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/*
* 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
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