com.jme3.bullet.objects.VehicleWheel Java Examples

@Override
@JmeThread
protected void redoImpl(@NotNull final ModelChangeConsumer editor) {
    EXECUTOR_MANAGER.addJmeTask(() -> {

        for (int i = 0, length = control.getNumWheels(); i < length; i++) {
            final VehicleWheel wheel = control.getWheel(i);
            if (wheel == createdWheel) {
                control.removeWheel(i);
                break;
            }
        }

        final VehicleWheel toRemove = notNull(createdWheel);

        this.createdWheel = null;

        EXECUTOR_MANAGER.addFxTask(() -> editor.notifyFxRemovedChild(control, toRemove));
    });
}
 

@Override
protected void undoImpl(@NotNull final ModelChangeConsumer editor) {
    EXECUTOR_MANAGER.addJmeTask(() -> {

        for (int i = 0, length = control.getNumWheels(); i < length; i++) {
            final VehicleWheel wheel = control.getWheel(i);
            if (wheel == createdWheel) {
                control.removeWheel(i);
                break;
            }
        }

        final VehicleWheel toRemove = notNull(createdWheel);

        this.createdWheel = null;

        EXECUTOR_MANAGER.addFxTask(() -> editor.notifyFxRemovedChild(control, toRemove));
    });
}
 

@Override
@FxThread
public <T, V extends TreeNode<T>> @Nullable V createFor(@Nullable final T element, final long objectId) {

    if (element instanceof Vector3f) {
        return unsafeCast(new PositionTreeNode((Vector3f) element, objectId));
    } else if (element instanceof VertexBuffer) {
        return unsafeCast(new VertexBufferTreeNode((VertexBuffer) element, objectId));
    } else if (element instanceof Buffer) {
        return unsafeCast(new BufferTreeNode((Buffer) element, objectId));
    } else if (element instanceof VehicleWheel) {
        return unsafeCast(new VehicleWheelTreeNode((VehicleWheel) element, objectId));
    } else if (element instanceof MotionPath) {
        return unsafeCast(new MotionPathTreeNode((MotionPath) element, objectId));
    }

    return null;
}
 

/**
 * When set to true, the physics coordinates will be applied to the local
 * translation of the Spatial
 * @param applyPhysicsLocal
 */
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
    motionState.setApplyPhysicsLocal(applyPhysicsLocal);
    for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
        VehicleWheel vehicleWheel = it.next();
        vehicleWheel.setApplyLocal(applyPhysicsLocal);
    }
}
 

@Override
protected Sheet createSheet() {
    //TODO: multithreading..
    Sheet sheet = Sheet.createDefault();
    Sheet.Set set = Sheet.createPropertiesSet();
    set.setDisplayName("VehicleWheel");
    set.setName(Light.class.getName());
    VehicleWheel obj = wheel;
    if (obj == null) {
        return sheet;
    }

    set.put(makeProperty(obj, Vector3f.class, "getLocation", "Location"));
    set.put(makeProperty(obj, Vector3f.class, "getAxle", "Axis"));
    set.put(makeProperty(obj, Vector3f.class, "getDirection", "Direction"));
    set.put(makeProperty(obj, boolean.class, "isFrontWheel", "setFrontWheel", "Front Wheel"));
    set.put(makeProperty(obj, float.class, "getFrictionSlip", "setFrictionSlip", "Friction Slip"));
    set.put(makeProperty(obj, float.class, "getMaxSuspensionForce", "setMaxSuspensionForce", "Max Suspension Force"));
    set.put(makeProperty(obj, float.class, "getMaxSuspensionTravelCm", "setMaxSuspensionTravelCm", "Max Suspension Travel"));
    set.put(makeProperty(obj, float.class, "getRadius", "setRadius", "Radius"));
    set.put(makeProperty(obj, float.class, "getRestLength", "setRestLength", "Rest Length"));
    set.put(makeProperty(obj, float.class, "getRollInfluence", "setRollInfluence", "Roll Influence"));
    set.put(makeProperty(obj, float.class, "getSuspensionStiffness", "setSuspensionStiffness", "Suspension Stiffness"));
    set.put(makeProperty(obj, float.class, "getWheelsDampingCompression", "setWheelsDampingCompression", "Damping Compression"));
    set.put(makeProperty(obj, float.class, "getWheelsDampingRelaxation", "setWheelsDampingRelaxation", "Damping Relaxation"));

    sheet.put(set);
    return sheet;

