sigonasr2
/
jmonkeyengine
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Add: sweepTest to jme3-bullet-native

Browse Source
experimental
rainmantsr 10 years ago
parent 1076b489ab
commit 31835366b2
7 changed files with 286 additions and 28 deletions
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Show Stats Download Patch File Download Diff File
  1. 62
      jme3-bullet-native/src/native/cpp/com_jme3_bullet_PhysicsSpace.cpp
  2. 9
      jme3-bullet-native/src/native/cpp/com_jme3_bullet_PhysicsSpace.h
  3. 90
      jme3-bullet-native/src/native/cpp/jmeBulletUtil.cpp
  4. 3
      jme3-bullet-native/src/native/cpp/jmeBulletUtil.h
  5. 79
      jme3-bullet-native/src/native/cpp/jmeClasses.cpp
  6. 12
      jme3-bullet-native/src/native/cpp/jmeClasses.h
  7. 59
      jme3-bullet/src/main/java/com/jme3/bullet/PhysicsSpace.java

62
jme3-bullet-native/src/native/cpp/com_jme3_bullet_PhysicsSpace.cpp
Unescape View File

@ -468,6 +468,68 @@ extern "C" {
return; return;
} }
JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_sweepTest_1native
(JNIEnv * env, jobject object, jlong shapeId, jobject from, jobject to, jlong spaceId, jobject resultlist, jfloat allowedCcdPenetration) {
jmePhysicsSpace* space = reinterpret_cast<jmePhysicsSpace*> (spaceId);
if (space == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The physics space does not exist.");
return;
}
btCollisionShape* shape = reinterpret_cast<btCollisionShape*> (shapeId);
if (shape == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The shape does not exist.");
return;
}
struct AllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
AllConvexResultCallback(const btTransform& convexFromWorld, const btTransform & convexToWorld) : m_convexFromWorld(convexFromWorld), m_convexToWorld(convexToWorld) {
}
jobject resultlist;
JNIEnv* env;
btTransform m_convexFromWorld; //used to calculate hitPointWorld from hitFraction
btTransform m_convexToWorld;
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace) {
if (normalInWorldSpace) {
m_hitNormalWorld = convexResult.m_hitNormalLocal;
}
else {
m_hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_convexFromWorld.getBasis() * m_convexFromWorld.getOrigin(), m_convexToWorld.getBasis() * m_convexToWorld.getOrigin(), convexResult.m_hitFraction);
jmeBulletUtil::addSweepResult(env, resultlist, &m_hitNormalWorld, &m_hitPointWorld, convexResult.m_hitFraction, convexResult.m_hitCollisionObject);
return 1.f;
}
};
btTransform native_to = btTransform();
jmeBulletUtil::convert(env, to, &native_to);
btTransform native_from = btTransform();
jmeBulletUtil::convert(env, from, &native_from);
btScalar native_allowed_ccd_penetration = btScalar(allowedCcdPenetration);
AllConvexResultCallback resultCallback(native_from, native_to);
resultCallback.env = env;
resultCallback.resultlist = resultlist;
space->getDynamicsWorld()->convexSweepTest((btConvexShape *) shape, native_from, native_to, resultCallback, native_allowed_ccd_penetration);
return;
}
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

9
jme3-bullet-native/src/native/cpp/com_jme3_bullet_PhysicsSpace.h
Unescape View File

@ -165,6 +165,15 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_initNativePhysics
JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_finalizeNative JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_finalizeNative
(JNIEnv *, jobject, jlong); (JNIEnv *, jobject, jlong);
/*
* Class: com_jme3_bullet_PhysicsSpace
* Method : sweepTest_native
* Signature: (J;L;Lcom/jme3/math/Transform;Lcom/jme3/math/Transform;L;JLjava/util/List;F)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_sweepTest_1native
(JNIEnv *, jobject, jlong, jobject, jobject, jlong, jobject, jfloat);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

90
jme3-bullet-native/src/native/cpp/jmeBulletUtil.cpp
Unescape View File

@ -59,6 +59,38 @@ void jmeBulletUtil::convert(JNIEnv* env, jobject in, btVector3* out) {
out->setZ(z); out->setZ(z);
} }
void jmeBulletUtil::convert(JNIEnv* env, jobject in, btQuaternion* out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
float x = env->GetFloatField(in, jmeClasses::Quaternion_x);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float y = env->GetFloatField(in, jmeClasses::Quaternion_y); //env->CallFloatMethod(in, jmeClasses::Vector3f_getY);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float z = env->GetFloatField(in, jmeClasses::Quaternion_z); //env->CallFloatMethod(in, jmeClasses::Vector3f_getZ);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float w = env->GetFloatField(in, jmeClasses::Quaternion_w); //env->CallFloatMethod(in, jmeClasses::Vector3f_getZ);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
out->setX(x);
out->setY(y);
out->setZ(z);
out->setW(w);
}
void jmeBulletUtil::convert(JNIEnv* env, const btVector3* in, jobject out) { void jmeBulletUtil::convert(JNIEnv* env, const btVector3* in, jobject out) {
if (in == NULL || out == NULL) { if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env); jmeClasses::throwNPE(env);
@ -325,3 +357,61 @@ void jmeBulletUtil::addResult(JNIEnv* env, jobject resultlist, btVector3* hitnor
return; return;
} }
} }
void jmeBulletUtil::addSweepResult(JNIEnv* env, jobject resultlist, btVector3* hitnormal, btVector3* m_hitPointWorld, btScalar m_hitFraction, const btCollisionObject* hitobject) {
jobject singleresult = env->AllocObject(jmeClasses::PhysicsSweep_Class);
jobject hitnormalvec = env->AllocObject(jmeClasses::Vector3f);
convert(env, hitnormal, hitnormalvec);
jmeUserPointer *up1 = (jmeUserPointer*)hitobject->getUserPointer();
env->SetObjectField(singleresult, jmeClasses::PhysicsSweep_normalInWorldSpace, hitnormalvec);
env->SetFloatField(singleresult, jmeClasses::PhysicsSweep_hitfraction, m_hitFraction);
env->SetObjectField(singleresult, jmeClasses::PhysicsSweep_collisionObject, up1->javaCollisionObject);
env->CallVoidMethod(resultlist, jmeClasses::PhysicsSweep_addmethod, singleresult);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
}
void jmeBulletUtil::convert(JNIEnv* env, jobject in, btTransform* out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
jobject translation_vec = env->CallObjectMethod(in, jmeClasses::Transform_translation);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
jobject rot_quat = env->CallObjectMethod(in, jmeClasses::Transform_rotation);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
/*
//Scale currently not supported by bullet
//@TBD: Create an assertion somewhere to avoid scale values
jobject scale_vec = env->GetObjectField(in, jmeClasses::Transform_scale);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
*/
btVector3 native_translation_vec = btVector3();
//btVector3 native_scale_vec = btVector3();
btQuaternion native_rot_quat = btQuaternion();
convert(env, translation_vec, &native_translation_vec);
//convert(env, scale_vec, native_scale_vec);
convert(env, rot_quat, &native_rot_quat);
out->setRotation(native_rot_quat);
out->setOrigin(native_translation_vec);
}

3
jme3-bullet-native/src/native/cpp/jmeBulletUtil.h
Unescape View File

@ -42,10 +42,13 @@ public:
static void convert(JNIEnv* env, jobject in, btVector3* out); static void convert(JNIEnv* env, jobject in, btVector3* out);
static void convert(JNIEnv* env, const btVector3* in, jobject out); static void convert(JNIEnv* env, const btVector3* in, jobject out);
static void convert(JNIEnv* env, jobject in, btMatrix3x3* out); static void convert(JNIEnv* env, jobject in, btMatrix3x3* out);
static void convert(JNIEnv* env, jobject in, btQuaternion* out);
static void convert(JNIEnv* env, const btMatrix3x3* in, jobject out); static void convert(JNIEnv* env, const btMatrix3x3* in, jobject out);
static void convertQuat(JNIEnv* env, jobject in, btMatrix3x3* out); static void convertQuat(JNIEnv* env, jobject in, btMatrix3x3* out);
static void convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out); static void convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out);
static void convert(JNIEnv* env, jobject in, btTransform* out);
static void addResult(JNIEnv* env, jobject resultlist, btVector3* hitnormal, btVector3* m_hitPointWorld,const btScalar m_hitFraction,const btCollisionObject* hitobject); static void addResult(JNIEnv* env, jobject resultlist, btVector3* hitnormal, btVector3* m_hitPointWorld,const btScalar m_hitFraction,const btCollisionObject* hitobject);
static void addSweepResult(JNIEnv* env, jobject resultlist, btVector3* hitnormal, btVector3* m_hitPointWorld, const btScalar m_hitFraction, const btCollisionObject* hitobject);
private: private:
jmeBulletUtil(){}; jmeBulletUtil(){};
~jmeBulletUtil(){}; ~jmeBulletUtil(){};

