update Jolt Physics to sg260506 and update CharacterContactListener

Author: stephengold

build.gradle

@@ -19,7 +19,7 @@ plugins {
 
 ext {
     joltFork = 'stephengold'
-    joltTag = 'sg260504'
+    joltTag = 'sg260506'
     downloadedHairStraightZip = "downloads/wStraightHair.zip"
     downloadedJoltZip = "downloads/JoltPhysics-${joltTag}.zip"
     downloadedVhacdZip = 'downloads/v-hacd-4.1.0.zip'

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

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2024-2025 Stephen Gold
+Copyright (c) 2024-2026 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
@@ -50,59 +50,27 @@ void onAdjustBodyVelocity(
      *
      * @param characterVa the virtual address of the {@code CharacterVirtual}
      * being solved (not zero)
-     * @param otherCharacterVa the virtual address of the other
-     * {@code CharacterVirtual} (not zero)
-     * @param subShapeId2 the {@code SubShapeID} of the shape that is in contact
-     * @param contactLocationX the X component of the contact location (in
-     * system coordinates)
-     * @param contactLocationY the Y component of the contact location (in
-     * system coordinates)
-     * @param contactLocationZ the Z component of the contact location (in
-     * system coordinates)
-     * @param contactNormalX the X component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalY the Y component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalZ the Z component of the contact normal (in system
-     * coordinates)
+     * @param contactVa the virtual address of the {@code Contact} (not zero)
      * @param settingsVa the virtual address of the
-     * {@code CharacterContactSettings} for storing the desired behavior
+     * {@code CharacterContactSettings} for storing the desired behavior (not
+     * zero)
      */
-    void onCharacterContactAdded(long characterVa, long otherCharacterVa,
-            int subShapeId2, double contactLocationX,
-            double contactLocationY, double contactLocationZ,
-            float contactNormalX, float contactNormalY, float contactNormalZ,
-            long settingsVa);
+    void onCharacterContactAdded(
+            long characterVa, long contactVa, long settingsVa);
 
     /**
      * Callback invoked (by native code) whenever a contact between 2 characters
      * becomes persistent.
      *
      * @param characterVa the virtual address of the {@code CharacterVirtual}
      * being solved (not zero)
-     * @param otherCharacterVa the virtual address of the other
-     * {@code CharacterVirtual} (not zero)
-     * @param subShapeId2 the {@code SubShapeID} of the shape that is in contact
-     * @param contactLocationX the X component of the contact location (in
-     * system coordinates)
-     * @param contactLocationY the Y component of the contact location (in
-     * system coordinates)
-     * @param contactLocationZ the Z component of the contact location (in
-     * system coordinates)
-     * @param contactNormalX the X component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalY the Y component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalZ the Z component of the contact normal (in system
-     * coordinates)
+     * @param contactVa the virtual address of the {@code Contact} (not zero)
      * @param settingsVa the virtual address of the
-     * {@code CharacterContactSettings} for storing the desired behavior
+     * {@code CharacterContactSettings} for storing the desired behavior (not
+     * zero)
      */
-    void onCharacterContactPersisted(long characterVa, long otherCharacterVa,
-            int subShapeId2, double contactLocationX,
-            double contactLocationY, double contactLocationZ,
-            float contactNormalX, float contactNormalY, float contactNormalZ,
-            long settingsVa);
+    void onCharacterContactPersisted(
+            long characterVa, long contactVa, long settingsVa);
 
     /**
      * Callback invoked (by native code) whenever a contact between 2 characters
@@ -169,70 +137,36 @@ void onCharacterContactSolve(long characterVa, long otherCharacterVa,
      *
      * @param characterVa the virtual address of the {@code CharacterVirtual}
      * being solved (not zero)
-     * @param otherCharacterVa the virtual address of the other
-     * {@code CharacterVirtual} (not zero)
-     * @param subShapeId2 the {@code SubShapeID} of the shape that is in contact
+     * @param contactVa the virtual address of the {@code Contact} (not zero)
      * @return {@code true} if the contact is valid, otherwise {@code false}
      */
-    boolean onCharacterContactValidate(
-            long characterVa, long otherCharacterVa, int subShapeId2);
+    boolean onCharacterContactValidate(long characterVa, long contactVa);
 