}
 

public JmeVehicleWheel(VehicleControl vehicle, VehicleWheel wheel) {
    super(Children.LEAF);
    this.vehicle=vehicle;
    this.wheel = wheel;
    getLookupContents().add(wheel);
    getLookupContents().add(this);
    setName("Wheel");
}
 

@Override
protected Node[] createNodes(Object key) {
    if (key instanceof VehicleWheel) {
        VehicleWheel assetKey = (VehicleWheel) key;
        return new Node[]{new JmeVehicleWheel(control, assetKey)};
    }
    return null;
}
 

public void applyData(VehicleWheel wheel){
    wheel.setRadius(getRadius());
    wheel.setFrictionSlip(getFriction());
    wheel.setRollInfluence(getRollInfluence());
    wheel.setMaxSuspensionForce(getMaxForce());
    wheel.setSuspensionStiffness(getStiffness());
    wheel.setWheelsDampingCompression(getCompression());
    wheel.setWheelsDampingRelaxation(getRelease());
}
 

public SuspensionSettings(VehicleWheel wheel) {
    this.direction.set(wheel.getDirection());
    this.axle.set(wheel.getAxle());
    this.frontWheel = wheel.isFrontWheel();
    this.radius = wheel.getRadius();
    this.restLength = wheel.getRestLength();
    this.maxForce = wheel.getMaxSuspensionForce();
    this.stiffness = wheel.getSuspensionStiffness();
    this.rollInfluence = wheel.getRollInfluence();
    this.compression = wheel.getWheelsDampingCompression();
    this.release = wheel.getWheelsDampingRelaxation();
    this.friction = wheel.getFrictionSlip();
}
 

public void doApplyWheelData(VehicleControl control, int wheels, SuspensionSettings settings) {
        for (int i = 0; i < control.getNumWheels(); i++) {
            VehicleWheel wheel = control.getWheel(i);
            switch (wheels) {
                case 0:
                    break;
                case 1:
                    if (!wheel.isFrontWheel()) {
                        continue;
                    }
                    break;
                case 2:
                    if (wheel.isFrontWheel()) {
                        continue;
                    }
                    break;
            }
            wheel.setRestLength(settings.getRestLength());
            wheel.setMaxSuspensionForce(settings.getMaxForce());
            wheel.setSuspensionStiffness(settings.getStiffness());
            wheel.setRollInfluence(settings.getRollInfluence());
            wheel.setWheelsDampingCompression(settings.getCompression());
            wheel.setWheelsDampingRelaxation(settings.getRelease());
//            wheel.setRadius(settings.getRadius());
            wheel.setFrictionSlip(settings.getFriction());
        }
    }
 

public VehicleEditorController(JmeSpatial jmeRootNode, BinaryModelDataObject currentFileObject) {
    this.jmeRootNode = jmeRootNode;
    this.currentFileObject = currentFileObject;
    rootNode = jmeRootNode.getLookup().lookup(Node.class);
    toolsNode = new Node("ToolsNode");
    toolController = new SceneToolController(toolsNode, currentFileObject.getLookup().lookup(ProjectAssetManager.class));
    toolController.setShowSelection(true);
    result = Utilities.actionsGlobalContext().lookupResult(JmeSpatial.class);
    result.addLookupListener(this);
    toolsNode.addLight(new DirectionalLight());
    Node track = (Node) new DesktopAssetManager(true).loadModel("Models/Racetrack/Raceway.j3o");
    track.getChild("Grass").getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(30, -1, 0));
    track.getChild("Grass").getControl(RigidBodyControl.class).setPhysicsRotation(new Quaternion().fromAngleAxis(FastMath.HALF_PI * 0.68f, Vector3f.UNIT_Y).toRotationMatrix());
    track.getChild("Road").getControl(RigidBodyControl.class).setPhysicsLocation(new Vector3f(30, 0, 0));
    track.getChild("Road").getControl(RigidBodyControl.class).setPhysicsRotation(new Quaternion().fromAngleAxis(FastMath.HALF_PI * 0.68f, Vector3f.UNIT_Y).toRotationMatrix());
    toolsNode.attachChild(track);
    bulletState = new BulletAppState();

