Merge pull request #308 from gama-platform/Addresses-bugs-in-physics-…

…plugin-#265-#242

gama.extension.physics/.classpath

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry exported="true" kind="lib" path="lib/Libbulletjme-18.6.0.jar"/>
+	<classpathentry exported="true" kind="lib" path="lib/Libbulletjme-21.2.1.jar" sourcepath="lib/Libbulletjme-21.2.1-sources.jar"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21">
 		<attributes>
 			<attribute name="module" value="true"/>

gama.extension.physics/META-INF/MANIFEST.MF

@@ -7,7 +7,7 @@ Require-Bundle: gama.core,
  gama.dependencies,
  org.eclipse.osgi
 Bundle-ClassPath: .,
- lib/Libbulletjme-18.6.0.jar
+ lib/Libbulletjme-21.2.1.jar
 Bundle-ActivationPolicy: lazy
 Bundle-RequiredExecutionEnvironment: JavaSE-21
 Automatic-Module-Name: gama.extension.physics

gama.extension.physics/build.properties

@@ -6,6 +6,6 @@ bin.includes = META-INF/,\
                plugin.xml,\
                models/,\
                lib/,\
-               lib/Libbulletjme-18.6.0.jar
+               lib/Libbulletjme-21.2.1.jar
 jre.compilation.profile = JavaSE-21
 

gama.extension.physics/src/com/bulletphysics/BulletGlobals.java

@@ -1,12 +1,12 @@
 /*******************************************************************************************************
  *
- * BulletGlobals.java, in gaml.extensions.physics, is part of the source code of the
- * GAMA modeling and simulation platform .
+ * BulletGlobals.java, in gaml.extensions.physics, is part of the source code of the GAMA modeling and simulation
+ * platform .
  *
  * (c) 2007-2024 UMI 209 UMMISCO IRD/SU & Partners (IRIT, MIAT, TLU, CTU)
  *
  * Visit https://github.com/gama-platform/gama for license information and contacts.
- * 
+ *
  ********************************************************************************************************/
 
 package com.bulletphysics;
@@ -25,28 +25,28 @@ public class BulletGlobals {
 
 	/** The Constant CONVEX_DISTANCE_MARGIN. */
 	public static final float CONVEX_DISTANCE_MARGIN = 0.04f;
-	
+
 	/** The Constant FLT_EPSILON. */
 	public static final float FLT_EPSILON = 1.19209290e-07f;
-	
+
 	/** The Constant SIMD_EPSILON. */
 	public static final float SIMD_EPSILON = FLT_EPSILON;
 
 	/** The Constant SIMD_2_PI. */
 	public static final float SIMD_2_PI = 6.283185307179586232f;
-	
+
 	/** The Constant SIMD_PI. */
 	public static final float SIMD_PI = SIMD_2_PI * 0.5f;
-	
+
 	/** The Constant SIMD_HALF_PI. */
 	public static final float SIMD_HALF_PI = SIMD_2_PI * 0.25f;
-	
+
 	/** The Constant SIMD_RADS_PER_DEG. */
 	public static final float SIMD_RADS_PER_DEG = SIMD_2_PI / 360f;
-	
+
 	/** The Constant SIMD_DEGS_PER_RAD. */
 	public static final float SIMD_DEGS_PER_RAD = 360f / SIMD_2_PI;
-	
+
 	/** The Constant SIMD_INFINITY. */
 	public static final float SIMD_INFINITY = Float.MAX_VALUE;
 
@@ -62,11 +62,11 @@ protected BulletGlobals initialValue() {
 
 	/** The contact breaking threshold. */
 	private float contactBreakingThreshold = 0.02f;
-	
+
 	/** The deactivation time. */
 	// RigidBody
 	private float deactivationTime = 2f;
-	
+
 	/** The disable deactivation. */
 	private boolean disableDeactivation = false;
 
@@ -77,14 +77,13 @@ protected BulletGlobals initialValue() {
 	 *
 	 * @return the contact breaking threshold
 	 */
-	public static float getContactBreakingThreshold() {
-		return threadLocal.get().contactBreakingThreshold;
-	}
+	public static float getContactBreakingThreshold() { return threadLocal.get().contactBreakingThreshold; }
 
 	/**
 	 * Sets the contact breaking threshold.
 	 *
-	 * @param threshold the new contact breaking threshold
+	 * @param threshold
+	 *            the new contact breaking threshold
 	 */
 	public static void setContactBreakingThreshold(final float threshold) {
 		threadLocal.get().contactBreakingThreshold = threshold;
@@ -95,32 +94,28 @@ public static void setContactBreakingThreshold(final float threshold) {
 	 *
 	 * @return the deactivation time
 	 */
-	public static float getDeactivationTime() {
-		return threadLocal.get().deactivationTime;
-	}
+	public static float getDeactivationTime() { return threadLocal.get().deactivationTime; }
 
