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- native bullet: fix PhysicsVehicle wheel handling, using wheelIndex to select wheels now

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git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@8480 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
3.0
nor..67 14 years ago
parent 62a02fb6f4
commit 768a2b9783
6 changed files with 85 additions and 85 deletions
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  1. 11
      engine/src/bullet/com/jme3/bullet/objects/PhysicsVehicle.java
  2. 50
      engine/src/bullet/com/jme3/bullet/objects/VehicleWheel.java
  3. 5
      engine/src/bullet/native/com_jme3_bullet_objects_PhysicsVehicle.cpp
  4. 4
      engine/src/bullet/native/com_jme3_bullet_objects_PhysicsVehicle.h
  5. 72
      engine/src/bullet/native/com_jme3_bullet_objects_VehicleWheel.cpp
  6. 28
      engine/src/bullet/native/com_jme3_bullet_objects_VehicleWheel.h

11
engine/src/bullet/com/jme3/bullet/objects/PhysicsVehicle.java
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@ -67,7 +67,7 @@ public class PhysicsVehicle extends PhysicsRigidBody {
protected long vehicleId = 0;
protected long rayCasterId = 0;
protected VehicleTuning tuning;
protected VehicleTuning tuning = new VehicleTuning();
protected ArrayList<VehicleWheel> wheels = new ArrayList<VehicleWheel>();
protected PhysicsSpace physicsSpace;
@ -110,9 +110,6 @@ public class PhysicsVehicle extends PhysicsRigidBody {
@Override
protected void postRebuild() {
super.postRebuild();
if (tuning == null) {
tuning = new VehicleTuning();
}
motionState.setVehicle(this);
createVehicle(physicsSpace);
}
@ -139,7 +136,7 @@ public class PhysicsVehicle extends PhysicsRigidBody {
Logger.getLogger(this.getClass().getName()).log(Level.INFO, "Created Vehicle {0}", Long.toHexString(vehicleId));
setCoordinateSystem(vehicleId, 0, 1, 2);
for (VehicleWheel wheel : wheels) {
wheel.setWheelId(addWheel(vehicleId, wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), tuning, wheel.isFrontWheel()));
wheel.setVehicleId(vehicleId, addWheel(vehicleId, wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), tuning, wheel.isFrontWheel()));
}
}
@ -149,7 +146,7 @@ public class PhysicsVehicle extends PhysicsRigidBody {
private native void setCoordinateSystem(long objectId, int a, int b, int c);
private native long addWheel(long objectId, Vector3f location, Vector3f direction, Vector3f axle, float restLength, float radius, VehicleTuning tuning, boolean frontWheel);
private native int addWheel(long objectId, Vector3f location, Vector3f direction, Vector3f axle, float restLength, float radius, VehicleTuning tuning, boolean frontWheel);
/**
* Add a wheel to this vehicle
@ -191,7 +188,7 @@ public class PhysicsVehicle extends PhysicsRigidBody {
wheel.setMaxSuspensionForce(tuning.maxSuspensionForce);
wheels.add(wheel);
if (vehicleId != 0) {
wheel.setWheelId(addWheel(vehicleId, wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), tuning, wheel.isFrontWheel()));
wheel.setVehicleId(vehicleId, addWheel(vehicleId, wheel.getLocation(), wheel.getDirection(), wheel.getAxle(), wheel.getRestLength(), wheel.getRadius(), tuning, wheel.isFrontWheel()));
}
if (debugShape != null) {
updateDebugShape();