    result2 = Utilities.actionsGlobalContext().lookupResult(VehicleWheel.class);
    LookupListener listener = new LookupListener() {

        public void resultChanged(LookupEvent ev) {
            for (Iterator<? extends VehicleWheel> it = result2.allInstances().iterator(); it.hasNext();) {
                VehicleWheel wheel = it.next();
                toolController.updateSelection(wheel.getWheelSpatial());
            }
        }
    };
    result2.addLookupListener(listener);
}
 

/**
 * When set to true, the physics coordinates will be applied to the local
 * translation of the Spatial
 * @param applyPhysicsLocal
 */
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
    motionState.setApplyPhysicsLocal(applyPhysicsLocal);
    for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
        VehicleWheel vehicleWheel = it.next();
        vehicleWheel.setApplyLocal(applyPhysicsLocal);
    }
}
 

public RemoveVehicleWheelOperation(@NotNull final VehicleControl control, @NotNull final VehicleWheel wheel) {
    this.control = control;
    this.connectionPoint = wheel.getLocation();
    this.direction = wheel.getDirection();
    this.axle = wheel.getAxle();
    this.restLength = wheel.getRestLength();
    this.wheelRadius = wheel.getRadius();
    this.isFrontWheel = wheel.isFrontWheel();
    this.createdWheel = wheel;
}
 

/**
 * Alter whether physics-space coordinates should match the spatial's local
 * coordinates.
 *
 * @param applyPhysicsLocal true→match local coordinates,
 * false→match world coordinates (default=false)
 */
public void setApplyPhysicsLocal(boolean applyPhysicsLocal) {
    motionState.setApplyPhysicsLocal(applyPhysicsLocal);
    for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
        VehicleWheel vehicleWheel = it.next();
        vehicleWheel.setApplyLocal(applyPhysicsLocal);
    }
}
 

/**
 * Update this control. Invoked once per frame during the logical-state
 * update, provided the control is enabled and added to a scene. Should be
 * invoked only by a subclass or by AbstractControl.
 *
 * @param tpf the time interval between frames (in seconds, ≥0)
 */
@Override
protected void controlUpdate(float tpf) {
    for (int i = 0; i < body.getNumWheels(); i++) {
        VehicleWheel physicsVehicleWheel = body.getWheel(i);
        Vector3f location = physicsVehicleWheel.getLocation().clone();
        Vector3f direction = physicsVehicleWheel.getDirection().clone();
        Vector3f axle = physicsVehicleWheel.getAxle().clone();
        float restLength = physicsVehicleWheel.getRestLength();
        float radius = physicsVehicleWheel.getRadius();

        Geometry locGeom = (Geometry) suspensionNode.getChild("WheelLocationDebugShape" + i);
        Geometry dirGeom = (Geometry) suspensionNode.getChild("WheelDirectionDebugShape" + i);
        Geometry axleGeom = (Geometry) suspensionNode.getChild("WheelAxleDebugShape" + i);
        Geometry wheelGeom = (Geometry) suspensionNode.getChild("WheelRadiusDebugShape" + i);

        Arrow locArrow = (Arrow) locGeom.getMesh();
        locArrow.setArrowExtent(location);
        Arrow axleArrow = (Arrow) axleGeom.getMesh();
        axleArrow.setArrowExtent(axle.normalizeLocal().multLocal(0.3f));
        Arrow wheelArrow = (Arrow) wheelGeom.getMesh();
        wheelArrow.setArrowExtent(direction.normalizeLocal().multLocal(radius));
        Arrow dirArrow = (Arrow) dirGeom.getMesh();
        dirArrow.setArrowExtent(direction.normalizeLocal().multLocal(restLength));

        dirGeom.setLocalTranslation(location);
        axleGeom.setLocalTranslation(location.addLocal(direction));
        wheelGeom.setLocalTranslation(location);
        i++;
    }
    applyPhysicsTransform(body.getPhysicsLocation(location), body.getPhysicsRotation(rotation));
}
 

