Update to bullet 2.86.1 (#698)

gradle.properties

@@ -19,8 +19,8 @@ buildAndroidExamples = false
 ndkPath = /opt/android-ndk-r10c
 
 # Path for downloading native Bullet
-bulletUrl = https://github.com/bulletphysics/bullet3/archive/2.83.7.zip
+bulletUrl = https://github.com/bulletphysics/bullet3/archive/2.86.1.zip
-bulletFolder = bullet3-2.83.7
+bulletFolder = bullet3-2.86.1
 bulletZipFile = bullet3.zip
 
 # POM settings

jme3-bullet-native/src/native/cpp/com_jme3_bullet_collision_PhysicsCollisionEvent.cpp

@@ -209,7 +209,7 @@ JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_collision_PhysicsCollisionEvent_
         env->ThrowNew(newExc, "The manifoldPoint does not exist.");
         return 0;
     }
-    return mp -> m_lateralFrictionInitialized;
+    return (mp -> m_contactPointFlags) &  BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
 }
 
 /*

jme3-bullet-native/src/native/cpp/com_jme3_bullet_objects_PhysicsCharacter.cpp

@@ -129,20 +129,100 @@ extern "C" {
 
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
-     * Method:    setUpAxis
+     * Method:    setUp
-     * Signature: (JI)V
+     * Signature: (JLcom/jme3/math/Vector3f;)V
      */
-    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setUpAxis
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setUp
-    (JNIEnv *env, jobject object, jlong objectId, jint value) {
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
         btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
         if (character == NULL) {
             jclass newExc = env->FindClass("java/lang/NullPointerException");
             env->ThrowNew(newExc, "The native object does not exist.");
             return;
         }
-        character->setUpAxis(value);
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env,  value, &vec);
+        character->setUp(vec);
     }
 
+     /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setAngularVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setAngularVelocity
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        character->setAngularVelocity(vec);
+    }
+
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getAngularVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+     
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getAngularVelocity
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 a_vel = character->getAngularVelocity();
+        jmeBulletUtil::convert(env, &a_vel, value);
+    }
+
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setLinearVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setLinearVelocity
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        character->setLinearVelocity(vec);
+    }
+
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getLinearVelocity
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+     
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getLinearVelocity
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 l_vel = character->getLinearVelocity();
+        jmeBulletUtil::convert(env, &l_vel, value);
+    }
+
+
+
+
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
      * Method:    setFallSpeed
@@ -178,25 +258,62 @@ extern "C" {
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
      * Method:    setGravity
-     * Signature: (JF)V
+     * Signature:  (JLcom/jme3/math/Vector3f;)V
      */
     JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setGravity
-    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+    (JNIEnv *env, jobject object, jlong objectId, jobject value) {
         btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
         if (character == NULL) {
             jclass newExc = env->FindClass("java/lang/NullPointerException");
             env->ThrowNew(newExc, "The native object does not exist.");
             return;
         }
-        character->setGravity(value);
+
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        character->setGravity(vec);
     }
 
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
      * Method:    getGravity
+     * Signature:  (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getGravity
+    (JNIEnv *env, jobject object, jlong objectId,jobject value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 g = character->getGravity();
+        jmeBulletUtil::convert(env, &g, value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setLinearDamping
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setLinearDamping
+    (JNIEnv *env, jobject object, jlong objectId,jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return ;
+        }
+        character->setLinearDamping(value);
+    }
+
+
+   /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getLinearDamping
      * Signature: (J)F
      */
-    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getGravity
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getLinearDamping
     (JNIEnv *env, jobject object, jlong objectId) {
         btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
         if (character == NULL) {
@@ -204,9 +321,78 @@ extern "C" {
             env->ThrowNew(newExc, "The native object does not exist.");
             return 0;
         }
-        return character->getGravity();
+        return character->getLinearDamping();
     }
 