50
engine/src/bullet/com/jme3/bullet/objects/VehicleWheel.java
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@ -52,6 +52,7 @@ import java.util.logging.Logger;
public class VehicleWheel implements Savable {
protected long wheelId = 0;
protected int wheelIndex = 0;
protected boolean frontWheel;
protected Vector3f location = new Vector3f();
protected Vector3f direction = new Vector3f();
@ -92,15 +93,15 @@ public class VehicleWheel implements Savable {
}
public synchronized void updatePhysicsState() {
getWheelLocation(wheelId, wheelWorldLocation);
getWheelRotation(wheelId, tmp_Matrix);
getWheelLocation(wheelId, wheelIndex, wheelWorldLocation);
getWheelRotation(wheelId, wheelIndex, tmp_Matrix);
wheelWorldRotation.fromRotationMatrix(tmp_Matrix);
}
private native void getWheelLocation(long wheelId, Vector3f location);
private native void getWheelRotation(long wheelId, Matrix3f location);
private native void getWheelLocation(long vehicleId, int wheelId, Vector3f location);
private native void getWheelRotation(long vehicleId, int wheelId, Matrix3f location);
public synchronized void applyWheelTransform() {
if (wheelSpatial == null) {
return;
@ -127,8 +128,9 @@ public class VehicleWheel implements Savable {
return wheelId;
}
public void setWheelId(long wheelInfo) {
this.wheelId = wheelInfo;
public void setVehicleId(long vehicleId, int wheelIndex) {
this.wheelId = vehicleId;
this.wheelIndex = wheelIndex;
applyInfo();
}
@ -258,10 +260,10 @@ public class VehicleWheel implements Savable {
if (wheelId == 0) {
return;
}
applyInfo(wheelId, suspensionStiffness, wheelsDampingRelaxation, wheelsDampingCompression, frictionSlip, rollInfluence, maxSuspensionTravelCm, maxSuspensionForce, radius, frontWheel, restLength);
applyInfo(wheelId, wheelIndex, suspensionStiffness, wheelsDampingRelaxation, wheelsDampingCompression, frictionSlip, rollInfluence, maxSuspensionTravelCm, maxSuspensionForce, radius, frontWheel, restLength);
}
private native void applyInfo(long wheelId,
private native void applyInfo(long wheelId, int wheelIndex,
float suspensionStiffness,
float wheelsDampingRelaxation,
float wheelsDampingCompression,
@ -302,7 +304,7 @@ public class VehicleWheel implements Savable {
// System.out.println("RigidBody");
// return (PhysicsRigidBody) ((RigidBody) wheelInfo.raycastInfo.groundObject).getUserPointer();
// } else {
return null;
return null;
// }
}
@ -310,18 +312,18 @@ public class VehicleWheel implements Savable {
* returns the location where the wheel collides with the ground (world space)
*/
public Vector3f getCollisionLocation(Vector3f vec) {
getCollisionLocation(wheelId, vec);
getCollisionLocation(wheelId, wheelIndex, vec);
return vec;
}
private native void getCollisionLocation(long wheelId, Vector3f vec);
private native void getCollisionLocation(long wheelId, int wheelIndex, Vector3f vec);
/**
* returns the location where the wheel collides with the ground (world space)
*/
public Vector3f getCollisionLocation() {
Vector3f vec = new Vector3f();
getCollisionLocation(wheelId, vec);
getCollisionLocation(wheelId, wheelIndex, vec);
return vec;
}
@ -329,18 +331,18 @@ public class VehicleWheel implements Savable {
* returns the normal where the wheel collides with the ground (world space)
*/
public Vector3f getCollisionNormal(Vector3f vec) {
getCollisionNormal(wheelId, vec);
getCollisionNormal(wheelId, wheelIndex, vec);
return vec;
}
private native void getCollisionNormal(long wheelId, Vector3f vec);
private native void getCollisionNormal(long wheelId, int wheelIndex, Vector3f vec);
/**
* returns the normal where the wheel collides with the ground (world space)
*/
public Vector3f getCollisionNormal() {
Vector3f vec = new Vector3f();
getCollisionNormal(wheelId, vec);
getCollisionNormal(wheelId, wheelIndex, vec);
return vec;
}
@ -349,10 +351,10 @@ public class VehicleWheel implements Savable {
* 0.0 = wheels are sliding, 1.0 = wheels have traction.
*/
public float getSkidInfo() {
return getSkidInfo(wheelId);
return getSkidInfo(wheelId, wheelIndex);
}
public native float getSkidInfo(long wheelId);
public native float getSkidInfo(long wheelId, int wheelIndex);
@Override
public void read(JmeImporter im) throws IOException {
@ -413,7 +415,7 @@ public class VehicleWheel implements Savable {
public void setApplyLocal(boolean applyLocal) {
this.applyLocal = applyLocal;
}
@Override
protected void finalize() throws Throwable {
super.finalize();
@ -421,5 +423,5 @@ public class VehicleWheel implements Savable {
// finalizeNative(wheelId);
}
private native void finalizeNative(long wheelId);
private native void finalizeNative(long wheelId, int wheelIndex);
}

5
engine/src/bullet/native/com_jme3_bullet_objects_PhysicsVehicle.cpp
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@ -126,7 +126,7 @@ extern "C" {
* Method: addWheel
* Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;FFLcom/jme3/bullet/objects/infos/VehicleTuning;Z)J
*/
JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
JNIEXPORT jint JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
(JNIEnv *env, jobject object, jlong vehicleId, jobject location, jobject direction, jobject axle, jfloat restLength, jfloat radius, jobject tuning, jboolean frontWheel) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
@ -142,7 +142,8 @@ extern "C" {
jmeBulletUtil::convert(env, axle, &vec3);
btRaycastVehicle::btVehicleTuning tune;
btWheelInfo* info = &vehicle->addWheel(vec1, vec2, vec3, restLength, radius, tune, frontWheel);
return (long) info;
int idx = vehicle->getNumWheels();
return idx-1;
}
/*

