add the SoftBodyManifold class

Android.mk

@@ -215,6 +215,7 @@ $(N)/glue/s/SkeletonPoseDrawSettings.cpp \
 $(N)/glue/s/SliderConstraint.cpp \
 $(N)/glue/s/SliderConstraintSettings.cpp \
 $(N)/glue/s/SoftBodyCreationSettings.cpp \
+$(N)/glue/s/SoftBodyManifold.cpp \
 $(N)/glue/s/SoftBodyMotionProperties.cpp \
 $(N)/glue/s/SoftBodySharedSettings.cpp \
 $(N)/glue/s/SoftBodyVertex.cpp \

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

@@ -0,0 +1,187 @@
+/*
+Copyright (c) 2025 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;
+
+/**
+ * The vertices of a soft body that are colliding with other bodies.
+ *
+ * @author Stephen Gold [email protected]
+ */
+final public class SoftBodyManifold extends JoltPhysicsObject {
+    // *************************************************************************
+    // constructors
+
+    /**
+     * Instantiate a manifold with the specified native object assigned but not
+     * owned.
+     * <p>
+     * For use in custom contact listeners.
+     *
+     * @param manifoldVa the virtual address of the native object to assign (not
+     * zero)
+     */
+    public SoftBodyManifold(long manifoldVa) {
+        setVirtualAddress(manifoldVa);
+    }
+    // *************************************************************************
+    // new methods exposed
+
+    /**
+     * Copy the ID of the body with which the specified vertex collided.
+     *
+     * @param vertex the vertex to query (not null, unaffected)
+     * @return a new object
+     */
+    public BodyId getContactBodyId(SoftBodyVertex vertex) {
+        long manifoldVa = va();
+        long vertexVa = vertex.va();
+        long idVa = getContactBodyId(manifoldVa, vertexVa);
+        BodyId result = new BodyId(idVa, true);
+
+        return result;
+    }
+
+    /**
+     * Copy the contact normal direction for the specified vertex.
+     *
+     * @param vertex the vertex to query (not null, unaffected)
+     * @return a new vector
+     */
+    public Vec3 getContactNormal(SoftBodyVertex vertex) {
+        long manifoldVa = va();
+        long vertexVa = vertex.va();
+        float nx = getLocalContactNormalX(manifoldVa, vertexVa);
+        float ny = getLocalContactNormalY(manifoldVa, vertexVa);
+        float nz = getLocalContactNormalZ(manifoldVa, vertexVa);
+        Vec3 result = new Vec3(nx, ny, nz);
+
+        return result;
+    }
+
+    /**
+     * Copy the location of the contact point for the specified vertex.
+     *
+     * @param vertex the vertex to query (not null, unaffected)
+     * @return a new location vector (in local coordinates)
+     */
+    public Vec3 getLocalContactPoint(SoftBodyVertex vertex) {
+        long manifoldVa = va();
+        long vertexVa = vertex.va();
+        float x = getLocalContactPointX(manifoldVa, vertexVa);
+        float y = getLocalContactPointY(manifoldVa, vertexVa);
+        float z = getLocalContactPointZ(manifoldVa, vertexVa);
+        Vec3 result = new Vec3(x, y, z);
+
+        return result;
+    }
+
+    /**
+     * Count how many sensors are in contact with the soft body.
+     *
+     * @return the count (&ge;0)
+     */
+    public int getNumSensorContacts() {
+        long manifoldVa = va();
+        int result = getNumSensorContacts(manifoldVa);
+
+        return result;
+    }
+
+    /**
+     * Return the ID of the specified sensor contact.
+     *
+     * @param index among the sensor contacts (&ge;0)
+     * @return a new object
+     */
+    public BodyId getSensorContactBodyId(int index) {
+        long manifoldVa = va();
+        long idVa = getSensorContactBodyId(manifoldVa, index);
+        BodyId result = new BodyId(idVa, true);
+
+        return result;
+    }
+
+    /**
+     * Enumerate all vertices of the soft body.
+     *
+     * @return a new array of new JVM objects with pre-existing native objects
+     * assigned
+     */
+    public SoftBodyVertex[] getVertices() {
+        long manifoldVa = va();
+        int numVertices = countVertices(manifoldVa);
+        SoftBodyVertex[] result = new SoftBodyVertex[numVertices];
+        for (int i = 0; i < numVertices; ++i) {
+            long vertexVa = getVertex(manifoldVa, i);
+            result[i] = new SoftBodyVertex(this, vertexVa);
+        }
+
+        return result;
+    }
+
+    /**
+     * Test whether the specified vertex collided with something in this update.
+     *
+     * @param vertex the vertex to query (not null, unaffected)
+     * @return {@code true} if it collided, otherwise {@code false}
+     */
+    public boolean hasContact(SoftBodyVertex vertex) {
+        long manifoldVa = va();
+        long vertexVa = vertex.va();
+        boolean result = hasContact(manifoldVa, vertexVa);
+
+        return result;
+    }
+    // *************************************************************************
+    // native private methods
+
+    native private static int countVertices(long manifoldVa);
+
+    native private static long getContactBodyId(long manifoldVa, long vertexVa);
+
+    native private static float getLocalContactNormalX(
+            long manifoldVa, long vertexVa);
+
+    native private static float getLocalContactNormalY(
+            long manifoldVa, long vertexVa);
+
+    native private static float getLocalContactNormalZ(
+            long manifoldVa, long vertexVa);
+
+    native private static float getLocalContactPointX(
+            long manifoldVa, long vertexVa);
+
+    native private static float getLocalContactPointY(
+            long manifoldVa, long vertexVa);
+
+    native private static float getLocalContactPointZ(
+            long manifoldVa, long vertexVa);
+
+    native private static int getNumSensorContacts(long manifoldVa);
+
+    native private static long getSensorContactBodyId(
+            long manifoldVa, int index);
+
+    native private static long getVertex(long manifoldVa, int index);
+
+    native private static boolean hasContact(long manifoldVa, long vertexVa);
+}