+
+      /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setAngularDamping
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setAngularDamping
+    (JNIEnv *env, jobject object, jlong objectId,jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setAngularDamping(value);
+    }
+
+
+   /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getAngularDamping
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getAngularDamping
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return character->getAngularDamping();
+    }
+
+
+        /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setStepHeight
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setStepHeight
+    (JNIEnv *env, jobject object, jlong objectId,jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setStepHeight(value);
+    }
+
+
+   /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getStepHeight
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getStepHeight
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return character->getStepHeight();
+    }
+
+
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
      * Method:    setMaxSlope
@@ -239,6 +425,39 @@ extern "C" {
         return character->getMaxSlope();
     }
 
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    setMaxPenetrationDepth
+     * Signature: (JF)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setMaxPenetrationDepth
+    (JNIEnv *env, jobject object, jlong objectId, jfloat value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        character->setMaxPenetrationDepth(value);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    getMaxPenetrationDepth
+     * Signature: (J)F
+     */
+    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getMaxPenetrationDepth
+    (JNIEnv *env, jobject object, jlong objectId) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return 0;
+        }
+        return character->getMaxPenetrationDepth();
+    }
+
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
      * Method:    onGround
@@ -258,17 +477,37 @@ extern "C" {
     /*
      * Class:     com_jme3_bullet_objects_PhysicsCharacter
      * Method:    jump
-     * Signature: (J)V
+     * Signature: (JLcom/jme3/math/Vector3f;)V
      */
     JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_jump
-    (JNIEnv *env, jobject object, jlong objectId) {
+    (JNIEnv *env, jobject object, jlong objectId,jobject value) {
         btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
         if (character == NULL) {
             jclass newExc = env->FindClass("java/lang/NullPointerException");
             env->ThrowNew(newExc, "The native object does not exist.");
             return;
         }
-        character->jump();
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        character->jump(vec);
+    }
+
+    /*
+     * Class:     com_jme3_bullet_objects_PhysicsCharacter
+     * Method:    applyImpulse
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_applyImpulse
+    (JNIEnv *env, jobject object, jlong objectId,jobject value) {
+        btKinematicCharacterController* character = reinterpret_cast<btKinematicCharacterController*>(objectId);
+        if (character == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+        btVector3 vec = btVector3();
+        jmeBulletUtil::convert(env, value, &vec);
+        character->applyImpulse(vec);
     }
 
     /*

jme3-bullet-native/src/native/cpp/com_jme3_bullet_objects_PhysicsCharacter.h

@@ -83,11 +83,47 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setWalkDire
 
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
- * Method:    setUpAxis
+ * Method:    setUp
- * Signature: (JI)V
+ * Signature: (JLcom/jme3/math/Vector3f;)V
  */
-JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setUpAxis
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setUp
-  (JNIEnv *, jobject, jlong, jint);
+    (JNIEnv *, jobject , jlong , jobject );
+
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    setAngularVelocity
+  * Signature: (JLcom/jme3/math/Vector3f;)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setAngularVelocity
+    (JNIEnv *, jobject , jlong , jobject ) ;
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    getAngularVelocity
+  * Signature: (JLcom/jme3/math/Vector3f;)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getAngularVelocity
+   (JNIEnv *, jobject , jlong , jobject );
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    setLinearVelocity
+  * Signature: (JLcom/jme3/math/Vector3f;)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setLinearVelocity
+    (JNIEnv *, jobject , jlong , jobject );
+
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    getLinearVelocity
+  * Signature: (JLcom/jme3/math/Vector3f;)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getLinearVelocity
+   (JNIEnv *, jobject , jlong , jobject );
+
+
 
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
@@ -108,18 +144,72 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setJumpSpee
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
  * Method:    setGravity
- * Signature: (JF)V
+ * Signature:  (JLcom/jme3/math/Vector3f;)V
  */
 JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setGravity
-  (JNIEnv *, jobject, jlong, jfloat);
+  (JNIEnv *, jobject, jlong, jobject);
 
