native bullet:

- add ray test code, thanks to @EmpirePhoenix
- clean up import structure
- remove separate jmeUserPointer class


git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@8577 75d07b2b-3a1a-0410-a2c5-0572b91ccdca

engine/src/bullet/com/jme3/bullet/PhysicsSpace.java

@@ -214,11 +214,10 @@ public class PhysicsSpace {
         }
     }
 
-    private void addCollision_native(){
+    private void addCollision_native() {
-        
     }
 
-    private boolean needCollision_native(PhysicsCollisionObject objectA, PhysicsCollisionObject objectB){
+    private boolean needCollision_native(PhysicsCollisionObject objectA, PhysicsCollisionObject objectB) {
         return false;
     }
 
@@ -333,6 +332,7 @@ public class PhysicsSpace {
 //        System.out.println("addCollisionEvent:"+node.getObjectId()+" "+ node1.getObjectId());
         collisionEvents.add(eventFactory.getEvent(PhysicsCollisionEvent.TYPE_PROCESSED, node, node1, manifoldPointObjectId));
     }
+
     /**
      * updates the physics space
      * @param time the current time value
@@ -715,10 +715,10 @@ public class PhysicsSpace {
     /**
      * Performs a ray collision test and returns the results as a list of PhysicsRayTestResults
      */
-    public List<PhysicsRayTestResult> rayTest(Vector3f from, Vector3f to) {
+    public List rayTest(Vector3f from, Vector3f to) {
-        List<PhysicsRayTestResult> results = new LinkedList<PhysicsRayTestResult>();
+        List results = new LinkedList();
-//        dynamicsWorld.rayTest(Converter.convert(from, rayVec1), Converter.convert(to, rayVec2), new InternalRayListener(results));
+        rayTest(from, to, results);
-        return results;
+        return (List<PhysicsRayTestResult>) results;
     }
 
     /**
@@ -726,10 +726,12 @@ public class PhysicsSpace {
      */
     public List<PhysicsRayTestResult> rayTest(Vector3f from, Vector3f to, List<PhysicsRayTestResult> results) {
         results.clear();
-//        dynamicsWorld.rayTest(Converter.convert(from, rayVec1), Converter.convert(to, rayVec2), new InternalRayListener(results));
+        rayTest_native(from, to, physicsSpaceId, results);
         return results;
     }
 
+    public native void rayTest_native(Vector3f from, Vector3f to, long physicsSpaceId, List<PhysicsRayTestResult> results);
+
 //    private class InternalRayListener extends CollisionWorld.RayResultCallback {
 //
 //        private List<PhysicsRayTestResult> results;

engine/src/bullet/com/jme3/bullet/collision/PhysicsRayTestResult.java

@@ -35,23 +35,21 @@ import com.jme3.math.Vector3f;
 
 /**
  * Contains the results of a PhysicsSpace rayTest
- * @author normenhansen
+ *  bulletAppState.getPhysicsSpace().rayTest(new Vector3f(0,1000,0),new Vector3f(0,-1000,0));
+    javap -s java.util.List
+ * @author Empire-Phoenix,normenhansen
  */
 public class PhysicsRayTestResult {
 
     private PhysicsCollisionObject collisionObject;
     private Vector3f hitNormalLocal;
     private float hitFraction;
-    private boolean normalInWorldSpace;
+    private boolean normalInWorldSpace = true;
 
-    public PhysicsRayTestResult() {
+    /**
-    }
+     * allocated by native code only
-
+     */
-    public PhysicsRayTestResult(PhysicsCollisionObject collisionObject, Vector3f hitNormalLocal, float hitFraction, boolean normalInWorldSpace) {
+    private PhysicsRayTestResult() {
-        this.collisionObject = collisionObject;
-        this.hitNormalLocal = hitNormalLocal;
-        this.hitFraction = hitFraction;
-        this.normalInWorldSpace = normalInWorldSpace;
     }
 
