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* Virtualize btCollisionWorld, btOverlapFilterCallback, `btOverl…
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…apCallback` from Bullet Physics SDK (pull #1475)
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@alfabouh
alfabouh committed Mar 3, 2024
1 parent 575a44e commit 351d203
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1 change: 1 addition & 0 deletions CHANGELOG.md
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* Virtualize `btCollisionWorld`, `btOverlapFilterCallback`, `btOverlapCallback` from Bullet Physics SDK ([pull #1475](https://github.com/bytedeco/javacpp-presets/pull/1475))
* Upgrade presets for PyTorch 2.2.1 ([pull #1466](https://github.com/bytedeco/javacpp-presets/pull/1466))

### January 29, 2024 version 1.5.10
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70 changes: 48 additions & 22 deletions bullet/src/gen/java/org/bytedeco/bullet/BulletCollision/btCollisionWorld.java
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Expand Up @@ -34,19 +34,19 @@ public class btCollisionWorld extends Pointer {

public native void updateSingleAabb(btCollisionObject colObj);

public native void updateAabbs();
@Virtual public native void updateAabbs();

/**the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
* it can be useful to use if you perform ray tests without collision detection/simulation */
public native void computeOverlappingPairs();
@Virtual public native void computeOverlappingPairs();

public native void setDebugDrawer(btIDebugDraw debugDrawer);
@Virtual public native void setDebugDrawer(btIDebugDraw debugDrawer);

public native btIDebugDraw getDebugDrawer();
@Virtual public native btIDebugDraw getDebugDrawer();

public native void debugDrawWorld();
@Virtual public native void debugDrawWorld();

public native void debugDrawObject(@Const @ByRef btTransform worldTransform, @Const btCollisionShape shape, @Const @ByRef btVector3 color);
@Virtual public native void debugDrawObject(@Const @ByRef btTransform worldTransform, @Const btCollisionShape shape, @Const @ByRef btVector3 color);

/**LocalShapeInfo gives extra information for complex shapes
* Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart */
Expand Down Expand Up @@ -99,6 +99,15 @@ private native void allocate(@Const btCollisionObject collisionObject,
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public RayResultCallback(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public RayResultCallback(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public RayResultCallback position(long position) {
return (RayResultCallback)super.position(position);
}
@Override public RayResultCallback getPointer(long i) {
return new RayResultCallback((Pointer)this).offsetAddress(i);
}

public native @Cast("btScalar") double m_closestHitFraction(); public native RayResultCallback m_closestHitFraction(double setter);
public native @Const btCollisionObject m_collisionObject(); public native RayResultCallback m_collisionObject(btCollisionObject setter);
Expand All @@ -108,9 +117,9 @@ private native void allocate(@Const btCollisionObject collisionObject,
public native @Cast("unsigned int") int m_flags(); public native RayResultCallback m_flags(int setter);
public native @Cast("bool") boolean hasHit();

public native @Cast("bool") boolean needsCollision(btBroadphaseProxy proxy0);
@Virtual public native @Cast("bool") @Const({false, false, true}) boolean needsCollision(btBroadphaseProxy proxy0);

public native @Cast("btScalar") double addSingleResult(@ByRef LocalRayResult rayResult, @Cast("bool") boolean normalInWorldSpace);
@Virtual(true) public native @Cast("btScalar") double addSingleResult(@ByRef LocalRayResult rayResult, @Cast("bool") boolean normalInWorldSpace);
}

@NoOffset public static class ClosestRayResultCallback extends RayResultCallback {
Expand All @@ -127,7 +136,7 @@ private native void allocate(@Const btCollisionObject collisionObject,
public native @ByRef btVector3 m_hitNormalWorld(); public native ClosestRayResultCallback m_hitNormalWorld(btVector3 setter);
public native @ByRef btVector3 m_hitPointWorld(); public native ClosestRayResultCallback m_hitPointWorld(btVector3 setter);

public native @Cast("btScalar") double addSingleResult(@ByRef LocalRayResult rayResult, @Cast("bool") boolean normalInWorldSpace);
@Virtual public native @Cast("btScalar") double addSingleResult(@ByRef LocalRayResult rayResult, @Cast("bool") boolean normalInWorldSpace);
}