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
  * Method:    getGravity
- * Signature: (J)F
+ * Signature:  (JLcom/jme3/math/Vector3f;)V
  */
-JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getGravity
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getGravity
-  (JNIEnv *, jobject, jlong);
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    setLinearDamping
+  * Signature: (JF)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setLinearDamping
+   (JNIEnv *, jobject , jlong ,jfloat );
+
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    getLinearDamping
+  * Signature: (J)F
+  */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getLinearDamping
+    (JNIEnv *, jobject , jlong );
+
+
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    setAngularDamping
+  * Signature: (JF)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setAngularDamping
+    (JNIEnv *, jobject , jlong ,jfloat );
+
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    getAngularDamping
+  * Signature: (J)F
+  */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getAngularDamping
+    (JNIEnv *, jobject , jlong );
+
+  
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    setStepHeight
+  * Signature: (JF)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setStepHeight
+    (JNIEnv *, jobject , jlong ,jfloat );
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    getStepHeight
+  * Signature: (J)F
+  */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getStepHeight
+    (JNIEnv *, jobject , jlong );
+
 
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
@@ -137,6 +227,24 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setMaxSlope
 JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getMaxSlope
   (JNIEnv *, jobject, jlong);
 
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    setMaxPenetrationDepth
+  * Signature: (JF)V
+  */
+  JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_setMaxPenetrationDepth
+    (JNIEnv *, jobject , jlong , jfloat );
+
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    getMaxPenetrationDepth
+  * Signature: (J)F
+  */
+JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_getMaxPenetrationDepth
+    (JNIEnv *, jobject , jlong );
+
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
  * Method:    onGround
@@ -148,10 +256,18 @@ JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_onGroun
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter
  * Method:    jump
- * Signature: (J)V
+ * Signature: (JLcom/jme3/math/Vector3f;)V
  */
 JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_jump
-  (JNIEnv *, jobject, jlong);
+  (JNIEnv *, jobject, jlong, jobject);
+
+/*
+  * Class:     com_jme3_bullet_objects_PhysicsCharacter
+  * Method:    applyImpulse
+  * Signature: (JLcom/jme3/math/Vector3f;)V
+  */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsCharacter_applyImpulse
+    (JNIEnv *, jobject , jlong ,jobject );
 
 /*
  * Class:     com_jme3_bullet_objects_PhysicsCharacter

jme3-bullet/src/main/java/com/jme3/bullet/objects/PhysicsCharacter.java

@@ -128,12 +128,64 @@ public class PhysicsCharacter extends PhysicsCollisionObject {
         return walkDirection;
     }
     
-    public void setUpAxis(int axis) {
+    /**
-        upAxis = axis;
+     * @deprecated Deprecated in bullet 2.86.1 use setUp(Vector3f) instead
-        setUpAxis(characterId, axis);
+     */
+    @Deprecated
+	public void setUpAxis(int axis) {
+		if(axis<0) axis=0;
+		else if(axis>2) axis=2;
+		switch(axis){
+			case 0:
+				setUp(Vector3f.UNIT_X);
+				break;
+			case 1:
+				setUp(Vector3f.UNIT_Y);
+				break;
+			case 2:
+				setUp(Vector3f.UNIT_Z);
+		}
+	}
+    
+    public void setUp(Vector3f axis) {
+        setUp(characterId, axis);
     }
 