79
jme3-bullet-native/src/native/cpp/jmeClasses.cpp
Unescape View File

@ -91,6 +91,21 @@ jfieldID jmeClasses::PhysicsRay_collisionObject;
jclass jmeClasses::PhysicsRay_listresult; jclass jmeClasses::PhysicsRay_listresult;
jmethodID jmeClasses::PhysicsRay_addmethod; jmethodID jmeClasses::PhysicsRay_addmethod;
jclass jmeClasses::PhysicsSweep_Class;
jmethodID jmeClasses::PhysicsSweep_newSingleResult;
jfieldID jmeClasses::PhysicsSweep_normalInWorldSpace;
jfieldID jmeClasses::PhysicsSweep_hitfraction;
jfieldID jmeClasses::PhysicsSweep_collisionObject;
jclass jmeClasses::PhysicsSweep_listresult;
jmethodID jmeClasses::PhysicsSweep_addmethod;
jclass jmeClasses::Transform;
jmethodID jmeClasses::Transform_rotation;
jmethodID jmeClasses::Transform_translation;
//private fields //private fields
//JNIEnv* jmeClasses::env; //JNIEnv* jmeClasses::env;
JavaVM* jmeClasses::vm; JavaVM* jmeClasses::vm;
@ -240,6 +255,70 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
env->Throw(env->ExceptionOccurred()); env->Throw(env->ExceptionOccurred());
return; return;
} }
PhysicsSweep_Class = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/bullet/collision/PhysicsSweepTestResult"));
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
PhysicsSweep_newSingleResult = env->GetMethodID(PhysicsSweep_Class, "<init>", "()V");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
PhysicsSweep_normalInWorldSpace = env->GetFieldID(PhysicsSweep_Class, "hitNormalLocal", "Lcom/jme3/math/Vector3f;");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
PhysicsSweep_hitfraction = env->GetFieldID(PhysicsSweep_Class, "hitFraction", "F");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
PhysicsSweep_collisionObject = env->GetFieldID(PhysicsSweep_Class, "collisionObject", "Lcom/jme3/bullet/collision/PhysicsCollisionObject;");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
PhysicsSweep_listresult = env->FindClass("java/util/List");
PhysicsSweep_listresult = (jclass)env->NewGlobalRef(PhysicsSweep_listresult);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
PhysicsSweep_addmethod = env->GetMethodID(PhysicsSweep_listresult, "add", "(Ljava/lang/Object;)Z");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
Transform = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/math/Transform"));
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
Transform_rotation = env->GetMethodID(Transform, "getRotation", "()Lcom/jme3/math/Quaternion;");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
Transform_translation = env->GetMethodID(Transform, "getTranslation", "()Lcom/jme3/math/Vector3f;");
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
} }
void jmeClasses::throwNPE(JNIEnv* env) { void jmeClasses::throwNPE(JNIEnv* env) {

12
jme3-bullet-native/src/native/cpp/jmeClasses.h
Unescape View File

@ -89,6 +89,18 @@ public:
static jclass PhysicsRay_listresult; static jclass PhysicsRay_listresult;
static jmethodID PhysicsRay_addmethod; static jmethodID PhysicsRay_addmethod;
static jclass PhysicsSweep_Class;
static jmethodID PhysicsSweep_newSingleResult;
static jfieldID PhysicsSweep_normalInWorldSpace;
static jfieldID PhysicsSweep_hitfraction;
static jfieldID PhysicsSweep_collisionObject;
static jclass PhysicsSweep_listresult;
static jmethodID PhysicsSweep_addmethod;
static jclass Transform;
static jmethodID Transform_rotation;
static jmethodID Transform_translation;
static jclass DebugMeshCallback; static jclass DebugMeshCallback;
static jmethodID DebugMeshCallback_addVector; static jmethodID DebugMeshCallback_addVector;

