update to 0.16.2

CHANGELOG.txt

@@ -17,7 +17,7 @@ TODO for 0.5.0
   - "Split package, multiple jars provide the same package"
   - [WARNING] bootstrap class path not set in conjunction with -source 8
     when using: mvn clean install -P on-jdk-9-plus
-- CI: Fail build on warnbing?!
+- CI: Fail build on warning?!
 - CI: remove "temurin"...?!
 
 
@@ -42,6 +42,10 @@ ODE16.2: Much better. Floating card is actually fine (in theory). But3rd row col
 
 0.5.0 (unreleased)
 =====
+- Port updates until 0.16.2.
+  This includes some libCCD updates missing fro the 0.15.1 update.
+  This excludes improved solution finders with anything from *Cooperative* and ThreadedEquationSolverLDLT*.
+  [#97](https://github.com/tzaeschke/ode4j/pull/97)
 - Added GutHub Actions CI builds for Java 8 and 9. [#95](https://github.com/tzaeschke/ode4j/pull/95)
 - Added default logger for demos and tests. [#94](https://github.com/tzaeschke/ode4j/pull/94)
 - Added Android API compliance checker, now for API level 24 (the lowest that ode4j passed without changes)
@@ -55,7 +59,7 @@ ODE16.2: Much better. Floating card is actually fine (in theory). But3rd row col
   (Cleanup, part of this was done with the move to 0.15.1)
 - Update to ODE 0.15.1 [#86](https://github.com/tzaeschke/ode4j/pull/86)
   - This includes increased stability, e.g. the DemoCards won't collapse anymore when 30 levels high.
-  - **** WARNING **** : Still missing: libccd and trimesh collider updates.
+  - **** WARNING **** : Still missing: trimesh collider updates.
 - Changed CI build requirements:
   - Removed openjdk7: Not required. source compatibility is still set to 7, but should
     be safe to change to 8 now (Android Nougat is mostly 8 compatible), this covers > 80% users.

README.md

@@ -68,16 +68,20 @@ News
  * This is the last release built with Java 6.
 
 
+Basic Usage Tips
+================
+ * Use `World.quickStep(...)` instead of `World.step()`. The latter is slower and appears to be less stable.
+ * Make sure to set `Common.dNODEBUG = true` for best performance.
+ * Avoid using `core-cpp` and ignore demos in `demo-cpp`. 
+
+
 Legal
 =====
 
 ode4j:
-Copyright (c) 2009-2017 Tilmann Zäschke <ode4j(AT)gmx.de>.
+Copyright (c) 2009-2023 Tilmann Zäschke <ode4j(AT)gmx.de>.
 All rights reserved.
 
-
-
-
 Like the original ODE, ode4j is licensed under LGPL v2.1 and BSD 3-clause. Choose whichever license suits your needs. 
 
 

TODO.txt

@@ -5,13 +5,24 @@ mvn versions:display-dependency-updates
 mvn versions:display-plugin-updates
 
 
+Things left out for 0.5.0 (missing from 0.15.1 vs 0.16.2)
+=========================================================
+ Not ported:
+  - resource_control.*
+  - simple_cooperation.*
+  - Updates to DxWorldProcessContext
+  - ThreadedEquationSolverLDLT* and *Cooperative* is missing from:
+    - fastldltfactor(_impl).*
+    - fastlsolve(_impl).*
+    - fastltsolve(_impl).*:
+    - fastvecscale(_impl).*:
+  - objects.h/.cpp  /  obstack.h/.cpp
+
 
 Java Version
 ============
 - We should aim for Oreo or later (Android 8.0, released 2017, API Level 26: https://apilevels.com/)
-- Java 8 should be fine.
-- Try animal-sniffer plugin for higher versions, e.g. Java 9
-  More accurate (respects desugaring by D8): https://github.com/open-toast/gummy-bears
+- We use animal-sniffer (respects desugaring by D8): https://github.com/open-toast/gummy-bears
 
 - Android Runtime replaced Dalvik as default Runtime in Android 5: https://en.wikipedia.org/wiki/Android_version_history
 - Android 8 (Oreo) is about 8% share:
@@ -24,9 +35,6 @@ Java Version
   - Android 11 support "up to" Java 13 (Question: complete 13 or partial 13??)
 - 2018: https://jakewharton.com/androids-java-9-10-11-and-12-support/
 