     /**
      * Callback invoked (by native code) whenever a character collides with a
      * body.
      *
      * @param characterVa the virtual address of the {@code CharacterVirtual}
      * being solved (not zero)
-     * @param bodyId2 the ID of the body being solved
-     * @param subShapeId2 the {@code SubShapeID} of the shape that is in contact
-     * @param contactLocationX the X component of the contact location (in
-     * system coordinates)
-     * @param contactLocationY the Y component of the contact location (in
-     * system coordinates)
-     * @param contactLocationZ the Z component of the contact location (in
-     * system coordinates)
-     * @param contactNormalX the X component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalY the Y component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalZ the Z component of the contact normal (in system
-     * coordinates)
+     * @param contactVa the virtual address of the {@code Contact} (not zero)
      * @param settingsVa the virtual address of the
-     * {@code CharacterContactSettings} for storing the desired behavior
+     * {@code CharacterContactSettings} for storing the desired behavior (not
+     * zero)
      */
-    void onContactAdded(long characterVa, int bodyId2, int subShapeId2,
-            double contactLocationX, double contactLocationY,
-            double contactLocationZ, float contactNormalX, float contactNormalY,
-            float contactNormalZ, long settingsVa);
+    void onContactAdded(long characterVa, long contactVa, long settingsVa);
 
     /**
      * Callback invoked (by native code) whenever a contact between a character
      * and a body becomes persistent.
      *
      * @param characterVa the virtual address of the {@code CharacterVirtual}
      * being solved (not zero)
-     * @param bodyId2 the ID of the body being solved
-     * @param subShapeId2 the {@code SubShapeID} of the shape that is in contact
-     * @param contactLocationX the X component of the contact location (in
-     * system coordinates)
-     * @param contactLocationY the Y component of the contact location (in
-     * system coordinates)
-     * @param contactLocationZ the Z component of the contact location (in
-     * system coordinates)
-     * @param contactNormalX the X component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalY the Y component of the contact normal (in system
-     * coordinates)
-     * @param contactNormalZ the Z component of the contact normal (in system
-     * coordinates)
+     * @param contactVa the virtual address of the {@code Contact} (not zero)
      * @param settingsVa the virtual address of the
-     * {@code CharacterContactSettings} for storing the desired behavior
+     * {@code CharacterContactSettings} for storing the desired behavior (not
+     * zero)
      */
-    void onContactPersisted(long characterVa, int bodyId2,
-            int subShapeId2, double contactLocationX,
-            double contactLocationY, double contactLocationZ,
-            float contactNormalX, float contactNormalY, float contactNormalZ,
-            long settingsVa);
+    void onContactPersisted(long characterVa, long contactVa, long settingsVa);
 
     /**
      * Callback invoked (by native code) whenever a contact between a character
@@ -296,10 +230,8 @@ void onContactSolve(long characterVa, int bodyId2, int subShapeId2,
      *
      * @param characterVa the virtual address of the {@code CharacterVirtual}
      * being solved (not zero)
-     * @param bodyId2 the ID of the body being solved
-     * @param subShapeId2 the {@code SubShapeID} of the shape that is in contact
-     * (not zero)
+     * @param contactVa the virtual address of the {@code Contact} (not zero)
      * @return {@code true} if the contact is valid, otherwise {@code false}
      */
-    boolean onContactValidate(long characterVa, int bodyId2, int subShapeId2);
+    boolean onContactValidate(long characterVa, long contactVa);
 }

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

@@ -29,7 +29,7 @@ of this software and associated documentation files (the "Software"), to deal
 
 /**
  * Describe a contact between a {@code Character} and a body or another
- * character. (native type: {@code CharacterVirtual::Contact})
+ * character. (native type: {@code CharacterContact})
  *
  * @author Stephen Gold sgold@sonic.net
  */
@@ -53,8 +53,10 @@ public class Contact extends ContactKey implements ConstContact {
      * {@code false} → it isn't the owner
      * @param system the physics system in which the contact is occurring (not
      * {@code null})
+     * <p>
+     * For use in custom contact listeners.
      */
-    Contact(long contactVa, boolean owner, PhysicsSystem system) {
+    public Contact(long contactVa, boolean owner, PhysicsSystem system) {
         super(false);
         assert system != null;
         this.system = system;

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

@@ -25,7 +25,7 @@ of this software and associated documentation files (the "Software"), to deal
 
 /**
  * Identify a contact between a virtual character and a body or another virtual
- * character. (native type: {@code CharacterVirtual::ContactKey})
+ * character. (native type: {@code CharacterContactKey})
  *
  * @author Stephen Gold sgold@sonic.net
  */

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

@@ -27,7 +27,7 @@ of this software and associated documentation files (the "Software"), to deal
 
 /**
  * A variable-length array of contact keys. (native type:
- * {@code Array<CharacterVirtual::ContactKey>})
+ * {@code Array<CharacterContactKey>})
  *
  * @author Stephen Gold sgold@sonic.net
  */