private void createVehicle() {
    suspensionNode.detachAllChildren();
    for (int i = 0; i < body.getNumWheels(); i++) {
        VehicleWheel physicsVehicleWheel = body.getWheel(i);
        Vector3f location = physicsVehicleWheel.getLocation().clone();
        Vector3f direction = physicsVehicleWheel.getDirection().clone();
        Vector3f axle = physicsVehicleWheel.getAxle().clone();
        float restLength = physicsVehicleWheel.getRestLength();
        float radius = physicsVehicleWheel.getRadius();

        Arrow locArrow = new Arrow(location);
        Arrow axleArrow = new Arrow(axle.normalizeLocal().multLocal(0.3f));
        Arrow wheelArrow = new Arrow(direction.normalizeLocal().multLocal(radius));
        Arrow dirArrow = new Arrow(direction.normalizeLocal().multLocal(restLength));
        Geometry locGeom = new Geometry("WheelLocationDebugShape" + i, locArrow);
        Geometry dirGeom = new Geometry("WheelDirectionDebugShape" + i, dirArrow);
        Geometry axleGeom = new Geometry("WheelAxleDebugShape" + i, axleArrow);
        Geometry wheelGeom = new Geometry("WheelRadiusDebugShape" + i, wheelArrow);
        dirGeom.setLocalTranslation(location);
        axleGeom.setLocalTranslation(location.add(direction));
        wheelGeom.setLocalTranslation(location.add(direction));
        locGeom.setMaterial(debugAppState.DEBUG_MAGENTA);
        dirGeom.setMaterial(debugAppState.DEBUG_MAGENTA);
        axleGeom.setMaterial(debugAppState.DEBUG_MAGENTA);
        wheelGeom.setMaterial(debugAppState.DEBUG_MAGENTA);
        suspensionNode.attachChild(locGeom);
        suspensionNode.attachChild(dirGeom);
        suspensionNode.attachChild(axleGeom);
        suspensionNode.attachChild(wheelGeom);
    }
}
 

@Override
@FxThread
protected void process() {

    final TreeNode<?> node = getNode();
    final Object element = node.getElement();
    final TreeNode<?> nodeParent = notNull(node.getParent());
    final VehicleControl vehicleControl = (VehicleControl) nodeParent.getElement();
    final VehicleWheel vehicleWheel = (VehicleWheel) element;

    final NodeTree<ModelChangeConsumer> nodeTree = getNodeTree();
    final ChangeConsumer changeConsumer = notNull(nodeTree.getChangeConsumer());
    changeConsumer.execute(new RemoveVehicleWheelOperation(vehicleControl, vehicleWheel));
}
 

@Override
@FromAnyThread
public @NotNull String getName() {
    final VehicleWheel element = getElement();
    final Spatial wheelSpatial = element.getWheelSpatial();
    return wheelSpatial != null ? Messages.MODEL_FILE_EDITOR_NODE_WHEEL + " [" + wheelSpatial.getName() + "]" :
            Messages.MODEL_FILE_EDITOR_NODE_WHEEL;
}
 

@Override
protected void redoImpl(@NotNull final ModelChangeConsumer editor) {
    EXECUTOR_MANAGER.addJmeTask(() -> {

        final VehicleWheel vehicleWheel = control.addWheel(connectionPoint, direction, axle, restLength,
                wheelRadius, isFrontWheel);

        this.createdWheel = vehicleWheel;

        EXECUTOR_MANAGER.addFxTask(() -> editor.notifyFxAddedChild(control, vehicleWheel, -1, true));
    });
}
 

@Override
@JmeThread
protected void undoImpl(@NotNull final ModelChangeConsumer editor) {
    EXECUTOR_MANAGER.addJmeTask(() -> {

        final VehicleWheel vehicleWheel = control.addWheel(connectionPoint, direction, axle, restLength,
                wheelRadius, isFrontWheel);

        this.createdWheel = vehicleWheel;

        EXECUTOR_MANAGER.addFxTask(() -> editor.notifyFxAddedChild(control, vehicleWheel, -1, false));
    });
}
 