4
engine/src/bullet/native/com_jme3_bullet_objects_PhysicsVehicle.h
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@ -76,9 +76,9 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_setCoordinate
/*
* Class: com_jme3_bullet_objects_PhysicsVehicle
* Method: addWheel
* Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;FFLcom/jme3/bullet/objects/infos/VehicleTuning;Z)J
* Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;FFLcom/jme3/bullet/objects/infos/VehicleTuning;Z)I
*/
JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
JNIEXPORT jint JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
(JNIEnv *, jobject, jlong, jobject, jobject, jobject, jfloat, jfloat, jobject, jboolean);
/*

72
engine/src/bullet/native/com_jme3_bullet_objects_VehicleWheel.cpp
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@ -47,14 +47,14 @@ extern "C" {
* Signature: (JLcom/jme3/math/Vector3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelLocation
(JNIEnv *env, jobject object, jlong wheelId, jobject out) {
btWheelInfo* wheel = (btWheelInfo*) wheelId;
if (wheel == NULL) {
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex, jobject out) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
jmeBulletUtil::convert(env, &wheel->m_worldTransform.getOrigin(), out);
jmeBulletUtil::convert(env, &vehicle->getWheelInfo(wheelIndex).m_worldTransform.getOrigin(), out);
}
/*
@ -63,14 +63,14 @@ extern "C" {
* Signature: (JLcom/jme3/math/Matrix3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelRotation
(JNIEnv *env, jobject object, jlong wheelId, jobject out) {
btWheelInfo* wheel = (btWheelInfo*) wheelId;
if (wheel == NULL) {
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex, jobject out) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
jmeBulletUtil::convert(env, &wheel->m_worldTransform.getBasis(), out);
jmeBulletUtil::convert(env, &vehicle->getWheelInfo(wheelIndex).m_worldTransform.getBasis(), out);
}
/*
@ -79,18 +79,18 @@ extern "C" {
* Signature: (JFFFFFFFFZF)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_applyInfo
(JNIEnv *env, jobject object, jlong wheelId, jfloat suspensionStiffness, jfloat wheelsDampingRelaxation, jfloat wheelsDampingCompression, jfloat frictionSlip, jfloat rollInfluence, jfloat maxSuspensionTravelCm, jfloat maxSuspensionForce, jfloat radius, jboolean frontWheel, jfloat restLength) {
btWheelInfo* wheelInfo = (btWheelInfo*) wheelId;
wheelInfo->m_suspensionStiffness = suspensionStiffness;
wheelInfo->m_wheelsDampingRelaxation = wheelsDampingRelaxation;
wheelInfo->m_wheelsDampingCompression = wheelsDampingCompression;
wheelInfo->m_frictionSlip = frictionSlip;
wheelInfo->m_rollInfluence = rollInfluence;
wheelInfo->m_maxSuspensionTravelCm = maxSuspensionTravelCm;
wheelInfo->m_maxSuspensionForce = maxSuspensionForce;
wheelInfo->m_wheelsRadius = radius;
wheelInfo->m_bIsFrontWheel = frontWheel;
wheelInfo->m_suspensionRestLength1 = restLength;
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex, jfloat suspensionStiffness, jfloat wheelsDampingRelaxation, jfloat wheelsDampingCompression, jfloat frictionSlip, jfloat rollInfluence, jfloat maxSuspensionTravelCm, jfloat maxSuspensionForce, jfloat radius, jboolean frontWheel, jfloat restLength) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
vehicle->getWheelInfo(wheelIndex).m_suspensionStiffness = suspensionStiffness;
vehicle->getWheelInfo(wheelIndex).m_wheelsDampingRelaxation = wheelsDampingRelaxation;
vehicle->getWheelInfo(wheelIndex).m_wheelsDampingCompression = wheelsDampingCompression;
vehicle->getWheelInfo(wheelIndex).m_frictionSlip = frictionSlip;
vehicle->getWheelInfo(wheelIndex).m_rollInfluence = rollInfluence;
vehicle->getWheelInfo(wheelIndex).m_maxSuspensionTravelCm = maxSuspensionTravelCm;
vehicle->getWheelInfo(wheelIndex).m_maxSuspensionForce = maxSuspensionForce;
vehicle->getWheelInfo(wheelIndex).m_wheelsRadius = radius;
vehicle->getWheelInfo(wheelIndex).m_bIsFrontWheel = frontWheel;
vehicle->getWheelInfo(wheelIndex).m_suspensionRestLength1 = restLength;
}
@ -100,14 +100,14 @@ extern "C" {
* Signature: (JLcom/jme3/math/Vector3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionLocation
(JNIEnv *env, jobject object, jlong wheelId, jobject out) {
btWheelInfo* wheel = (btWheelInfo*) wheelId;
if (wheel == NULL) {
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex, jobject out) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
jmeBulletUtil::convert(env, &wheel->m_raycastInfo.m_contactPointWS, out);
jmeBulletUtil::convert(env, &vehicle->getWheelInfo(wheelIndex).m_raycastInfo.m_contactPointWS, out);
}
/*
@ -116,14 +116,14 @@ extern "C" {
* Signature: (JLcom/jme3/math/Vector3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionNormal
(JNIEnv *env, jobject object, jlong wheelId, jobject out) {
btWheelInfo* wheel = (btWheelInfo*) wheelId;
if (wheel == NULL) {
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex, jobject out) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
jmeBulletUtil::convert(env, &wheel->m_raycastInfo.m_contactNormalWS, out);
jmeBulletUtil::convert(env, &vehicle->getWheelInfo(wheelIndex).m_raycastInfo.m_contactNormalWS, out);
}
/*
@ -132,25 +132,25 @@ extern "C" {
* Signature: (J)F
*/
JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getSkidInfo
(JNIEnv *env, jobject object, jlong wheelId) {
btWheelInfo* wheel = (btWheelInfo*) wheelId;
if (wheel == NULL) {
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return 0;
}
return wheel->m_skidInfo;
return vehicle->getWheelInfo(wheelIndex).m_skidInfo;
}
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_finalizeNative
(JNIEnv *env, jobject object, jlong wheelId) {
btWheelInfo* wheel = (btWheelInfo*) wheelId;
if (wheel == NULL) {
(JNIEnv *env, jobject object, jlong vehicleId, jint wheelIndex) {
btRaycastVehicle* vehicle = (btRaycastVehicle*) vehicleId;
if (vehicle == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
delete(wheel);
delete(&vehicle->getWheelInfo(wheelIndex));
}
#ifdef __cplusplus
}