     /**
@@ -81,11 +79,4 @@ public class PhysicsRayTestResult {
     public boolean isNormalInWorldSpace() {
         return normalInWorldSpace;
     }
-
-    public void fill(PhysicsCollisionObject collisionObject, Vector3f hitNormalLocal, float hitFraction, boolean normalInWorldSpace) {
-        this.collisionObject = collisionObject;
-        this.hitNormalLocal = hitNormalLocal;
-        this.hitFraction = hitFraction;
-        this.normalInWorldSpace = normalInWorldSpace;
-    }
 }

engine/src/bullet/com/jme3/bullet/joints/SliderJoint.java

@@ -35,7 +35,6 @@ import com.jme3.export.JmeExporter;
 import com.jme3.math.Matrix3f;
 import com.jme3.math.Vector3f;
 import com.jme3.bullet.objects.PhysicsRigidBody;
-import com.jme3.bullet.util.Converter;
 import com.jme3.export.InputCapsule;
 import com.jme3.export.JmeImporter;
 import com.jme3.export.OutputCapsule;

engine/src/bullet/native/bullet.properties

@@ -12,7 +12,7 @@ bullet.compile.debug=false
 
 # native library compilation options
 bullet.osx.compiler=g++
-bullet.osx.syslibroot=/Developer/SDKs/MacOSX10.5.sdk
+bullet.osx.syslibroot=/Developer/SDKs/MacOSX10.5u.sdk
 # change this to msvc for MS Visual Studio compiler
 bullet.windows.compiler=g++
 bullet.linux.compiler=g++

engine/src/bullet/native/com_jme3_bullet_PhysicsSpace.cpp

@@ -32,7 +32,7 @@
 #include "com_jme3_bullet_PhysicsSpace.h"
 #include "jmePhysicsSpace.h"
 #include "jmeBulletUtil.h"
-#include "jmeUserPointer.h"
+
 /**
  * Author: Normen Hansen
  */
@@ -396,6 +396,55 @@ extern "C" {
         delete(space);
     }
     
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_rayTest_1native
+    (JNIEnv * env, jobject object, jobject to, jobject from, jlong spaceId, jobject resultlist) {
+
+        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;
+        }
+
+        struct AllRayResultCallback : public btCollisionWorld::RayResultCallback {
+
+            AllRayResultCallback(const btVector3& rayFromWorld, const btVector3 & rayToWorld) : m_rayFromWorld(rayFromWorld), m_rayToWorld(rayToWorld) {
+            }
+            jobject resultlist;
+            JNIEnv* env;
+            btVector3 m_rayFromWorld; //used to calculate hitPointWorld from hitFraction
+            btVector3 m_rayToWorld;
+
+            btVector3 m_hitNormalWorld;
+            btVector3 m_hitPointWorld;
+
+            virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace) {
+                if (normalInWorldSpace) {
+                    m_hitNormalWorld = rayResult.m_hitNormalLocal;
+                } else {
+                    m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
+                }
+                m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
+
+                jmeBulletUtil::addResult(env, resultlist, m_hitNormalWorld, m_hitPointWorld, rayResult.m_hitFraction, rayResult.m_collisionObject);
+
+                return 1.f;
+            }
+        };
+
+        btVector3 native_to = btVector3();
+        jmeBulletUtil::convert(env, to, &native_to);
+
+        btVector3 native_from = btVector3();
+        jmeBulletUtil::convert(env, from, &native_from);
+
+        AllRayResultCallback resultCallback(native_from, native_to);
+        resultCallback.env = env;
+        resultCallback.resultlist = resultlist;
+        space->getDynamicsWorld()->rayTest(native_from, native_to, resultCallback);
+        return;
+    }
+
 #ifdef __cplusplus
 }
 #endif

engine/src/bullet/native/com_jme3_bullet_PhysicsSpace.h

@@ -135,6 +135,14 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_removeConstraint
 JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_setGravity
   (JNIEnv *, jobject, jlong, jobject);
 
