1 #include "mathtypes.h" 2 #include <stdio.h> 3 #include <string.h> 4 5 //////////////////////////////// 6 //////// btVector3 //////// 7 //////////////////////////////// 8 static jfieldID vector3_x = NULL, vector3_y = NULL, vector3_z = NULL; 9 10 void vector3_getFields(JNIEnv * const &jenv, jobject &v3) { 11 jclass cls = jenv->GetObjectClass(v3); 12 vector3_x = jenv->GetFieldID(cls, "x", "F"); 13 vector3_y = jenv->GetFieldID(cls, "y", "F"); 14 vector3_z = jenv->GetFieldID(cls, "z", "F"); 15 jenv->DeleteLocalRef(cls); 16 } 17 18 inline void vector3_ensurefields(JNIEnv * const &jenv, jobject &v3) { 19 if (!vector3_x) vector3_getFields(jenv, v3); 20 } 21 22 void Vector3_to_btVector3(JNIEnv * const &jenv, btVector3 &target, jobject &source) 23 { 24 vector3_ensurefields(jenv, source); 25 target.setValue(jenv->GetFloatField(source, vector3_x), jenv->GetFloatField(source, vector3_y), jenv->GetFloatField(source, vector3_z)); 26 } 27 28 void btVector3_to_Vector3(JNIEnv * const &jenv, jobject &target, const btVector3 &source) 29 { 30 vector3_ensurefields(jenv, target); 31 jenv->SetFloatField(target, vector3_x, source.getX()); 32 jenv->SetFloatField(target, vector3_y, source.getY()); 33 jenv->SetFloatField(target, vector3_z, source.getZ()); 34 } 35 36 37 38 //////////////////////////////// 39 //////// btQuaternion //////// 40 //////////////////////////////// 41 static jfieldID quaternion_x = NULL, quaternion_y = NULL, quaternion_z = NULL, quaternion_w = NULL; 42 43 void quaternion_getFields(JNIEnv * const &jenv, jobject &q) { 44 jclass cls = jenv->GetObjectClass(q); 45 quaternion_x = jenv->GetFieldID(cls, "x", "F"); 46 quaternion_y = jenv->GetFieldID(cls, "y", "F"); 47 quaternion_z = jenv->GetFieldID(cls, "z", "F"); 48 quaternion_w = jenv->GetFieldID(cls, "w", "F"); 49 jenv->DeleteLocalRef(cls); 50 } 51 52 inline void quaternion_ensurefields(JNIEnv * const &jenv, jobject &q) { 53 if (!quaternion_x) quaternion_getFields(jenv, q); 54 } 55 56 void Quaternion_to_btQuaternion(JNIEnv * const &jenv, btQuaternion &target, jobject &source) 57 { 58 quaternion_ensurefields(jenv, source); 59 target.setValue( 60 jenv->GetFloatField(source, quaternion_x), 61 jenv->GetFloatField(source, quaternion_y), 62 jenv->GetFloatField(source, quaternion_z), 63 jenv->GetFloatField(source, quaternion_w)); 64 } 65 66 void btQuaternion_to_Quaternion(JNIEnv * const &jenv, jobject &target, const btQuaternion & source) 67 { 68 quaternion_ensurefields(jenv, target); 69 jenv->SetFloatField(target, quaternion_x, source.getX()); 70 jenv->SetFloatField(target, quaternion_y, source.getY()); 71 jenv->SetFloatField(target, quaternion_z, source.getZ()); 72 jenv->SetFloatField(target, quaternion_w, source.getW()); 73 } 74 75 //////////////////////////////// 76 //////// btMatrix3x3 //////// 77 //////////////////////////////// 78 static jfieldID matrix3_val = NULL; 79 80 void matrix3_getFields(JNIEnv * const &jenv, jobject &m3) { 81 jclass cls = jenv->GetObjectClass(m3); 82 matrix3_val = jenv->GetFieldID(cls, "val", "[F"); 83 jenv->DeleteLocalRef(cls); 84 } 85 86 inline void matrix3_ensurefields(JNIEnv * const &jenv, jobject &m3) { 87 if (!matrix3_val) matrix3_getFields(jenv, m3); 88 } 89 90 void Matrix3_to_btMatrix3(JNIEnv * const &jenv, btMatrix3x3 &target, jobject &source) 91 { 92 matrix3_ensurefields(jenv, source); 93 94 jfloatArray valArray = (jfloatArray) jenv->GetObjectField(source, matrix3_val); 95 jfloat * elements = jenv->GetFloatArrayElements(valArray, NULL); 96 97 // Convert to column-major 98 target.setValue( 99 elements[0], elements[3], elements[6], 100 elements[1], elements[4], elements[7], 101 elements[2], elements[5], elements[8]); 102 103 jenv->ReleaseFloatArrayElements(valArray, elements, JNI_ABORT); 104 jenv->DeleteLocalRef(valArray); 105 } 106 107 void btMatrix3_to_Matrix3(JNIEnv * const &jenv, jobject &target, const btMatrix3x3 &source) 108 { 109 matrix3_ensurefields(jenv, target); 110 111 jfloatArray valArray = (jfloatArray) jenv->GetObjectField(target, matrix3_val); 112 jfloat * elements = jenv->GetFloatArrayElements(valArray, NULL); 113 114 // Convert to column-major 115 elements[0] = (jfloat) source.getColumn(0).getX(); 116 elements[1] = (jfloat) source.getColumn(0).getY(); 117 elements[2] = (jfloat) source.getColumn(0).getZ(); 118 elements[3] = (jfloat) source.getColumn(1).getX(); 119 elements[4] = (jfloat) source.getColumn(1).getY(); 120 elements[5] = (jfloat) source.getColumn(1).getZ(); 121 elements[6] = (jfloat) source.getColumn(2).getX(); 122 elements[7] = (jfloat) source.getColumn(2).getY(); 123 elements[8] = (jfloat) source.getColumn(2).getZ(); 124 125 jenv->ReleaseFloatArrayElements(valArray, elements, 0); 126 jenv->DeleteLocalRef(valArray); 127 } 128 129 //////////////////////////////// 130 //////// btTransform //////// 131 //////////////////////////////// 132 static jfieldID matrix4_val = NULL; 133 134 void matrix4_getFields(JNIEnv * const &jenv, jobject &m4) { 135 jclass cls = jenv->GetObjectClass(m4); 136 matrix4_val = jenv->GetFieldID(cls, "val", "[F"); 137 jenv->DeleteLocalRef(cls); 138 } 139 140 inline void matrix4_ensurefields(JNIEnv * const &jenv, jobject &m4) { 141 if (!matrix4_val) matrix4_getFields(jenv, m4); 142 } 143 144 void Matrix4_to_btTransform(JNIEnv * const &jenv, btTransform &target, jobject &source) 145 { 146 matrix4_ensurefields(jenv, source); 147 148 jfloatArray valArray = (jfloatArray) jenv->GetObjectField(source, matrix4_val); 149 jfloat * elements = jenv->GetFloatArrayElements(valArray, NULL); 150 151 target.setFromOpenGLMatrix(elements); 152 153 jenv->ReleaseFloatArrayElements(valArray, elements, JNI_ABORT); 154 jenv->DeleteLocalRef(valArray); 155 } 156 157 void btTransform_to_Matrix4(JNIEnv * const &jenv, jobject &target, const btTransform &source) 158 { 159 matrix4_ensurefields(jenv, target); 160 161 jfloatArray valArray = (jfloatArray) jenv->GetObjectField(target, matrix4_val); 162 jfloat * elements = jenv->GetFloatArrayElements(valArray, NULL); 163 164 ATTRIBUTE_ALIGNED16(btScalar dst[16]); 165 source.getOpenGLMatrix(dst); 166 167 memcpy(elements, dst, sizeof(btScalar)*16); 168 169 jenv->ReleaseFloatArrayElements(valArray, elements, 0); 170 jenv->DeleteLocalRef(valArray); 171 }