-    private native void setUpAxis(long characterId, int axis);
+
+    private native void setUp(long characterId, Vector3f axis);
+
+    
+    public void setAngularVelocity(Vector3f v){
+    	setAngularVelocity(characterId,v);
+    }
+        
+    private native void setAngularVelocity(long characterId, Vector3f v);
+
+
+    public Vector3f getAngularVelocity(Vector3f out){
+    	if(out==null)out=new Vector3f();
+    	getAngularVelocity(characterId,out);
+    	return out;
+    }
+    
+    private native void getAngularVelocity(long characterId, Vector3f out);
+    
+
+    public void setLinearVelocity(Vector3f v){
+    	setLinearVelocity(characterId,v);
+    }
+        
+    private native void setLinearVelocity(long characterId, Vector3f v);
+
+
+    public Vector3f getLinearVelocity(Vector3f out){
+    	if(out==null)out=new Vector3f();
+    	getLinearVelocity(characterId,out);
+    	return out;
+    }
+    
+    private native void getLinearVelocity(long characterId, Vector3f out);
+        
 
     public int getUpAxis() {
         return upAxis;
@@ -161,17 +213,95 @@ public class PhysicsCharacter extends PhysicsCollisionObject {
         return jumpSpeed;
     }
 
+    /**
+     * @deprecated Deprecated in bullet 2.86.1. Use setGravity(Vector3f) instead.
+     */
+    @Deprecated
     public void setGravity(float value) {
+    	setGravity(new Vector3f(0,value,0));
+    }
+    
+    public void setGravity(Vector3f value) {
         setGravity(characterId, value);
     }
 
-    private native void setGravity(long characterId, float gravity);
+    private native void setGravity(long characterId, Vector3f gravity);
 
+    /**
+     * @deprecated Deprecated in bullet 2.86.1. Use getGravity(Vector3f) instead.
+     */
+    @Deprecated
     public float getGravity() {
-        return getGravity(characterId);
+        return getGravity(null).y;
     }
 
-    private native float getGravity(long characterId);
+    public Vector3f getGravity(Vector3f out) {
+    	if(out==null)out=new Vector3f();
+    	getGravity(characterId,out);
+    	return out;
+    }
+
+    private native void getGravity(long characterId,Vector3f out);
+
+        
+    public float getLinearDamping(){
+    	return getLinearDamping(characterId);
+    }
+    
+    private native float getLinearDamping(long characterId);
+    
+        
+    public void setLinearDamping(float v ){
+    	setLinearDamping(characterId,v );
+    }
+    
+    private native void setLinearDamping(long characterId,float v);
+    
+    
+    public float getAngularDamping(){
+    	return getAngularDamping(characterId);
+    }
+    
+    private native float getAngularDamping(long characterId);
+    
+        
+    public void setAngularDamping(float v ){
+    	setAngularDamping(characterId,v );
+    }
+    
+    private native void setAngularDamping(long characterId,float v);
+    
+    
+    public float getStepHeight(){
+    	return getStepHeight(characterId);
+    }
+    
+    private native float getStepHeight(long characterId);
+    
+        
+    public void setStepHeight(float v ){
+    	setStepHeight(characterId,v );
+    }
+    
+    private native void setStepHeight(long characterId,float v);
+    
+    
+    public float getMaxPenetrationDepth(){
+    	return getMaxPenetrationDepth(characterId);
+    }
+    
+    private native float getMaxPenetrationDepth(long characterId);
+    
+        
+    public void setMaxPenetrationDepth(float v ){
+    	setMaxPenetrationDepth(characterId,v );
+    }
+    
+    private native void setMaxPenetrationDepth(long characterId,float v);
+    
+
+    
+    
     
     public void setMaxSlope(float slopeRadians) {
         setMaxSlope(characterId, slopeRadians);
@@ -191,11 +321,20 @@ public class PhysicsCharacter extends PhysicsCollisionObject {
 
     private native boolean onGround(long characterId);
 
+    /**
+     * @deprecated Deprecated in bullet 2.86.1. Use jump(Vector3f) instead.
+     */
+    @Deprecated
     public void jump() {
-        jump(characterId);
+    	jump(Vector3f.UNIT_Y);
     }
     
-    private native void jump(long characterId);
+    
+    public void jump(Vector3f dir) {
+    	jump(characterId,dir);
+    }
+    
+    private native void jump(long characterId,Vector3f v);
 
     @Override
     public void setCollisionShape(CollisionShape collisionShape) {