+/*
+ * Class:     com_jme3_bullet_PhysicsSpace
+ * Method:    rayTest_native
+ * Signature: (Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;JLjava/util/List;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_PhysicsSpace_rayTest_1native
+  (JNIEnv *, jobject, jobject, jobject, jlong, jobject);
+
 /*
  * Class:     com_jme3_bullet_PhysicsSpace
  * Method:    initNativePhysics

engine/src/bullet/native/com_jme3_bullet_collision_PhysicsCollisionObject.cpp

@@ -36,7 +36,6 @@
 #include "com_jme3_bullet_collision_PhysicsCollisionObject.h"
 #include "jmeBulletUtil.h"
 #include "jmePhysicsSpace.h"
-#include "jmeUserPointer.h"
 
 #ifdef __cplusplus
 extern "C" {

engine/src/bullet/native/com_jme3_bullet_objects_PhysicsGhostObject.cpp

@@ -40,7 +40,7 @@
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 #include "jmeBulletUtil.h"
 #include "jmePhysicsSpace.h"
-#include "jmeUserPointer.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif

engine/src/bullet/native/jmeBulletUtil.cpp

@@ -33,23 +33,23 @@
 #include "jmeBulletUtil.h"
 
 /**
- * Author: Normen Hansen
+ * Author: Normen Hansen,Empire Phoenix, Lutherion
  */
 void jmeBulletUtil::convert(JNIEnv* env, jobject in, btVector3* out) {
     if (in == NULL || out == NULL) {
         jmeClasses::throwNPE(env);
     }
-    float x = env->GetFloatField(in, jmeClasses::Vector3f_x);//env->CallFloatMethod(in, jmeClasses::Vector3f_getX);
+    float x = env->GetFloatField(in, jmeClasses::Vector3f_x); //env->CallFloatMethod(in, jmeClasses::Vector3f_getX);
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
     }
-    float y = env->GetFloatField(in, jmeClasses::Vector3f_y);//env->CallFloatMethod(in, jmeClasses::Vector3f_getY);
+    float y = env->GetFloatField(in, jmeClasses::Vector3f_y); //env->CallFloatMethod(in, jmeClasses::Vector3f_getY);
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
     }
-    float z = env->GetFloatField(in, jmeClasses::Vector3f_z);//env->CallFloatMethod(in, jmeClasses::Vector3f_getZ);
+    float z = env->GetFloatField(in, jmeClasses::Vector3f_z); //env->CallFloatMethod(in, jmeClasses::Vector3f_getZ);
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -77,7 +77,7 @@ void jmeBulletUtil::convert(JNIEnv* env, const btVector3* in, jobject out) {
         return;
     }
     env->SetFloatField(out, jmeClasses::Vector3f_z, z);
-//    env->CallObjectMethod(out, jmeClasses::Vector3f_set, x, y, z);
+    //    env->CallObjectMethod(out, jmeClasses::Vector3f_set, x, y, z);
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -300,7 +300,26 @@ void jmeBulletUtil::convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out)
         return;
     }
     env->SetFloatField(out, jmeClasses::Quaternion_w, w);
-//    env->CallObjectMethod(out, jmeClasses::Quaternion_set, x, y, z, w);
+    //    env->CallObjectMethod(out, jmeClasses::Quaternion_set, x, y, z, w);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+}
+
+void jmeBulletUtil::addResult(JNIEnv* env, jobject resultlist, btVector3 hitnormal, btVector3 m_hitPointWorld, btScalar m_hitFraction, btCollisionObject* hitobject) {
+
+    jobject singleresult = env->AllocObject(jmeClasses::PhysicsRay_Class);
+    jobject hitnormalvec = env->AllocObject(jmeClasses::Vector3f);
+
+    convert(env, const_cast<btVector3*> (&hitnormal), hitnormalvec);
+    jmeUserPointer *up1 = (jmeUserPointer*) hitobject -> getUserPointer();
+
+    env->SetObjectField(singleresult, jmeClasses::PhysicsRay_normalInWorldSpace, hitnormalvec);
+    env->SetFloatField(singleresult, jmeClasses::PhysicsRay_hitfraction, m_hitFraction);
+
+    env->SetObjectField(singleresult, jmeClasses::PhysicsRay_collisionObject, up1->javaCollisionObject);
+    env->CallVoidMethod(resultlist, jmeClasses::PhysicsRay_addmethod, singleresult);
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;

