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      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 #include "jmeMotionState.h"
     33 #include "jmeBulletUtil.h"
     34 
     35 /**
     36  * Author: Normen Hansen
     37  */
     38 
     39 jmeMotionState::jmeMotionState() {
     40     trans = new btTransform();
     41     trans -> setIdentity();
     42     worldTransform = *trans;
     43     dirty = true;
     44 }
     45 
     46 void jmeMotionState::getWorldTransform(btTransform& worldTrans) const {
     47     worldTrans = worldTransform;
     48 }
     49 
     50 void jmeMotionState::setWorldTransform(const btTransform& worldTrans) {
     51     worldTransform = worldTrans;
     52     dirty = true;
     53 }
     54 
     55 void jmeMotionState::setKinematicTransform(const btTransform& worldTrans) {
     56     worldTransform = worldTrans;
     57     dirty = true;
     58 }
     59 
     60 void jmeMotionState::setKinematicLocation(JNIEnv* env, jobject location) {
     61     jmeBulletUtil::convert(env, location, &worldTransform.getOrigin());
     62     dirty = true;
     63 }
     64 
     65 void jmeMotionState::setKinematicRotation(JNIEnv* env, jobject rotation) {
     66     jmeBulletUtil::convert(env, rotation, &worldTransform.getBasis());
     67     dirty = true;
     68 }
     69 
     70 void jmeMotionState::setKinematicRotationQuat(JNIEnv* env, jobject rotation) {
     71     jmeBulletUtil::convertQuat(env, rotation, &worldTransform.getBasis());
     72     dirty = true;
     73 }
     74 
     75 bool jmeMotionState::applyTransform(JNIEnv* env, jobject location, jobject rotation) {
     76     if (dirty) {
     77         //        fprintf(stdout, "Apply world translation\n");
     78         //        fflush(stdout);
     79         jmeBulletUtil::convert(env, &worldTransform.getOrigin(), location);
     80         jmeBulletUtil::convertQuat(env, &worldTransform.getBasis(), rotation);
     81         dirty = false;
     82         return true;
     83     }
     84     return false;
     85 }
     86 
     87 jmeMotionState::~jmeMotionState() {
     88     free(trans);
     89 }
     90