 	/**
 	 * Sets the deactivation time.
 	 *
-	 * @param time the new deactivation time
+	 * @param time
+	 *            the new deactivation time
 	 */
-	public static void setDeactivationTime(final float time) {
-		threadLocal.get().deactivationTime = time;
-	}
+	public static void setDeactivationTime(final float time) { threadLocal.get().deactivationTime = time; }
 
 	/**
 	 * Checks if is deactivation disabled.
 	 *
 	 * @return true, if is deactivation disabled
 	 */
-	public static boolean isDeactivationDisabled() {
-		return threadLocal.get().disableDeactivation;
-	}
+	public static boolean isDeactivationDisabled() { return threadLocal.get().disableDeactivation; }
 
 	/**
 	 * Sets the deactivation disabled.
 	 *
-	 * @param disable the new deactivation disabled
+	 * @param disable
+	 *            the new deactivation disabled
 	 */
 	public static void setDeactivationDisabled(final boolean disable) {
 		threadLocal.get().disableDeactivation = disable;

gama.extension.physics/src/gama/extension/physics/java_version/BulletPhysicalWorld.java

@@ -1,12 +1,12 @@
 /*******************************************************************************************************
  *
- * BulletPhysicalWorld.java, in gaml.extensions.physics, is part of the source code of the
- * GAMA modeling and simulation platform .
+ * BulletPhysicalWorld.java, in gaml.extensions.physics, is part of the source code of the GAMA modeling and simulation
+ * platform .
  *
  * (c) 2007-2024 UMI 209 UMMISCO IRD/SU & Partners (IRIT, MIAT, TLU, CTU)
  *
  * Visit https://github.com/gama-platform/gama for license information and contacts.
- * 
+ *
  ********************************************************************************************************/
 package gama.extension.physics.java_version;
 
@@ -41,14 +41,15 @@ public class BulletPhysicalWorld extends AbstractPhysicalWorld<DiscreteDynamicsW
 
 	/** The config. */
 	private final CollisionConfiguration config = new DefaultCollisionConfiguration();
-	
+
 	/** The dispatcher. */
 	private final CollisionDispatcher dispatcher = new CollisionDispatcher(config);
 
 	/**
 	 * Instantiates a new bullet physical world.
 	 *
-	 * @param physicalSimulationAgent the physical simulation agent
+	 * @param physicalSimulationAgent
+	 *            the physical simulation agent
 	 */
 	public BulletPhysicalWorld(final PhysicalSimulationAgent physicalSimulationAgent) {
 		super(physicalSimulationAgent);
@@ -91,12 +92,8 @@ public void unregisterAgent(final IAgent agent) {
 	@Override
 	public void updateAgentsShape() {
 		// We update the agents
-		for (IAgent a : updatableAgents) {
-			unregisterAgent(a);
-		}
-		for (IAgent a : updatableAgents) {
-			registerAgent(a);
-		}
+		for (IAgent a : updatableAgents) { unregisterAgent(a); }
+		for (IAgent a : updatableAgents) { registerAgent(a); }
 		updatableAgents.clear();
 	}
 
@@ -145,7 +142,7 @@ public void dispose() {
 
 	@Override
 	public void updatePositionsAndRotations() {
-		world.getCollisionObjectArray().forEach((b) -> {
+		world.getCollisionObjectArray().forEach(b -> {
 			RigidBody rb = (RigidBody) b;
 			IBody bw = (IBody) rb.getUserPointer();
 			if (rb.isActive() && !rb.isStaticObject()) { bw.transferLocationAndRotationToAgent(); }

gama.extension.physics/src/gama/extension/physics/native_version/NativeBulletPhysicalWorld.java

@@ -1,7 +1,7 @@
 /*******************************************************************************************************
  *
- * NativeBulletPhysicalWorld.java, in gaml.extensions.physics, is part of the source code of the GAMA modeling
- * and simulation platform .
+ * NativeBulletPhysicalWorld.java, in gaml.extensions.physics, is part of the source code of the GAMA modeling and
+ * simulation platform .
  *
  * (c) 2007-2024 UMI 209 UMMISCO IRD/SU & Partners (IRIT, MIAT, TLU, CTU)
  *
@@ -10,6 +10,7 @@
  ********************************************************************************************************/
 package gama.extension.physics.native_version;
 
