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Diffstat (limited to 'engine/src/bullet-native/com_jme3_bullet_joints_SixDofJoint.cpp')
| -rw-r--r-- | engine/src/bullet-native/com_jme3_bullet_joints_SixDofJoint.cpp | 170 |
1 files changed, 170 insertions, 0 deletions
diff --git a/engine/src/bullet-native/com_jme3_bullet_joints_SixDofJoint.cpp b/engine/src/bullet-native/com_jme3_bullet_joints_SixDofJoint.cpp new file mode 100644 index 0000000..9611a14 --- /dev/null +++ b/engine/src/bullet-native/com_jme3_bullet_joints_SixDofJoint.cpp @@ -0,0 +1,170 @@ +/* + * Copyright (c) 2009-2010 jMonkeyEngine + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * * Neither the name of 'jMonkeyEngine' nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED + * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * Author: Normen Hansen + */ +#include "com_jme3_bullet_joints_SixDofJoint.h" +#include "jmeBulletUtil.h" + +#ifdef __cplusplus +extern "C" { +#endif + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: getRotationalLimitMotor + * Signature: (JI)J + */ + JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getRotationalLimitMotor + (JNIEnv * env, jobject object, jlong jointId, jint index) { + btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); + if (joint == NULL) { + jclass newExc = env->FindClass("java/lang/NullPointerException"); + env->ThrowNew(newExc, "The native object does not exist."); + return 0; + } + return reinterpret_cast<jlong>(joint->getRotationalLimitMotor(index)); + } + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: getTranslationalLimitMotor + * Signature: (J)J + */ + JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getTranslationalLimitMotor + (JNIEnv * env, jobject object, jlong jointId) { + btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); + if (joint == NULL) { + jclass newExc = env->FindClass("java/lang/NullPointerException"); + env->ThrowNew(newExc, "The native object does not exist."); + return 0; + } + return reinterpret_cast<jlong>(joint->getTranslationalLimitMotor()); + } + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: setLinearUpperLimit + * Signature: (JLcom/jme3/math/Vector3f;)V + */ + JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearUpperLimit + (JNIEnv * env, jobject object, jlong jointId, jobject vector) { + btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); + if (joint == NULL) { + jclass newExc = env->FindClass("java/lang/NullPointerException"); + env->ThrowNew(newExc, "The native object does not exist."); + return; + } + btVector3 vec = btVector3(); + jmeBulletUtil::convert(env, vector, &vec); + joint->setLinearUpperLimit(vec); + } + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: setLinearLowerLimit + * Signature: (JLcom/jme3/math/Vector3f;)V + */ + JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearLowerLimit + (JNIEnv * env, jobject object, jlong jointId, jobject vector) { + btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); + if (joint == NULL) { + jclass newExc = env->FindClass("java/lang/NullPointerException"); + env->ThrowNew(newExc, "The native object does not exist."); + return; + } + btVector3 vec = btVector3(); + jmeBulletUtil::convert(env, vector, &vec); + joint->setLinearLowerLimit(vec); + } + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: setAngularUpperLimit + * Signature: (JLcom/jme3/math/Vector3f;)V + */ + JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularUpperLimit + (JNIEnv * env, jobject object, jlong jointId, jobject vector) { + btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); + if (joint == NULL) { + jclass newExc = env->FindClass("java/lang/NullPointerException"); + env->ThrowNew(newExc, "The native object does not exist."); + return; + } + btVector3 vec = btVector3(); + jmeBulletUtil::convert(env, vector, &vec); + joint->setAngularUpperLimit(vec); + } + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: setAngularLowerLimit + * Signature: (JLcom/jme3/math/Vector3f;)V + */ + JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularLowerLimit + (JNIEnv * env, jobject object, jlong jointId, jobject vector) { + btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); + if (joint == NULL) { + jclass newExc = env->FindClass("java/lang/NullPointerException"); + env->ThrowNew(newExc, "The native object does not exist."); + return; + } + btVector3 vec = btVector3(); + jmeBulletUtil::convert(env, vector, &vec); + joint->setAngularLowerLimit(vec); + } + + /* + * Class: com_jme3_bullet_joints_SixDofJoint + * Method: createJoint + * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J + */ + JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_createJoint + (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB, jboolean useLinearReferenceFrameA) { + jmeClasses::initJavaClasses(env); + btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA); + btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB); + btMatrix3x3 mtx1 = btMatrix3x3(); + btMatrix3x3 mtx2 = btMatrix3x3(); + btTransform transA = btTransform(mtx1); + jmeBulletUtil::convert(env, pivotA, &transA.getOrigin()); + jmeBulletUtil::convert(env, rotA, &transA.getBasis()); + btTransform transB = btTransform(mtx2); + jmeBulletUtil::convert(env, pivotB, &transB.getOrigin()); + jmeBulletUtil::convert(env, rotB, &transB.getBasis()); + btGeneric6DofConstraint* joint = new btGeneric6DofConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA); + return reinterpret_cast<jlong>(joint); + } +#ifdef __cplusplus +} +#endif |