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a JNI interface to Jolt Physics
/*
Copyright (c) 2024 Stephen Gold
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
package com.github.stephengold.joltjni;
/**
* A component of a {@code PhysicsSystem}, used to configure simulation
* parameters.
*
* @author Stephen Gold [email protected]
*/
public class PhysicsSettings extends JoltPhysicsObject {
// *************************************************************************
// constants
/**
* padding around objects (in meters)
*/
final public static float cDefaultConvexRadius = 0.05f;
// *************************************************************************
// fields
/**
* prevent premature garbage collection of the underlying
* {@code PhysicsSystem}
*/
final private PhysicsSystem system;
// *************************************************************************
// constructors
/**
* Instantiate the default settings.
*/
public PhysicsSettings() {
this.system = null;
long settingsVa = createPhysicsSettings();
setVirtualAddress(settingsVa, () -> free(settingsVa));
}
/**
* Instantiate with the specified native object assigned.
*
* @param system the underlying {@code PhysicsSystem}, or null if none
* @param settingsVa the virtual address of the native object to assign (not
* zero)
* @param owner true → make the current object the owner, false →
* the current object isn't the owner
*/
PhysicsSettings(PhysicsSystem system, long settingsVa, boolean owner) {
this.system = system;
Runnable freeingAction = owner ? () -> free(settingsVa) : null;
setVirtualAddress(settingsVa, freeingAction);
}
// *************************************************************************
// new methods exposed
/**
* Test whether objects can fall asleep.
*
* @return true if sleeping is allowed, otherwise false
*/
public boolean getAllowSleeping() {
long settingsVa = va();
boolean result = getAllowSleeping(settingsVa);
return result;
}
/**
* Return the Baumgarte stabilization factor, the fraction of position error
* that is corrected in each update.
*
* @return the factor (≥0, ≤1)
*/
public float getBaumgarte() {
long settingsVa = va();
float result = getBaumgarte(settingsVa);
assert result >= 0f && result <= 1f : result;
return result;
}
/**
* Test whether physics simulation is deterministic.
*
* @return true if it is deterministic, otherwise false
*/
public boolean getDeterministicSimulation() {
long settingsVa = va();
boolean result = getDeterministicSimulation(settingsVa);
return result;
}
/**
* Return the number of solver position iterations per simulation step.
*
* @return the number (≥0)
*/
public int getNumPositionSteps() {
long settingsVa = va();
int result = getNumPositionSteps(settingsVa);
assert result >= 0 : result;
return result;
}
/**
* Return the number of velocity iterations per simulation step.
*
* @return the number (≥0)
*/
public int getNumVelocitySteps() {
long settingsVa = va();
int result = getNumVelocitySteps(settingsVa);
assert result >= 0 : result;
return result;
}
/**
* Access the underlying {@code PhysicsSystem}.
*
* @return the pre-existing instance
*/
public PhysicsSystem getSystem() {
return system;
}
/**
* Return the point-motion threshold, below which objects can fall asleep.
*
* @return the speed threshold (in meters/second, ≥0)
*/
public float getPointVelocitySleepThreshold() {
long settingsVa = va();
float result = getPointVelocitySleepThreshold(settingsVa);
assert result >= 0f : result;
return result;
}
/**
* Alter the time interval before an object can fall asleep.
*
* @return the interval (in seconds, ≥0)
*/
public float getTimeBeforeSleep() {
long settingsVa = va();
float result = getTimeBeforeSleep(settingsVa);
assert result >= 0f : result;
return result;
}
/**
* Alter whether objects can go to sleep.
*
* @param allow true to allow sleeping, false to disallow it (default=true)
*/
public void setAllowSleeping(boolean allow) {
long settingsVa = va();
setAllowSleeping(settingsVa, allow);
}
/**
* Alter the Baumgarte stabilization factor, the fraction of position error
* to correct in each update.
*
* @param fraction the desired factor (≥0, ≤1, default=0.2)
*/
public void setBaumgarte(float fraction) {
long settingsVa = va();
setBaumgarte(settingsVa, fraction);
}
/**
* Alter whether physics simulation is deterministic.
*
* @param setting true to be deterministic, false to relax this policy
* (default=true)
*/
public void setDeterministicSimulation(boolean setting) {
long settingsVa = va();
setDeterministicSimulation(settingsVa, setting);
}
/**
* Alter the number of solver position iterations per simulation step.
*
* @param numSteps the desired number (≥0, default=2)
*/
public void setNumPositionSteps(int numSteps) {
long settingsVa = va();
setNumPositionSteps(settingsVa, numSteps);
}
/**
* Alter the number of velocity steps.
*
* @param numSteps the desired number (≥0, default=10)
*/
public void setNumVelocitySteps(int numSteps) {
long settingsVa = va();
setNumVelocitySteps(settingsVa, numSteps);
}
/**
* Alter the point-motion threshold, below which an object can fall asleep.
*
* @param speed the desired speed threshold (in meters/second, ≥0,
* default=0.03)
*/
public void setPointVelocitySleepThreshold(float speed) {
long settingsVa = va();
setPointVelocitySleepThreshold(settingsVa, speed);
}
/**
* Alter the time interval before an object can fall asleep.
*
* @param interval the desired time interval (in seconds, ≥0,
* default=0.5)
*/
public void setTimeBeforeSleep(float interval) {
long settingsVa = va();
setTimeBeforeSleep(settingsVa, interval);
}
// *************************************************************************
// native private methods
native private static long createPhysicsSettings();
native private static void free(long settingsVa);
native private static boolean getAllowSleeping(long settingsVa);
native private static float getBaumgarte(long settingsVa);
native private static boolean getDeterministicSimulation(
long settingsVa);
native private static int getNumPositionSteps(long settingsVa);
native private static int getNumVelocitySteps(long settingsVa);
native private static float getPointVelocitySleepThreshold(
long settingsVa);
native private static float getTimeBeforeSleep(long settingsVa);
native private static void setAllowSleeping(
long settingsVa, boolean allow);
native private static void setBaumgarte(
long settingsVa, float fraction);
native private static void setDeterministicSimulation(
long settingsVa, boolean setting);
native private static void setNumPositionSteps(
long settingsVa, int numSteps);
native private static void setNumVelocitySteps(
long settingsVa, int numSteps);
native private static void setPointVelocitySleepThreshold(
long settingsVa, float speed);
native private static void setTimeBeforeSleep(
long settingsVa, float interval);
}