engine/src/bullet/native/jmeBulletUtil.h

@@ -45,8 +45,17 @@ public:
     static void convert(JNIEnv* env, const btMatrix3x3* in, jobject out);
     static void convertQuat(JNIEnv* env, jobject in, btMatrix3x3* out);
     static void convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out);
+    static void addResult(JNIEnv* env, jobject resultlist, const btVector3 hitnormal,const btVector3 m_hitPointWorld,const btScalar  m_hitFraction,btCollisionObject* hitobject);
 private:
     jmeBulletUtil(){};
     ~jmeBulletUtil(){};
     
 };
+
+class jmeUserPointer {
+public:
+    jobject javaCollisionObject;
+    jint group;
+    jint groups;
+    void *space;
+};

engine/src/bullet/native/jmeClasses.cpp

@@ -33,7 +33,7 @@
 #include <stdio.h>
 
 /**
- * Author: Normen Hansen
+ * Author: Normen Hansen,Empire Phoenix, Lutherion
  */
 //public fields
 jclass jmeClasses::PhysicsSpace;
@@ -81,6 +81,16 @@ jfieldID jmeClasses::Matrix3f_m22;
 jclass jmeClasses::DebugMeshCallback;
 jmethodID jmeClasses::DebugMeshCallback_addVector;
 
+jclass jmeClasses::PhysicsRay_Class;
+jmethodID jmeClasses::PhysicsRay_newSingleResult;
+
+jfieldID jmeClasses::PhysicsRay_normalInWorldSpace;
+jfieldID jmeClasses::PhysicsRay_hitfraction;
+jfieldID jmeClasses::PhysicsRay_collisionObject;
+
+jclass jmeClasses::PhysicsRay_listresult;
+jmethodID jmeClasses::PhysicsRay_addmethod;
+
 //private fields
 //JNIEnv* jmeClasses::env;
 JavaVM* jmeClasses::vm;
@@ -103,7 +113,7 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
 //    jmeClasses::env = env;
     env->GetJavaVM(&vm);
 
-    PhysicsSpace = env->FindClass("com/jme3/bullet/PhysicsSpace");
+    PhysicsSpace = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/bullet/PhysicsSpace"));
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -117,7 +127,7 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
         return;
     }
 
-    PhysicsGhostObject = env->FindClass("com/jme3/bullet/objects/PhysicsGhostObject");
+    PhysicsGhostObject = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/bullet/objects/PhysicsGhostObject"));
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -128,7 +138,7 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
         return;
     }
 
-    Vector3f = env->FindClass("com/jme3/math/Vector3f");
+    Vector3f = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/math/Vector3f"));
     Vector3f_set = env->GetMethodID(Vector3f, "set", "(FFF)Lcom/jme3/math/Vector3f;");
     Vector3f_toArray = env->GetMethodID(Vector3f, "toArray", "([F)[F");
     Vector3f_getX = env->GetMethodID(Vector3f, "getX", "()F");
@@ -138,7 +148,7 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
     Vector3f_y = env->GetFieldID(Vector3f, "y", "F");
     Vector3f_z = env->GetFieldID(Vector3f, "z", "F");
 
-    Quaternion = env->FindClass("com/jme3/math/Quaternion");
+    Quaternion = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/math/Quaternion"));
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -153,7 +163,7 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
     Quaternion_z = env->GetFieldID(Quaternion, "z", "F");
     Quaternion_w = env->GetFieldID(Quaternion, "w", "F");
 
-    Matrix3f = env->FindClass("com/jme3/math/Matrix3f");
+    Matrix3f = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/math/Matrix3f"));
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -174,7 +184,7 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
     Matrix3f_m21 = env->GetFieldID(Matrix3f, "m21", "F");
     Matrix3f_m22 = env->GetFieldID(Matrix3f, "m22", "F");
 