59
jme3-bullet/src/main/java/com/jme3/bullet/PhysicsSpace.java
Unescape View File

@ -820,6 +820,10 @@ public class PhysicsSpace {
// return lrr.hitFraction; // return lrr.hitFraction;
// } // }
// } // }
//
//
/** /**
* Performs a sweep collision test and returns the results as a list of * Performs a sweep collision test and returns the results as a list of
* PhysicsSweepTestResults<br/> You have to use different Transforms for * PhysicsSweepTestResults<br/> You have to use different Transforms for
@ -828,16 +832,16 @@ public class PhysicsSpace {
* center. * center.
*/ */
public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end) { public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end) {
List<PhysicsSweepTestResult> results = new LinkedList<PhysicsSweepTestResult>(); List results = new LinkedList();
// if (!(shape.getCShape() instanceof ConvexShape)) { sweepTest(shape, start, end , results);
// logger.log(Level.WARNING, "Trying to sweep test with incompatible mesh shape!"); return (List<PhysicsSweepTestResult>) results;
// return results; }
// }
// dynamicsWorld.convexSweepTest((ConvexShape) shape.getCShape(), Converter.convert(start, sweepTrans1), Converter.convert(end, sweepTrans2), new InternalSweepListener(results));
return results;
public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end, List<PhysicsSweepTestResult> results) {
return sweepTest(shape, start, end, results, 0.0f);
} }
public native void sweepTest_native(long shape, Transform from, Transform to, long physicsSpaceId, List<PhysicsSweepTestResult> results, float allowedCcdPenetration);
/** /**
* Performs a sweep collision test and returns the results as a list of * Performs a sweep collision test and returns the results as a list of
* PhysicsSweepTestResults<br/> You have to use different Transforms for * PhysicsSweepTestResults<br/> You have to use different Transforms for
@ -845,31 +849,30 @@ public class PhysicsSpace {
* collision if it starts INSIDE an object and is moving AWAY from its * collision if it starts INSIDE an object and is moving AWAY from its
* center. * center.
*/ */
public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end, List<PhysicsSweepTestResult> results) { public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end, List<PhysicsSweepTestResult> results, float allowedCcdPenetration ) {
results.clear(); results.clear();
// if (!(shape.getCShape() instanceof ConvexShape)) { sweepTest_native(shape.getObjectId(), start, end, physicsSpaceId, results, allowedCcdPenetration);
// logger.log(Level.WARNING, "Trying to sweep test with incompatible mesh shape!");
// return results;
// }
// dynamicsWorld.convexSweepTest((ConvexShape) shape.getCShape(), Converter.convert(start, sweepTrans1), Converter.convert(end, sweepTrans2), new InternalSweepListener(results));
return results; return results;
} }
// private class InternalSweepListener extends CollisionWorld.ConvexResultCallback { /* private class InternalSweepListener extends CollisionWorld.ConvexResultCallback {
//
// private List<PhysicsSweepTestResult> results; private List<PhysicsSweepTestResult> results;
//
// public InternalSweepListener(List<PhysicsSweepTestResult> results) { public InternalSweepListener(List<PhysicsSweepTestResult> results) {
// this.results = results; this.results = results;
// } }
//
// @Override @Override
// public float addSingleResult(LocalConvexResult lcr, boolean bln) { public float addSingleResult(LocalConvexResult lcr, boolean bln) {
// PhysicsCollisionObject obj = (PhysicsCollisionObject) lcr.hitCollisionObject.getUserPointer(); PhysicsCollisionObject obj = (PhysicsCollisionObject) lcr.hitCollisionObject.getUserPointer();
// results.add(new PhysicsSweepTestResult(obj, Converter.convert(lcr.hitNormalLocal), lcr.hitFraction, bln)); results.add(new PhysicsSweepTestResult(obj, Converter.convert(lcr.hitNormalLocal), lcr.hitFraction, bln));
// return lcr.hitFraction; return lcr.hitFraction;
// } }
// } }
*/
/** /**
* destroys the current PhysicsSpace so that a new one can be created * destroys the current PhysicsSpace so that a new one can be created
*/ */

Write Preview
Loading…
Cancel
Save