+import java.lang.Thread.State;
 import java.util.concurrent.Semaphore;
 
 import com.jme3.bullet.PhysicsSpace;
@@ -93,7 +94,7 @@ public void onContactStarted(final long manifoldId) {
 	Thread thread = new Thread(this);
 
 	/** The lock. */
-	Semaphore semaphore = new Semaphore(1);
+	volatile Semaphore semaphore = new Semaphore(1);
 
 	@Override
 	public void run() {
@@ -112,7 +113,8 @@ public void run() {
 			} catch (InterruptedException e) {
 				e.printStackTrace();
 			}
-			getWorld().update(timeStep.floatValue(), maxSubSteps, false, false, true);
+			PhysicsSpace world = getWorld();
+			if (world != null) { world.update(timeStep.floatValue(), maxSubSteps, false, false, true); }
 			// DEBUG.OUT("Actually updating world in thread " + Thread.currentThread().getName());
 			continueStep = true;
 		}
@@ -137,7 +139,7 @@ public NativeBulletPhysicalWorld(final PhysicalSimulationAgent physicalSimulatio
 	public void updateEngine(final Double timeStep, final int maxSubSteps) {
 		this.timeStep = timeStep;
 		this.maxSubSteps = maxSubSteps;
-		DEBUG.OUT("Asking to update the world in thread " + Thread.currentThread().getName());
+		// DEBUG.OUT("Asking to update the world in thread " + Thread.currentThread().getName());
 		continueStep = false;
 		semaphore.release();
 		while (!continueStep) { Thread.yield(); }
@@ -151,22 +153,26 @@ protected IShapeConverter<CollisionShape, Vector3f> createShapeConverter() {
 	@Override
 	public PhysicsSpace createWorld() {
 		if (world != null) return world;
-		thread.start();
+		if (thread.getState() == State.NEW) { thread.start(); }
 		while (doInit) { Thread.yield(); }
 		return world;
 	}
 
 	@Override
 	public void registerAgent(final IAgent agent) {
-		NativeBulletBodyWrapper b = new NativeBulletBodyWrapper(agent, this);
-		getWorld().addCollisionObject(b.getBody());
-		b.setCCD(simulation.getCCD(simulation.getScope()));
+		PhysicsSpace world = getWorld();
+		if (world != null) {
+			NativeBulletBodyWrapper b = new NativeBulletBodyWrapper(agent, this);
+			world.addCollisionObject(b.getBody());
+			b.setCCD(simulation.getCCD(simulation.getScope()));
+		}
 	}
 
 	@Override
 	public void unregisterAgent(final IAgent agent) {
-		NativeBulletBodyWrapper wrapper = (NativeBulletBodyWrapper) agent.getAttribute(BODY);
-		getWorld().remove(wrapper.getBody());
+		Object body = agent.getAttribute(BODY);
+		PhysicsSpace world = getWorld();
+		if (world != null && body instanceof NativeBulletBodyWrapper wrapper) { world.remove(wrapper.getBody()); }
 	}
 
 	@Override
@@ -182,13 +188,18 @@ public void setCCD(final boolean ccd) {
 
 	@Override
 	public void setGravity(final GamaPoint g) {
+		PhysicsSpace world = getWorld();
 		if (world != null) { world.setGravity(toVector(g)); }
 	}
 
 	@Override
 	public void dispose() {
 		if (world == null) return;
-		world.getRigidBodyList().forEach(world::removeCollisionObject);
+		// Doesnt seem to be necessary as the "CleanerThread" is running. See
+		// https://hub.jmonkeyengine.org/t/solved-how-to-close-a-physics-space-to-free-up-ram/47684/9
+		// world.destroy();
+		// NativePhysicsObject.freeUnusedObjects();
+		// CollisionSpace.physicsSpaceTL;
 		doUpdate = false;
 		semaphore.release();
 		try {
@@ -197,11 +208,15 @@ public void dispose() {
 			e.printStackTrace();
 		}
 		world = null;
+		// The goal here is to get rid of bridge Java/C++ objects as soon as possible
+		System.gc();
 
 	}
 
 	@Override
 	public void updatePositionsAndRotations() {
+		PhysicsSpace world = getWorld();
+		if (world == null) return;
 		for (PhysicsRigidBody b : world.getRigidBodyList()) {
 			NativeBulletBodyWrapper bw = (NativeBulletBodyWrapper) b.getUserObject();
 			if (b.isActive() && !b.isStatic()) { bw.transferLocationAndRotationToAgent(); }