-    DebugMeshCallback = env->FindClass("com/jme3/bullet/util/DebugMeshCallback");
+    DebugMeshCallback = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/bullet/util/DebugMeshCallback"));
     if (env->ExceptionCheck()) {
         env->Throw(env->ExceptionOccurred());
         return;
@@ -185,6 +195,51 @@ void jmeClasses::initJavaClasses(JNIEnv* env) {
         env->Throw(env->ExceptionOccurred());
         return;
     }
+
+    PhysicsRay_Class = (jclass)env->NewGlobalRef(env->FindClass("com/jme3/bullet/collision/PhysicsRayTestResult"));
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    PhysicsRay_newSingleResult = env->GetMethodID(PhysicsRay_Class,"<init>","()V");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    PhysicsRay_normalInWorldSpace = env->GetFieldID(PhysicsRay_Class,"hitNormalLocal","Lcom/jme3/math/Vector3f;");
+        if (env->ExceptionCheck()) {
+            env->Throw(env->ExceptionOccurred());
+            return;
+        }
+
+
+    PhysicsRay_hitfraction = env->GetFieldID(PhysicsRay_Class,"hitFraction","F");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+
+    PhysicsRay_collisionObject = env->GetFieldID(PhysicsRay_Class,"collisionObject","Lcom/jme3/bullet/collision/PhysicsCollisionObject;");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    PhysicsRay_listresult = env->FindClass("java/util/List");
+    PhysicsRay_listresult = (jclass)env->NewGlobalRef(PhysicsRay_listresult);
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
+
+    PhysicsRay_addmethod = env->GetMethodID(PhysicsRay_listresult,"add","(Ljava/lang/Object;)Z");
+    if (env->ExceptionCheck()) {
+        env->Throw(env->ExceptionOccurred());
+        return;
+    }
 }
 
 void jmeClasses::throwNPE(JNIEnv* env) {

engine/src/bullet/native/jmeClasses.h

@@ -81,6 +81,14 @@ public:
     static jfieldID Matrix3f_m21;
     static jfieldID Matrix3f_m22;
 
+    static jclass PhysicsRay_Class;
+    static jmethodID PhysicsRay_newSingleResult;
+    static jfieldID PhysicsRay_normalInWorldSpace;
+    static jfieldID PhysicsRay_hitfraction;
+    static jfieldID PhysicsRay_collisionObject;
+    static jclass PhysicsRay_listresult;
+    static jmethodID PhysicsRay_addmethod;
+
     static jclass DebugMeshCallback;
     static jmethodID DebugMeshCallback_addVector;
 

engine/src/bullet/native/jmePhysicsSpace.cpp

@@ -31,7 +31,6 @@
  */
 #include "jmePhysicsSpace.h"
 #include "jmeBulletUtil.h"
-#include "jmeUserPointer.h"
 #include <stdio.h>
 
 /**
@@ -240,7 +239,7 @@ bool jmePhysicsSpace::contactProcessedCallback(btManifoldPoint &cp, void *body0,
     btCollisionObject* co1 = (btCollisionObject*) body1;
     jmeUserPointer *up1 = (jmeUserPointer*) co1 -> getUserPointer();
     if (up0 != NULL) {
-        jmePhysicsSpace *dynamicsWorld = up0->space;
+        jmePhysicsSpace *dynamicsWorld = (jmePhysicsSpace *)up0->space;
         if (dynamicsWorld != NULL) {
             JNIEnv* env = dynamicsWorld->getEnv();
             jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace());

engine/src/bullet/native/jmeUserPointer.h

@@ -1,11 +0,0 @@
-#ifndef _Included_jmeUserPointer
-#define _Included_jmeUserPointer
-#include <jni.h>
-class jmeUserPointer {
-public:
-    jobject javaCollisionObject;
-    jint group;
-    jint groups;
-    jmePhysicsSpace *space;
-};
-#endif