/**
 * Create a shallow clone for the JME cloner.
 *
 * @return a new control (not null)
 */
@Override
public Object jmeClone() {
    VehicleControl control = new VehicleControl(collisionShape, mass);
    control.setAngularFactor(getAngularFactor());
    control.setAngularSleepingThreshold(getAngularSleepingThreshold());
    control.setAngularVelocity(getAngularVelocity());
    control.setCcdMotionThreshold(getCcdMotionThreshold());
    control.setCcdSweptSphereRadius(getCcdSweptSphereRadius());
    control.setCollideWithGroups(getCollideWithGroups());
    control.setCollisionGroup(getCollisionGroup());
    control.setContactResponse(isContactResponse());
    control.setDamping(getLinearDamping(), getAngularDamping());
    control.setFriction(getFriction());
    control.setGravity(getGravity());
    control.setKinematic(isKinematic());
    control.setLinearSleepingThreshold(getLinearSleepingThreshold());
    control.setLinearVelocity(getLinearVelocity());
    control.setPhysicsLocation(getPhysicsLocation());
    control.setPhysicsRotation(getPhysicsRotationMatrix());
    control.setRestitution(getRestitution());

    control.setFrictionSlip(getFrictionSlip());
    control.setMaxSuspensionTravelCm(getMaxSuspensionTravelCm());
    control.setSuspensionStiffness(getSuspensionStiffness());
    control.setSuspensionCompression(tuning.suspensionCompression);
    control.setSuspensionDamping(tuning.suspensionDamping);
    control.setMaxSuspensionForce(getMaxSuspensionForce());

    for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
        VehicleWheel wheel = it.next();
        VehicleWheel newWheel = control.addWheel(wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), wheel.isFrontWheel());
        newWheel.setFrictionSlip(wheel.getFrictionSlip());
        newWheel.setMaxSuspensionTravelCm(wheel.getMaxSuspensionTravelCm());
        newWheel.setSuspensionStiffness(wheel.getSuspensionStiffness());
        newWheel.setWheelsDampingCompression(wheel.getWheelsDampingCompression());
        newWheel.setWheelsDampingRelaxation(wheel.getWheelsDampingRelaxation());
        newWheel.setMaxSuspensionForce(wheel.getMaxSuspensionForce());

        // Copy the wheel spatial reference directly for now.  They'll
        // get fixed up in the cloneFields() method
        newWheel.setWheelSpatial(wheel.getWheelSpatial());
    }
    control.setApplyPhysicsLocal(isApplyPhysicsLocal());
    control.setEnabled(isEnabled());
    
    control.spatial = spatial;
    return control;
}
 

public Control cloneForSpatial(Spatial spatial) {
    VehicleControl control = new VehicleControl(collisionShape, mass);
    control.setAngularFactor(getAngularFactor());
    control.setAngularSleepingThreshold(getAngularSleepingThreshold());
    control.setAngularVelocity(getAngularVelocity());
    control.setCcdMotionThreshold(getCcdMotionThreshold());
    control.setCcdSweptSphereRadius(getCcdSweptSphereRadius());
    control.setCollideWithGroups(getCollideWithGroups());
    control.setCollisionGroup(getCollisionGroup());
    control.setDamping(getLinearDamping(), getAngularDamping());
    control.setFriction(getFriction());
    control.setGravity(getGravity());
    control.setKinematic(isKinematic());
    control.setLinearSleepingThreshold(getLinearSleepingThreshold());
    control.setLinearVelocity(getLinearVelocity());
    control.setPhysicsLocation(getPhysicsLocation());
    control.setPhysicsRotation(getPhysicsRotationMatrix());
    control.setRestitution(getRestitution());

    control.setFrictionSlip(getFrictionSlip());
    control.setMaxSuspensionTravelCm(getMaxSuspensionTravelCm());
    control.setSuspensionStiffness(getSuspensionStiffness());
    control.setSuspensionCompression(tuning.suspensionCompression);
    control.setSuspensionDamping(tuning.suspensionDamping);
    control.setMaxSuspensionForce(getMaxSuspensionForce());

