159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/* 259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Copyright (c) 2009-2010 jMonkeyEngine 359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * All rights reserved. 459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Redistribution and use in source and binary forms, with or without 659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * modification, are permitted provided that the following conditions are 759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * met: 859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Redistributions of source code must retain the above copyright 1059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * notice, this list of conditions and the following disclaimer. 1159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 1259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Redistributions in binary form must reproduce the above copyright 1359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * notice, this list of conditions and the following disclaimer in the 1459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * documentation and/or other materials provided with the distribution. 1559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 1659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Neither the name of 'jMonkeyEngine' nor the names of its contributors 1759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * may be used to endorse or promote products derived from this software 1859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * without specific prior written permission. 1959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 2059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 2159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 2259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 2359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 2459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 2559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 2659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 2759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 2859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 2959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 3059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 3159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 3259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 3359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/** 3459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Author: Normen Hansen, CJ Hare 3559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 3659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include "com_jme3_bullet_util_DebugShapeFactory.h" 3759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include "jmeBulletUtil.h" 3859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include "BulletCollision/CollisionShapes/btShapeHull.h" 3959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 4059b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaclass DebugCallback : public btTriangleCallback, public btInternalTriangleIndexCallback { 4159b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartapublic: 4259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEnv* env; 4359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jobject callback; 4459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 4559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta DebugCallback(JNIEnv* env, jobject object) { 4659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this->env = env; 4759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this->callback = object; 4859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 4959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) { 5159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta processTriangle(triangle, partId, triangleIndex); 5259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 5359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) { 5559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btVector3 vertexA, vertexB, vertexC; 5659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vertexA = triangle[0]; 5759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vertexB = triangle[1]; 5859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vertexC = triangle[2]; 5959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexA.getX(), vertexA.getY(), vertexA.getZ(), partId, triangleIndex); 6059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 6159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 6259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 6359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 6459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta// triangle = 6559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexB.getX(), vertexB.getY(), vertexB.getZ(), partId, triangleIndex); 6659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 6759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 6859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 6959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexC.getX(), vertexC.getY(), vertexC.getZ(), partId, triangleIndex); 7159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 7259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 7359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 7459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta}; 7759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 7859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef __cplusplus 7959b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaextern "C" { 8059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 8159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 8259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* Inaccessible static: _00024assertionsDisabled */ 8359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 8459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 8559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_util_DebugShapeFactory 8659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: getVertices 8759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (JLcom/jme3/bullet/util/DebugMeshCallback;)V 8859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 8959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT void JNICALL Java_com_jme3_bullet_util_DebugShapeFactory_getVertices 9059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv *env, jclass clazz, jlong shapeId, jobject callback) { 9159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionShape* shape = reinterpret_cast<btCollisionShape*>(shapeId); 9259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (shape->isConcave()) { 9359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btConcaveShape* concave = reinterpret_cast<btConcaveShape*>(shape); 9459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta DebugCallback* clb = new DebugCallback(env, callback); 9559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btVector3 min = btVector3(-1e30, -1e30, -1e30); 9659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btVector3 max = btVector3(1e30, 1e30, 1e30); 9759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta concave->processAllTriangles(clb, min, max); 9859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta delete(clb); 9959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } else if (shape->isConvex()) { 10059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btConvexShape* convexShape = reinterpret_cast<btConvexShape*>(shape); 10159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // Check there is a hull shape to render 10259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (convexShape->getUserPointer() == NULL) { 10359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // create a hull approximation 10459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btShapeHull* hull = new btShapeHull(convexShape); 10559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta float margin = convexShape->getMargin(); 10659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta hull->buildHull(margin); 10759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta convexShape->setUserPointer(hull); 10859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 10959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btShapeHull* hull = (btShapeHull*) convexShape->getUserPointer(); 11159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta int numberOfTriangles = hull->numTriangles(); 11359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta int numberOfFloats = 3 * 3 * numberOfTriangles; 11459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta int byteBufferSize = numberOfFloats * 4; 11559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // Loop variables 11759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta const unsigned int* hullIndices = hull->getIndexPointer(); 11859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta const btVector3* hullVertices = hull->getVertexPointer(); 11959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btVector3 vertexA, vertexB, vertexC; 12059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta int index = 0; 12159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 12259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta for (int i = 0; i < numberOfTriangles; i++) { 12359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // Grab the data for this triangle from the hull 12459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vertexA = hullVertices[hullIndices[index++]]; 12559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vertexB = hullVertices[hullIndices[index++]]; 12659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vertexC = hullVertices[hullIndices[index++]]; 12759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 12859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // Put the verticies into the vertex buffer 12959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexA.getX(), vertexA.getY(), vertexA.getZ()); 13059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 13159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 13259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 13359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexB.getX(), vertexB.getY(), vertexB.getZ()); 13559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 13659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 13759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 13859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(callback, jmeClasses::DebugMeshCallback_addVector, vertexC.getX(), vertexC.getY(), vertexC.getZ()); 14059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 14159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 14259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 14359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 14459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 14559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta delete hull; 14659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta convexShape->setUserPointer(NULL); 14759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 14859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 14959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 15059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef __cplusplus 15159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 15259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 153