1 /* 2 * Copyright (c) 2009-2010 jMonkeyEngine 3 * All rights reserved. 4 * 5 * Redistribution and use in source and binary forms, with or without 6 * modification, are permitted provided that the following conditions are 7 * met: 8 * 9 * * Redistributions of source code must retain the above copyright 10 * notice, this list of conditions and the following disclaimer. 11 * 12 * * Redistributions in binary form must reproduce the above copyright 13 * notice, this list of conditions and the following disclaimer in the 14 * documentation and/or other materials provided with the distribution. 15 * 16 * * Neither the name of 'jMonkeyEngine' nor the names of its contributors 17 * may be used to endorse or promote products derived from this software 18 * without specific prior written permission. 19 * 20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 22 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 23 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 24 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 25 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 26 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 27 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 28 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 29 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 30 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 /** 34 * Author: Normen Hansen 35 */ 36 #include "com_jme3_bullet_joints_SixDofJoint.h" 37 #include "jmeBulletUtil.h" 38 39 #ifdef __cplusplus 40 extern "C" { 41 #endif 42 43 /* 44 * Class: com_jme3_bullet_joints_SixDofJoint 45 * Method: getRotationalLimitMotor 46 * Signature: (JI)J 47 */ 48 JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getRotationalLimitMotor 49 (JNIEnv * env, jobject object, jlong jointId, jint index) { 50 btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); 51 if (joint == NULL) { 52 jclass newExc = env->FindClass("java/lang/NullPointerException"); 53 env->ThrowNew(newExc, "The native object does not exist."); 54 return 0; 55 } 56 return reinterpret_cast<jlong>(joint->getRotationalLimitMotor(index)); 57 } 58 59 /* 60 * Class: com_jme3_bullet_joints_SixDofJoint 61 * Method: getTranslationalLimitMotor 62 * Signature: (J)J 63 */ 64 JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getTranslationalLimitMotor 65 (JNIEnv * env, jobject object, jlong jointId) { 66 btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); 67 if (joint == NULL) { 68 jclass newExc = env->FindClass("java/lang/NullPointerException"); 69 env->ThrowNew(newExc, "The native object does not exist."); 70 return 0; 71 } 72 return reinterpret_cast<jlong>(joint->getTranslationalLimitMotor()); 73 } 74 75 /* 76 * Class: com_jme3_bullet_joints_SixDofJoint 77 * Method: setLinearUpperLimit 78 * Signature: (JLcom/jme3/math/Vector3f;)V 79 */ 80 JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearUpperLimit 81 (JNIEnv * env, jobject object, jlong jointId, jobject vector) { 82 btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); 83 if (joint == NULL) { 84 jclass newExc = env->FindClass("java/lang/NullPointerException"); 85 env->ThrowNew(newExc, "The native object does not exist."); 86 return; 87 } 88 btVector3 vec = btVector3(); 89 jmeBulletUtil::convert(env, vector, &vec); 90 joint->setLinearUpperLimit(vec); 91 } 92 93 /* 94 * Class: com_jme3_bullet_joints_SixDofJoint 95 * Method: setLinearLowerLimit 96 * Signature: (JLcom/jme3/math/Vector3f;)V 97 */ 98 JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearLowerLimit 99 (JNIEnv * env, jobject object, jlong jointId, jobject vector) { 100 btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); 101 if (joint == NULL) { 102 jclass newExc = env->FindClass("java/lang/NullPointerException"); 103 env->ThrowNew(newExc, "The native object does not exist."); 104 return; 105 } 106 btVector3 vec = btVector3(); 107 jmeBulletUtil::convert(env, vector, &vec); 108 joint->setLinearLowerLimit(vec); 109 } 110 111 /* 112 * Class: com_jme3_bullet_joints_SixDofJoint 113 * Method: setAngularUpperLimit 114 * Signature: (JLcom/jme3/math/Vector3f;)V 115 */ 116 JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularUpperLimit 117 (JNIEnv * env, jobject object, jlong jointId, jobject vector) { 118 btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); 119 if (joint == NULL) { 120 jclass newExc = env->FindClass("java/lang/NullPointerException"); 121 env->ThrowNew(newExc, "The native object does not exist."); 122 return; 123 } 124 btVector3 vec = btVector3(); 125 jmeBulletUtil::convert(env, vector, &vec); 126 joint->setAngularUpperLimit(vec); 127 } 128 129 /* 130 * Class: com_jme3_bullet_joints_SixDofJoint 131 * Method: setAngularLowerLimit 132 * Signature: (JLcom/jme3/math/Vector3f;)V 133 */ 134 JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularLowerLimit 135 (JNIEnv * env, jobject object, jlong jointId, jobject vector) { 136 btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId); 137 if (joint == NULL) { 138 jclass newExc = env->FindClass("java/lang/NullPointerException"); 139 env->ThrowNew(newExc, "The native object does not exist."); 140 return; 141 } 142 btVector3 vec = btVector3(); 143 jmeBulletUtil::convert(env, vector, &vec); 144 joint->setAngularLowerLimit(vec); 145 } 146 147 /* 148 * Class: com_jme3_bullet_joints_SixDofJoint 149 * Method: createJoint 150 * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J 151 */ 152 JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_createJoint 153 (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB, jboolean useLinearReferenceFrameA) { 154 jmeClasses::initJavaClasses(env); 155 btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA); 156 btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB); 157 btMatrix3x3 mtx1 = btMatrix3x3(); 158 btMatrix3x3 mtx2 = btMatrix3x3(); 159 btTransform transA = btTransform(mtx1); 160 jmeBulletUtil::convert(env, pivotA, &transA.getOrigin()); 161 jmeBulletUtil::convert(env, rotA, &transA.getBasis()); 162 btTransform transB = btTransform(mtx2); 163 jmeBulletUtil::convert(env, pivotB, &transB.getOrigin()); 164 jmeBulletUtil::convert(env, rotB, &transB.getBasis()); 165 btGeneric6DofConstraint* joint = new btGeneric6DofConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA); 166 return reinterpret_cast<jlong>(joint); 167 } 168 #ifdef __cplusplus 169 } 170 #endif 171