-- Java 8 support: https://developer.android.com/studio/write/java8-support-table
-- Java 8 support details: https://developer.android.com/studio/write/java8-support
-
 
 MArch 2023:
 General cleanup:
@@ -35,8 +43,12 @@ General cleanup:
 - Move tests to core/test
 - update DVector3 safeNormalize to use max() and then compare to 0. ALso see: https://github.com/JOML-CI/JOML/issues/66
 - replace DVector3.clone() with dVector3.re() or copy()
+- Create separate distribution (maven jar) with modules? -> Check how modul-projects have trouble with including
+  non-module projects...
+  -> https://www.baeldung.com/java-9-modularity
+  -> https://stackoverflow.com/questions/40490520/what-do-i-need-to-build-jdk-9-project-with-non-modular-dependencies-using-maven
 - reformat everything? At least indentation?
-- CI builds
+- Consider porting stuff in "contrib"
 
 
 July 6th 2009:
@@ -49,7 +61,7 @@ Some minor things I found in the code:
 - http://opende.sourceforge.net/wiki/index.php/Joint_Param_Documentation
   This indicate that PU & PR joint have not parameters, I don't think that's correct?
 - GeomTransform is obsolete since 0.6 (according to the Wiki), but it is still used in several demos:
-  deom_boxstack, demo_heightfield, demo_jointPU, demo_motion, demo_spacestress.
+  demo_boxstack, demo_heightfield, demo_jointPU, demo_motion, demo_spacestress.
   I haven't used it myself, so is it still required?
 
 

core-cpp/src/main/java/org/ode4j/cpp/internal/ApiCppMathMatrix.java

@@ -218,11 +218,21 @@ void dSolveL1T (final DMatrix3C L, DVector3 b, int n, int nskip) {
 		throw new UnsupportedOperationException();
 	}
 
+	/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n)
+	 */
 
-	/** in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
+	// ODE_API void dScaleVector (dReal *a, const dReal *d, int n);
+	void dScaleVector (DVector3 a, final DVector3C d, int n) {
+		throw new UnsupportedOperationException();
+	}
 
-	//ODE_API 
-	//	 void dVectorScale (double *a, final double *d, int n) {
+	/* The function is an alias for @c dScaleVector.
+	 * It has been deprecated because of a wrong naming schema used.
+	 */
+	//ODE_API_DEPRECATED
+	// ODE_API
+	//   void dVectorScale (dReal *a, const dReal *d, int n)
+	@Deprecated
 	void dVectorScale (DVector3C a, final DVector3 d, int n) {
 		throw new UnsupportedOperationException();
 	}

core/src/main/java/org/ode4j/ode/DMatrix.java

@@ -318,11 +318,26 @@ public static void dFactorLDLT (double[] A, double[] d, int n, int nskip) {
 //    public void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
 
 
+    /* in matlab syntax: a(1:n) = a(1:n) .* d(1:n)
+     */
+
+    /**
+     * In matlab syntax: a(1:n) = a(1:n) .* d(1:n)
+     * @param a a
+     * @param d d
+     */
+    // ODE_API
+    public static void dScaleVector (DVector3 a, DVector3C d) {
+        a.scale(d);
+    }
+
     /**
-     * In matlab syntax: a(1:n) = a(1:n) .* d(1:n) 
+     * The function is an alias for @c dScaleVector.
+     *  It has been deprecated because of a wrong naming schema used.
      * @param a a
      * @param d d
      */
+    @Deprecated // deprecated in ODE
     public static void dVectorScale (DVector3 a, DVector3C d) {
         a.scale(d);
     }

core/src/main/java/org/ode4j/ode/DWorld.java

@@ -185,7 +185,9 @@ public interface DWorld {
 	 */
 	double getCFM() ;
 
-	public static int dWORLDSTEP_THREADCOUNT_UNLIMITED = 0;
+	// TZ: This should be in threading.h
+	static int dTHREADING_THREAD_COUNT_UNLIMITED = 0;
+	public static int dWORLDSTEP_THREADCOUNT_UNLIMITED = dTHREADING_THREAD_COUNT_UNLIMITED;
 
 	/**
 	 * Set maximum threads to be used for island stepping