    for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
        VehicleWheel wheel = it.next();
        VehicleWheel newWheel = control.addWheel(wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), wheel.isFrontWheel());
        newWheel.setFrictionSlip(wheel.getFrictionSlip());
        newWheel.setMaxSuspensionTravelCm(wheel.getMaxSuspensionTravelCm());
        newWheel.setSuspensionStiffness(wheel.getSuspensionStiffness());
        newWheel.setWheelsDampingCompression(wheel.getWheelsDampingCompression());
        newWheel.setWheelsDampingRelaxation(wheel.getWheelsDampingRelaxation());
        newWheel.setMaxSuspensionForce(wheel.getMaxSuspensionForce());

        //TODO: bad way finding children!
        if (spatial instanceof Node) {
            Node node = (Node) spatial;
            Spatial wheelSpat = node.getChild(wheel.getWheelSpatial().getName());
            if (wheelSpat != null) {
                newWheel.setWheelSpatial(wheelSpat);
            }
        }
    }
    control.setApplyPhysicsLocal(isApplyPhysicsLocal());

    control.setSpatial(spatial);
    return control;
}
 

public void render(RenderManager rm, ViewPort vp) {
    if (enabled && space != null && space.getDebugManager() != null) {
        if (debugShape == null) {
            attachDebugShape(space.getDebugManager());
        }
        Node debugNode = (Node) debugShape;
        debugShape.setLocalTranslation(spatial.getWorldTranslation());
        debugShape.setLocalRotation(spatial.getWorldRotation());
        int i = 0;
        for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
            VehicleWheel physicsVehicleWheel = it.next();
            Vector3f location = physicsVehicleWheel.getLocation().clone();
            Vector3f direction = physicsVehicleWheel.getDirection().clone();
            Vector3f axle = physicsVehicleWheel.getAxle().clone();
            float restLength = physicsVehicleWheel.getRestLength();
            float radius = physicsVehicleWheel.getRadius();

            Geometry locGeom = (Geometry) debugNode.getChild("WheelLocationDebugShape" + i);
            Geometry dirGeom = (Geometry) debugNode.getChild("WheelDirectionDebugShape" + i);
            Geometry axleGeom = (Geometry) debugNode.getChild("WheelAxleDebugShape" + i);
            Geometry wheelGeom = (Geometry) debugNode.getChild("WheelRadiusDebugShape" + i);

            Arrow locArrow = (Arrow) locGeom.getMesh();
            locArrow.setArrowExtent(location);
            Arrow axleArrow = (Arrow) axleGeom.getMesh();
            axleArrow.setArrowExtent(axle.normalizeLocal().multLocal(0.3f));
            Arrow wheelArrow = (Arrow) wheelGeom.getMesh();
            wheelArrow.setArrowExtent(direction.normalizeLocal().multLocal(radius));
            Arrow dirArrow = (Arrow) dirGeom.getMesh();
            dirArrow.setArrowExtent(direction.normalizeLocal().multLocal(restLength));

            dirGeom.setLocalTranslation(location);
            axleGeom.setLocalTranslation(location.addLocal(direction));
            wheelGeom.setLocalTranslation(location);
            i++;
        }
        debugShape.updateLogicalState(0);
        debugShape.updateGeometricState();
        rm.renderScene(debugShape, vp);
    }
}
 

public Control cloneForSpatial(Spatial spatial) {
    VehicleControl control = new VehicleControl(collisionShape, mass);
    control.setAngularFactor(getAngularFactor());
    control.setAngularSleepingThreshold(getAngularSleepingThreshold());
    control.setAngularVelocity(getAngularVelocity());
    control.setCcdMotionThreshold(getCcdMotionThreshold());
    control.setCcdSweptSphereRadius(getCcdSweptSphereRadius());
    control.setCollideWithGroups(getCollideWithGroups());
    control.setCollisionGroup(getCollisionGroup());
    control.setDamping(getLinearDamping(), getAngularDamping());
    control.setFriction(getFriction());
    control.setGravity(getGravity());
    control.setKinematic(isKinematic());
    control.setLinearSleepingThreshold(getLinearSleepingThreshold());
    control.setLinearVelocity(getLinearVelocity());
    control.setPhysicsLocation(getPhysicsLocation());
    control.setPhysicsRotation(getPhysicsRotationMatrix());
    control.setRestitution(getRestitution());

