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#include "jmePhysicsSpace.h" 3359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include "jmeBulletUtil.h" 3459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include <stdio.h> 3559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 3659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/** 3759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Author: Normen Hansen 3859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 3959b2e6871c65f58fdad78cd7229c292f6a177578Scott BartajmePhysicsSpace::jmePhysicsSpace(JNIEnv* env, jobject javaSpace) { 4059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta //TODO: global ref? maybe not -> cleaning, rather callback class? 4159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this->javaPhysicsSpace = env->NewWeakGlobalRef(javaSpace); 4259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta this->env = env; 4359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->GetJavaVM(&vm); 4459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 4559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 4659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 4759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 4859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 4959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5059b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartavoid jmePhysicsSpace::attachThread() { 5159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef ANDROID 5259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vm->AttachCurrentThread((JNIEnv**) &env, NULL); 5359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#elif defined (JNI_VERSION_1_2) 5459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vm->AttachCurrentThread((void**) &env, NULL); 5559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#else 5659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta vm->AttachCurrentThread(&env, NULL); 5759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 5859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 5959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 6059b2e6871c65f58fdad78cd7229c292f6a177578Scott BartaJNIEnv* jmePhysicsSpace::getEnv() { 6159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta attachThread(); 6259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return this->env; 6359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 6459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 6559b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartavoid jmePhysicsSpace::stepSimulation(jfloat tpf, jint maxSteps, jfloat accuracy) { 6659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld->stepSimulation(tpf, maxSteps, accuracy); 6759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 6859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 6959b2e6871c65f58fdad78cd7229c292f6a177578Scott BartabtThreadSupportInterface* jmePhysicsSpace::createSolverThreadSupport(int maxNumThreads) { 7059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef _WIN32 7159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", SolverThreadFunc, SolverlsMemoryFunc, maxNumThreads); 7259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo); 7359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta threadSupport->startSPU(); 7459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#elif defined (USE_PTHREADS) 7559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision", SolverThreadFunc, 7659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta SolverlsMemoryFunc, maxNumThreads); 7759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta PosixThreadSupport* threadSupport = new PosixThreadSupport(constructionInfo); 7859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta threadSupport->startSPU(); 7959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#else 8059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", SolverThreadFunc, SolverlsMemoryFunc); 8159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci); 8259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta threadSupport->startSPU(); 8359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 8459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return threadSupport; 8559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 8659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 8759b2e6871c65f58fdad78cd7229c292f6a177578Scott BartabtThreadSupportInterface* jmePhysicsSpace::createDispatchThreadSupport(int maxNumThreads) { 8859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef _WIN32 8959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", processCollisionTask, createCollisionLocalStoreMemory, maxNumThreads); 9059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo); 9159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta threadSupport->startSPU(); 9259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#elif defined (USE_PTHREADS) 9359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processCollisionTask, 9459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta createCollisionLocalStoreMemory, maxNumThreads); 9559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo); 9659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta threadSupport->startSPU(); 9759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#else 9859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", processCollisionTask, createCollisionLocalStoreMemory); 9959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci); 10059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta threadSupport->startSPU(); 10159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 10259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return threadSupport; 10359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 10459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 10559b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartavoid jmePhysicsSpace::createPhysicsSpace(jfloat minX, jfloat minY, jfloat minZ, jfloat maxX, jfloat maxY, jfloat maxZ, jint broadphaseId, jboolean threading) { 10659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // collision configuration contains default setup for memory, collision setup 10759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btDefaultCollisionConstructionInfo cci; 10859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // if(threading){ 10959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // cci.m_defaultMaxPersistentManifoldPoolSize = 32768; 11059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // } 11159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(cci); 11259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btVector3 min = btVector3(minX, minY, minZ); 11459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btVector3 max = btVector3(maxX, maxY, maxZ); 11559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btBroadphaseInterface* broadphase; 11759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 11859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta switch (broadphaseId) { 11959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta case 0: 12059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta broadphase = new btSimpleBroadphase(); 12159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta break; 12259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta case 1: 12359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta broadphase = new btAxisSweep3(min, max); 12459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta break; 12559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta case 2: 12659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta //TODO: 32bit! 12759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta broadphase = new btAxisSweep3(min, max); 12859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta break; 12959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta case 3: 13059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta broadphase = new btDbvtBroadphase(); 13159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta break; 13259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta case 4: 13359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // broadphase = new btGpu3DGridBroadphase( 13459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // min, max, 13559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // 20, 20, 20, 13659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // 10000, 1000, 25); 13759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta break; 13859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 14059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionDispatcher* dispatcher; 14159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btConstraintSolver* solver; 14259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) 14359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (threading) { 14459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btThreadSupportInterface* dispatchThreads = createDispatchThreadSupport(4); 14559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dispatcher = new SpuGatheringCollisionDispatcher(dispatchThreads, 4, collisionConfiguration); 14659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); 14759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } else { 14859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dispatcher = new btCollisionDispatcher(collisionConfiguration); 14959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 15059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 15159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) 15259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (threading) { 15359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btThreadSupportInterface* solverThreads = createSolverThreadSupport(4); 15459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta solver = new btParallelConstraintSolver(solverThreads); 15559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } else { 15659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta solver = new btSequentialImpulseConstraintSolver; 15759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 15859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 15959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta //create dynamics world 16059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); 16159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld = world; 16259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld->setWorldUserInfo(this); 16359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 16459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta //parallel solver requires the contacts to be in a contiguous pool, so avoid dynamic allocation 16559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (threading) { 16659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta world->getSimulationIslandManager()->setSplitIslands(false); 16759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta world->getSolverInfo().m_numIterations = 4; 16859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta world->getSolverInfo().m_solverMode = SOLVER_SIMD + SOLVER_USE_WARMSTARTING; //+SOLVER_RANDMIZE_ORDER; 16959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta world->getDispatchInfo().m_enableSPU = true; 17059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 17159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 17259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta broadphase->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback()); 17359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 17459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); 17559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 17659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta struct jmeFilterCallback : public btOverlapFilterCallback { 17759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // return true when pairs need collision 17859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 17959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy * proxy1) const { 18059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; 18159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); 18259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; 18359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); 18459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (collides) { 18559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionObject* co0 = (btCollisionObject*) proxy0->m_clientObject; 18659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionObject* co1 = (btCollisionObject*) proxy1->m_clientObject; 18759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeUserPointer *up0 = (jmeUserPointer*) co0 -> getUserPointer(); 18859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeUserPointer *up1 = (jmeUserPointer*) co1 -> getUserPointer(); 18959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (up0 != NULL && up1 != NULL) { 19059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta collides = (up0->group & up1->groups) != 0; 19159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta collides = collides && (up1->group & up0->groups); 19259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 19359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta //add some additional logic here that modified 'collides' 19459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return collides; 19559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 19659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return false; 19759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 19859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return collides; 19959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 20059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta }; 20159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld->getPairCache()->setOverlapFilterCallback(new jmeFilterCallback()); 20259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld->setInternalTickCallback(&jmePhysicsSpace::preTickCallback, static_cast<void *> (this), true); 20359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta dynamicsWorld->setInternalTickCallback(&jmePhysicsSpace::postTickCallback, static_cast<void *> (this)); 20459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (gContactProcessedCallback == NULL) { 20559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta gContactProcessedCallback = &jmePhysicsSpace::contactProcessedCallback; 20659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 20759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 20859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 20959b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartavoid jmePhysicsSpace::preTickCallback(btDynamicsWorld *world, btScalar timeStep) { 21059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmePhysicsSpace* dynamicsWorld = (jmePhysicsSpace*) world->getWorldUserInfo(); 21159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEnv* env = dynamicsWorld->getEnv(); 21259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace()); 21359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (javaPhysicsSpace != NULL) { 21459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(javaPhysicsSpace, jmeClasses::PhysicsSpace_preTick, timeStep); 21559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->DeleteLocalRef(javaPhysicsSpace); 21659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 21759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 21859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 21959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 22059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 22159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 22259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 22359b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartavoid jmePhysicsSpace::postTickCallback(btDynamicsWorld *world, btScalar timeStep) { 22459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmePhysicsSpace* dynamicsWorld = (jmePhysicsSpace*) world->getWorldUserInfo(); 22559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEnv* env = dynamicsWorld->getEnv(); 22659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace()); 22759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (javaPhysicsSpace != NULL) { 22859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(javaPhysicsSpace, jmeClasses::PhysicsSpace_postTick, timeStep); 22959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->DeleteLocalRef(javaPhysicsSpace); 23059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 23159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 23259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 23359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 23459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 23559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 23659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 23759b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartabool jmePhysicsSpace::contactProcessedCallback(btManifoldPoint &cp, void *body0, void *body1) { 23859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta // printf("contactProcessedCallback %d %dn", body0, body1); 23959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionObject* co0 = (btCollisionObject*) body0; 24059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeUserPointer *up0 = (jmeUserPointer*) co0 -> getUserPointer(); 24159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btCollisionObject* co1 = (btCollisionObject*) body1; 24259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeUserPointer *up1 = (jmeUserPointer*) co1 -> getUserPointer(); 24359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (up0 != NULL) { 24459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmePhysicsSpace *dynamicsWorld = (jmePhysicsSpace *)up0->space; 24559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (dynamicsWorld != NULL) { 24659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEnv* env = dynamicsWorld->getEnv(); 24759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jobject javaPhysicsSpace = env->NewLocalRef(dynamicsWorld->getJavaPhysicsSpace()); 24859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (javaPhysicsSpace != NULL) { 24959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jobject javaCollisionObject0 = env->NewLocalRef(up0->javaCollisionObject); 25059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jobject javaCollisionObject1 = env->NewLocalRef(up1->javaCollisionObject); 25159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->CallVoidMethod(javaPhysicsSpace, jmeClasses::PhysicsSpace_addCollisionEvent, javaCollisionObject0, javaCollisionObject1, (jlong) & cp); 25259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->DeleteLocalRef(javaPhysicsSpace); 25359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->DeleteLocalRef(javaCollisionObject0); 25459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->DeleteLocalRef(javaCollisionObject1); 25559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (env->ExceptionCheck()) { 25659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->Throw(env->ExceptionOccurred()); 25759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return true; 25859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 25959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 26059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 26159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 26259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return true; 26359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 26459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 26559b2e6871c65f58fdad78cd7229c292f6a177578Scott BartabtDynamicsWorld* jmePhysicsSpace::getDynamicsWorld() { 26659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return dynamicsWorld; 26759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 26859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 26959b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartajobject jmePhysicsSpace::getJavaPhysicsSpace() { 27059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return javaPhysicsSpace; 27159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 27259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 27359b2e6871c65f58fdad78cd7229c292f6a177578Scott BartajmePhysicsSpace::~jmePhysicsSpace() { 27459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta delete(dynamicsWorld); 27559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta}