1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
|
/*
* 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_ConeJoint.h"
#include "jmeBulletUtil.h"
#ifdef __cplusplus
extern "C" {
#endif
/*
* Class: com_jme3_bullet_joints_ConeJoint
* Method: setLimit
* Signature: (JFFF)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setLimit
(JNIEnv * env, jobject object, jlong jointId, jfloat swingSpan1, jfloat swingSpan2, jfloat twistSpan) {
btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId);
if (joint == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
//TODO: extended setLimit!
joint->setLimit(swingSpan1, swingSpan2, twistSpan);
}
/*
* Class: com_jme3_bullet_joints_ConeJoint
* Method: setAngularOnly
* Signature: (JZ)V
*/
JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setAngularOnly
(JNIEnv * env, jobject object, jlong jointId, jboolean angularOnly) {
btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId);
if (joint == NULL) {
jclass newExc = env->FindClass("java/lang/NullPointerException");
env->ThrowNew(newExc, "The native object does not exist.");
return;
}
joint->setAngularOnly(angularOnly);
}
/*
* Class: com_jme3_bullet_joints_ConeJoint
* Method: createJoint
* Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J
*/
JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_ConeJoint_createJoint
(JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB) {
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());
btConeTwistConstraint* joint = new btConeTwistConstraint(*bodyA, *bodyB, transA, transB);
return reinterpret_cast<jlong>(joint);
}
#ifdef __cplusplus
}
#endif
|