    control.setFrictionSlip(getFrictionSlip());
    control.setMaxSuspensionTravelCm(getMaxSuspensionTravelCm());
    control.setSuspensionStiffness(getSuspensionStiffness());
    control.setSuspensionCompression(tuning.suspensionCompression);
    control.setSuspensionDamping(tuning.suspensionDamping);
    control.setMaxSuspensionForce(getMaxSuspensionForce());

    for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
        VehicleWheel wheel = it.next();
        VehicleWheel newWheel = control.addWheel(wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), wheel.isFrontWheel());
        newWheel.setFrictionSlip(wheel.getFrictionSlip());
        newWheel.setMaxSuspensionTravelCm(wheel.getMaxSuspensionTravelCm());
        newWheel.setSuspensionStiffness(wheel.getSuspensionStiffness());
        newWheel.setWheelsDampingCompression(wheel.getWheelsDampingCompression());
        newWheel.setWheelsDampingRelaxation(wheel.getWheelsDampingRelaxation());
        newWheel.setMaxSuspensionForce(wheel.getMaxSuspensionForce());

        //TODO: bad way finding children!
        if (spatial instanceof Node) {
            Node node = (Node) spatial;
            Spatial wheelSpat = node.getChild(wheel.getWheelSpatial().getName());
            if (wheelSpat != null) {
                newWheel.setWheelSpatial(wheelSpat);
            }
        }
    }
    control.setApplyPhysicsLocal(isApplyPhysicsLocal());

    control.setSpatial(spatial);
    return control;
}
 

public void render(RenderManager rm, ViewPort vp) {
    if (enabled && space != null && space.getDebugManager() != null) {
        if (debugShape == null) {
            attachDebugShape(space.getDebugManager());
        }
        Node debugNode = (Node) debugShape;
        debugShape.setLocalTranslation(spatial.getWorldTranslation());
        debugShape.setLocalRotation(spatial.getWorldRotation());
        int i = 0;
        for (Iterator<VehicleWheel> it = wheels.iterator(); it.hasNext();) {
            VehicleWheel physicsVehicleWheel = it.next();
            Vector3f location = physicsVehicleWheel.getLocation().clone();
            Vector3f direction = physicsVehicleWheel.getDirection().clone();
            Vector3f axle = physicsVehicleWheel.getAxle().clone();
            float restLength = physicsVehicleWheel.getRestLength();
            float radius = physicsVehicleWheel.getRadius();

            Geometry locGeom = (Geometry) debugNode.getChild("WheelLocationDebugShape" + i);
            Geometry dirGeom = (Geometry) debugNode.getChild("WheelDirectionDebugShape" + i);
            Geometry axleGeom = (Geometry) debugNode.getChild("WheelAxleDebugShape" + i);
            Geometry wheelGeom = (Geometry) debugNode.getChild("WheelRadiusDebugShape" + i);

            Arrow locArrow = (Arrow) locGeom.getMesh();
            locArrow.setArrowExtent(location);
            Arrow axleArrow = (Arrow) axleGeom.getMesh();
            axleArrow.setArrowExtent(axle.normalizeLocal().multLocal(0.3f));
            Arrow wheelArrow = (Arrow) wheelGeom.getMesh();
            wheelArrow.setArrowExtent(direction.normalizeLocal().multLocal(radius));
            Arrow dirArrow = (Arrow) dirGeom.getMesh();
            dirArrow.setArrowExtent(direction.normalizeLocal().multLocal(restLength));

            dirGeom.setLocalTranslation(location);
            axleGeom.setLocalTranslation(location.addLocal(direction));
            wheelGeom.setLocalTranslation(location);
            i++;
        }
        debugShape.updateLogicalState(0);
        debugShape.updateGeometricState();
        rm.renderScene(debugShape, vp);
    }
}
 

public VehicleWheelTreeNode(@NotNull final VehicleWheel element, final long objectId) {
    super(element, objectId);
}
 

public Class getExplorerObjectClass() {
    return VehicleWheel.class;
}