@NoOffset public static class AllHitsRayResultCallback extends RayResultCallback {
Expand All @@ -147,7 +156,7 @@ private native void allocate(@Const btCollisionObject collisionObject,
public native @ByRef btVector3Array m_hitPointWorld(); public native AllHitsRayResultCallback m_hitPointWorld(btVector3Array setter);
public native @ByRef btScalarArray m_hitFractions(); public native AllHitsRayResultCallback m_hitFractions(btScalarArray setter);

public native @Cast("btScalar") double addSingleResult(@ByRef LocalRayResult rayResult, @Cast("bool") boolean normalInWorldSpace);
@Virtual public native @Cast("btScalar") double addSingleResult(@ByRef LocalRayResult rayResult, @Cast("bool") boolean normalInWorldSpace);
}

@NoOffset public static class LocalConvexResult extends Pointer {
Expand Down Expand Up @@ -178,16 +187,25 @@ private native void allocate(@Const btCollisionObject hitCollisionObject,
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public ConvexResultCallback(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public ConvexResultCallback(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public ConvexResultCallback position(long position) {
return (ConvexResultCallback)super.position(position);
}
@Override public ConvexResultCallback getPointer(long i) {
return new ConvexResultCallback((Pointer)this).offsetAddress(i);
}

public native @Cast("btScalar") double m_closestHitFraction(); public native ConvexResultCallback m_closestHitFraction(double setter);
public native int m_collisionFilterGroup(); public native ConvexResultCallback m_collisionFilterGroup(int setter);
public native int m_collisionFilterMask(); public native ConvexResultCallback m_collisionFilterMask(int setter);

public native @Cast("bool") boolean hasHit();

public native @Cast("bool") boolean needsCollision(btBroadphaseProxy proxy0);
@Virtual public native @Cast("bool") @Const({false, false, true}) boolean needsCollision(btBroadphaseProxy proxy0);

public native @Cast("btScalar") double addSingleResult(@ByRef LocalConvexResult convexResult, @Cast("bool") boolean normalInWorldSpace);
@Virtual(true) public native @Cast("btScalar") double addSingleResult(@ByRef LocalConvexResult convexResult, @Cast("bool") boolean normalInWorldSpace);
}

@NoOffset public static class ClosestConvexResultCallback extends ConvexResultCallback {
Expand All @@ -205,29 +223,38 @@ private native void allocate(@Const btCollisionObject hitCollisionObject,
public native @ByRef btVector3 m_hitPointWorld(); public native ClosestConvexResultCallback m_hitPointWorld(btVector3 setter);
public native @Const btCollisionObject m_hitCollisionObject(); public native ClosestConvexResultCallback m_hitCollisionObject(btCollisionObject setter);

public native @Cast("btScalar") double addSingleResult(@ByRef LocalConvexResult convexResult, @Cast("bool") boolean normalInWorldSpace);
@Virtual public native @Cast("btScalar") double addSingleResult(@ByRef LocalConvexResult convexResult, @Cast("bool") boolean normalInWorldSpace);
}

/**ContactResultCallback is used to report contact points */
@NoOffset public static class ContactResultCallback extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public ContactResultCallback(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public ContactResultCallback(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public ContactResultCallback position(long position) {
return (ContactResultCallback)super.position(position);
}
@Override public ContactResultCallback getPointer(long i) {
return new ContactResultCallback((Pointer)this).offsetAddress(i);
}

public native int m_collisionFilterGroup(); public native ContactResultCallback m_collisionFilterGroup(int setter);
public native int m_collisionFilterMask(); public native ContactResultCallback m_collisionFilterMask(int setter);
public native @Cast("btScalar") double m_closestDistanceThreshold(); public native ContactResultCallback m_closestDistanceThreshold(double setter);

public native @Cast("bool") boolean needsCollision(btBroadphaseProxy proxy0);
@Virtual public native @Cast("bool") @Const({false, false, true}) boolean needsCollision(btBroadphaseProxy proxy0);

public native @Cast("btScalar") double addSingleResult(@ByRef btManifoldPoint cp, @Const btCollisionObjectWrapper colObj0Wrap, int partId0, int index0, @Const btCollisionObjectWrapper colObj1Wrap, int partId1, int index1);
@Virtual(true) public native @Cast("btScalar") double addSingleResult(@ByRef btManifoldPoint cp, @Const btCollisionObjectWrapper colObj0Wrap, int partId0, int index0, @Const btCollisionObjectWrapper colObj1Wrap, int partId1, int index1);
}

public native int getNumCollisionObjects();

/** rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
* This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. */
public native void rayTest(@Const @ByRef btVector3 rayFromWorld, @Const @ByRef btVector3 rayToWorld, @ByRef RayResultCallback resultCallback);
@Virtual public native @Const({false, false, true}) void rayTest(@Const @ByRef btVector3 rayFromWorld, @Const @ByRef btVector3 rayToWorld, @ByRef RayResultCallback resultCallback);

/** convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
* This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. */
Expand Down Expand Up @@ -266,22 +293,21 @@ public static native void objectQuerySingleInternal(@Const btConvexShape castSha
@Const btCollisionObjectWrapper colObjWrap,
@ByRef ConvexResultCallback resultCallback, @Cast("btScalar") double allowedPenetration);

public native void addCollisionObject(btCollisionObject collisionObject, int collisionFilterGroup/*=btBroadphaseProxy::DefaultFilter*/, int collisionFilterMask/*=btBroadphaseProxy::AllFilter*/);
public native void addCollisionObject(btCollisionObject collisionObject);
@Virtual public native void addCollisionObject(btCollisionObject collisionObject, int collisionFilterGroup/*=btBroadphaseProxy::DefaultFilter*/, int collisionFilterMask/*=btBroadphaseProxy::AllFilter*/);

public native void refreshBroadphaseProxy(btCollisionObject collisionObject);
@Virtual public native void refreshBroadphaseProxy(btCollisionObject collisionObject);

public native @ByRef btCollisionObjectArray getCollisionObjectArray();

public native void removeCollisionObject(btCollisionObject collisionObject);
@Virtual public native void removeCollisionObject(btCollisionObject collisionObject);

public native void performDiscreteCollisionDetection();
@Virtual public native void performDiscreteCollisionDetection();

public native @ByRef btDispatcherInfo getDispatchInfo();

public native @Cast("bool") boolean getForceUpdateAllAabbs();
public native void setForceUpdateAllAabbs(@Cast("bool") boolean forceUpdateAllAabbs);

/**Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) */
public native void serialize(btSerializer serializer);
@Virtual public native void serialize(btSerializer serializer);
}
14 changes: 13 additions & 1 deletion bullet/src/gen/java/org/bytedeco/bullet/BulletCollision/btOverlapCallback.java
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Expand Up @@ -16,9 +16,21 @@
@Properties(inherit = org.bytedeco.bullet.presets.BulletCollision.class)
public class btOverlapCallback extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public btOverlapCallback() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public btOverlapCallback(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public btOverlapCallback(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public btOverlapCallback position(long position) {
return (btOverlapCallback)super.position(position);
}
@Override public btOverlapCallback getPointer(long i) {
return new btOverlapCallback((Pointer)this).offsetAddress(i);
}

//return true for deletion of the pair
public native @Cast("bool") boolean processOverlap(@ByRef btBroadphasePair pair);
@Virtual(true) public native @Cast("bool") boolean processOverlap(@ByRef btBroadphasePair pair);
}
14 changes: 13 additions & 1 deletion bullet/src/gen/java/org/bytedeco/bullet/BulletCollision/btOverlapFilterCallback.java
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Expand Up @@ -16,9 +16,21 @@
@Properties(inherit = org.bytedeco.bullet.presets.BulletCollision.class)
public class btOverlapFilterCallback extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public btOverlapFilterCallback() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public btOverlapFilterCallback(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public btOverlapFilterCallback(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public btOverlapFilterCallback position(long position) {
return (btOverlapFilterCallback)super.position(position);
}
@Override public btOverlapFilterCallback getPointer(long i) {
return new btOverlapFilterCallback((Pointer)this).offsetAddress(i);
}

// return true when pairs need collision
public native @Cast("bool") boolean needBroadphaseCollision(btBroadphaseProxy proxy0, btBroadphaseProxy proxy1);
@Virtual(true) public native @Cast("bool") @Const({false, false, true}) boolean needBroadphaseCollision(btBroadphaseProxy proxy0, btBroadphaseProxy proxy1);
}
1 change: 1 addition & 0 deletions bullet/src/main/java/org/bytedeco/bullet/presets/BulletCollision.java
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Expand Up @@ -220,6 +220,7 @@ public void map(InfoMap infoMap) {
.put(new Info("btDbvt::sStkNPS").pointerTypes("btDbvt.sStkNPS"))

.put(new Info("btCollisionObjectWrapper").purify(true))
.put(new Info("btCollisionWorld", "btOverlapFilterCallback", "btOverlapCallback").virtualize())

.put(new Info("btCollisionWorldImporter.h").linePatterns("struct btContactSolverInfo;").skip())
.put(new Info("btDispatcher.h").linePatterns("class btRigidBody;").skip())
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