add the CollisionDispatch class

src/main/java/com/github/stephengold/joltjni/CollisionDispatch.java

@@ -0,0 +1,128 @@
+/*
+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;
+
+import com.github.stephengold.joltjni.readonly.ConstShape;
+import com.github.stephengold.joltjni.readonly.Mat44Arg;
+import com.github.stephengold.joltjni.readonly.Vec3Arg;
+
+/**
+ * Utilities to collect collisions between shapes.
+ *
+ * @author Stephen Gold [email protected]
+ */
+final public class CollisionDispatch {
+    // *************************************************************************
+    // constructors
+
+    /**
+     * A private constructor to inhibit instantiation of this class.
+     */
+    private CollisionDispatch() {
+    }
+    // *************************************************************************
+    // new methods exposed
+
+    /**
+     * Collide the specified shapes and pass collisions to the specified
+     * collector.
+     *
+     * @param shape1 the first colliding shape (not null, unaffected)
+     * @param shape2 the 2nd colliding shape (not null, unaffected)
+     * @param scale1 the scale to be applied to {@code shape1} (not null,
+     * unaffected)
+     * @param scale2 the scale to be applied to {@code shape2} (not null,
+     * unaffected)
+     * @param comTransform1 from the center-of-mass of {@code shape1} to system
+     * coordinates (not null, unaffected)
+     * @param comTransform2 from the center-of-mass of {@code shape2} to system
+     * coordinates (not null, unaffected)
+     * @param creator1 to generate sub-shape IDs {@code shape1} (not null)
+     * @param creator2 to generate sub-shape IDs {@code shape2} (not null)
+     * @param collideShapeSettings options for the test (not null, unaffected)
+     * @param collector to collect the results (not null, modified)
+     */
+    public static void sCollideShapeVsShape(ConstShape shape1,
+            ConstShape shape2, Vec3Arg scale1, Vec3Arg scale2,
+            Mat44Arg comTransform1, Mat44Arg comTransform2,
+            SubShapeIdCreator creator1, SubShapeIdCreator creator2,
+            CollideShapeSettings collideShapeSettings,
+            CollideShapeCollector collector) {
+        sCollideShapeVsShape(shape1, shape2, scale1, scale2,
+                comTransform1, comTransform2, creator1, creator2,
+                collideShapeSettings, collector, new ShapeFilter());
+    }
+
+    /**
+     * Collide the specified shapes and pass collisions to the specified
+     * collector.
+     *
+     * @param shape1 the first colliding shape (not null, unaffected)
+     * @param shape2 the 2nd colliding shape (not null, unaffected)
+     * @param scale1 the scale to be applied to {@code shape1} (not null,
+     * unaffected)
+     * @param scale2 the scale to be applied to {@code shape2} (not null,
+     * unaffected)
+     * @param comTransform1 from the center-of-mass of {@code shape1} to system
+     * coordinates (not null, unaffected)
+     * @param comTransform2 from the center-of-mass of {@code shape2} to system
+     * coordinates (not null, unaffected)
+     * @param creator1 to generate sub-shape IDs {@code shape1} (not null)
+     * @param creator2 to generate sub-shape IDs {@code shape2} (not null)
+     * @param collideShapeSettings options for the test (not null, unaffected)
+     * @param collector to collect the results (not null, modified)
+     * @param filter to selectively ignore collisions (not null, unaffected)
+     */
+    public static void sCollideShapeVsShape(ConstShape shape1,
+            ConstShape shape2, Vec3Arg scale1, Vec3Arg scale2,
+            Mat44Arg comTransform1, Mat44Arg comTransform2,
+            SubShapeIdCreator creator1, SubShapeIdCreator creator2,
+            CollideShapeSettings collideShapeSettings,
+            CollideShapeCollector collector, ShapeFilter filter) {
+        long shape1Va = shape1.targetVa();
+        long shape2Va = shape2.targetVa();
+        float s1x = scale1.getX();
+        float s1y = scale1.getY();
+        float s1z = scale1.getZ();
+        float s2x = scale2.getX();
+        float s2y = scale2.getY();
+        float s2z = scale2.getZ();
+        long comTransform1Va = comTransform1.targetVa();
+        long comTransform2Va = comTransform2.targetVa();
+        long creator1Va = creator1.targetVa();
+        long creator2Va = creator2.targetVa();
+        long settingsVa = collideShapeSettings.targetVa();
+        long collectorVa = collector.targetVa();
+        long filterVa = filter.targetVa();
+        sCollideShapeVsShape(shape1Va, shape2Va, s1x, s1y, s1z, s2x, s2y, s2z,
+                comTransform1Va, comTransform2Va, creator1Va, creator2Va,
+                settingsVa, collectorVa, filterVa);
+    }
+    // *************************************************************************
+    // native private methods
+
+    native private static void sCollideShapeVsShape(long shape1Va,
+            long shape2Va, float s1x, float s1y, float s1z, float s2x,
+            float s2y, float s2z, long comTransform1Va, long comTransform2Va,
+            long creator1Va, long creator2Va, long settingsVa,
+            long collectorVa, long filterVa);
+}

src/main/native/glue/co/CollisionDispatch.cpp

@@ -0,0 +1,63 @@
+/*
+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.
+ */
+
+/*
+ * Author: Stephen Gold
+ */
+#include "Jolt/Jolt.h"
+#include "Jolt/Physics/Collision/CollisionDispatch.h"
+#include "auto/com_github_stephengold_joltjni_CollisionDispatch.h"
+
+using namespace JPH;
+
+/*
+ * Class:     com_github_stephengold_joltjni_CollisionDispatch
+ * Method:    sCollideShapeVsShape
+ * Signature: (JJFFFFFFJJJJJJJ)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_CollisionDispatch_sCollideShapeVsShape
+  (JNIEnv *, jclass, jlong shape1Va, jlong shape2Va, jfloat s1x, jfloat s1y,
+  jfloat s1z, jfloat s2x, jfloat s2y, jfloat s2z, jlong comTransform1Va,
+  jlong comTransform2Va, jlong creator1Va, jlong creator2Va, jlong settingsVa,
+  jlong collectorVa, jlong filterVa) {
+    const Shape * const pShape1 = reinterpret_cast<Shape *> (shape1Va);
+    const Shape * const pShape2 = reinterpret_cast<Shape *> (shape2Va);
+    const Vec3 scale1(s1x, s1y, s1z);
+    const Vec3 scale2(s2x, s2y, s2z);
+    const Mat44 * const pComTransform1
+            = reinterpret_cast<Mat44 *> (comTransform1Va);
+    const Mat44 * const pComTransform2
+            = reinterpret_cast<Mat44 *> (comTransform2Va);
+    const SubShapeIDCreator * const pCreator1
+            = reinterpret_cast<SubShapeIDCreator *> (creator1Va);
+    const SubShapeIDCreator * const pCreator2
+            = reinterpret_cast<SubShapeIDCreator *> (creator2Va);
+    const CollideShapeSettings * const pSettings
+            = reinterpret_cast<CollideShapeSettings *> (settingsVa);
+    CollideShapeCollector * const pCollector
+            = reinterpret_cast<CollideShapeCollector *> (collectorVa);
+    const ShapeFilter * const pFilter
+            = reinterpret_cast<ShapeFilter *> (filterVa);
+    CollisionDispatch::sCollideShapeVsShape(pShape1, pShape2, scale1, scale2,
+            *pComTransform1, *pComTransform2, *pCreator1, *pCreator2,
+            *pSettings, *pCollector, *pFilter);
+}