read in class PhysicsRigidBody
    
    Parameters:
    
    im - importer (not null)
    
    Throws:
    
    java.io.IOException - from importer
  - write
```
public void write(JmeExporter ex)
           throws java.io.IOException
```
    Serialize this vehicle, for example when saving to a J3O file.
    
    Specified by:
    
    write in interface Savable
    
    Overrides:
    
    write in class PhysicsRigidBody
    
    Parameters:
    
    ex - exporter (not null)
    
    Throws:
    
    java.io.IOException - from exporter
  - finalize
```
protected void finalize()
                 throws java.lang.Throwable
```
    Finalize this vehicle just before it is destroyed. Should be invoked only by a subclass or by the garbage collector.
    
    Overrides:
    
    finalize in class PhysicsCollisionObject
    
    Throws:
    
    java.lang.Throwable - ignored by the garbage collector

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