28
engine/src/bullet/native/com_jme3_bullet_objects_VehicleWheel.h
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@ -10,58 +10,58 @@ extern "C" {
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: getWheelLocation
* Signature: (JLcom/jme3/math/Vector3f;)V
* Signature: (JILcom/jme3/math/Vector3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelLocation
(JNIEnv *, jobject, jlong, jobject);
(JNIEnv *, jobject, jlong, jint, jobject);
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: getWheelRotation
* Signature: (JLcom/jme3/math/Matrix3f;)V
* Signature: (JILcom/jme3/math/Matrix3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getWheelRotation
(JNIEnv *, jobject, jlong, jobject);
(JNIEnv *, jobject, jlong, jint, jobject);
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: applyInfo
* Signature: (JFFFFFFFFZF)V
* Signature: (JIFFFFFFFFZF)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_applyInfo
(JNIEnv *, jobject, jlong, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jboolean, jfloat);
(JNIEnv *, jobject, jlong, jint, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jfloat, jboolean, jfloat);
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: getCollisionLocation
* Signature: (JLcom/jme3/math/Vector3f;)V
* Signature: (JILcom/jme3/math/Vector3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionLocation
(JNIEnv *, jobject, jlong, jobject);
(JNIEnv *, jobject, jlong, jint, jobject);
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: getCollisionNormal
* Signature: (JLcom/jme3/math/Vector3f;)V
* Signature: (JILcom/jme3/math/Vector3f;)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getCollisionNormal
(JNIEnv *, jobject, jlong, jobject);
(JNIEnv *, jobject, jlong, jint, jobject);
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: getSkidInfo
* Signature: (J)F
* Signature: (JI)F
*/
JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_VehicleWheel_getSkidInfo
(JNIEnv *, jobject, jlong);
(JNIEnv *, jobject, jlong, jint);
/*
* Class: com_jme3_bullet_objects_VehicleWheel
* Method: finalizeNative
* Signature: (J)V
* Signature: (JI)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_VehicleWheel_finalizeNative
(JNIEnv *, jobject, jlong);
(JNIEnv *, jobject, jlong, jint);
#ifdef __cplusplus
}

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