| /* |
| * 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_HingeJoint.h" |
| #include "jmeBulletUtil.h" |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: enableMotor |
| * Signature: (JZFF)V |
| */ |
| JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_enableMotor |
| (JNIEnv * env, jobject object, jlong jointId, jboolean enable, jfloat targetVelocity, jfloat maxMotorImpulse) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return; |
| } |
| joint->enableAngularMotor(enable, targetVelocity, maxMotorImpulse); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: getEnableAngularMotor |
| * Signature: (J)Z |
| */ |
| JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_HingeJoint_getEnableAngularMotor |
| (JNIEnv * env, jobject object, jlong jointId) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return false; |
| } |
| return joint->getEnableAngularMotor(); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: getMotorTargetVelocity |
| * Signature: (J)F |
| */ |
| JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMotorTargetVelocity |
| (JNIEnv * env, jobject object, jlong jointId) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return 0; |
| } |
| return joint->getMotorTargetVelosity(); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: getMaxMotorImpulse |
| * Signature: (J)F |
| */ |
| JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMaxMotorImpulse |
| (JNIEnv * env, jobject object, jlong jointId) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return 0; |
| } |
| return joint->getMaxMotorImpulse(); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: setLimit |
| * Signature: (JFF)V |
| */ |
| JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFF |
| (JNIEnv * env, jobject object, jlong jointId, jfloat low, jfloat high) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return; |
| } |
| return joint->setLimit(low, high); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: setLimit |
| * Signature: (JFFFFF)V |
| */ |
| JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFFFFF |
| (JNIEnv * env, jobject object, jlong jointId, jfloat low, jfloat high, jfloat softness, jfloat biasFactor, jfloat relaxationFactor) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return; |
| } |
| return joint->setLimit(low, high, softness, biasFactor, relaxationFactor); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: getUpperLimit |
| * Signature: (J)F |
| */ |
| JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getUpperLimit |
| (JNIEnv * env, jobject object, jlong jointId) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return 0; |
| } |
| return joint->getUpperLimit(); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: getLowerLimit |
| * Signature: (J)F |
| */ |
| JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getLowerLimit |
| (JNIEnv * env, jobject object, jlong jointId) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return 0; |
| } |
| return joint->getLowerLimit(); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: setAngularOnly |
| * Signature: (JZ)V |
| */ |
| JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setAngularOnly |
| (JNIEnv * env, jobject object, jlong jointId, jboolean angular) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return; |
| } |
| joint->setAngularOnly(angular); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: getHingeAngle |
| * Signature: (J)F |
| */ |
| JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getHingeAngle |
| (JNIEnv * env, jobject object, jlong jointId) { |
| btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId); |
| if (joint == NULL) { |
| jclass newExc = env->FindClass("java/lang/NullPointerException"); |
| env->ThrowNew(newExc, "The native object does not exist."); |
| return 0; |
| } |
| return joint->getHingeAngle(); |
| } |
| |
| /* |
| * Class: com_jme3_bullet_joints_HingeJoint |
| * Method: createJoint |
| * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J |
| */ |
| JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_HingeJoint_createJoint |
| (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject axisA, jobject pivotB, jobject axisB) { |
| jmeClasses::initJavaClasses(env); |
| btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA); |
| btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB); |
| btVector3 vec1 = btVector3(); |
| btVector3 vec2 = btVector3(); |
| btVector3 vec3 = btVector3(); |
| btVector3 vec4 = btVector3(); |
| jmeBulletUtil::convert(env, pivotA, &vec1); |
| jmeBulletUtil::convert(env, pivotB, &vec2); |
| jmeBulletUtil::convert(env, axisA, &vec3); |
| jmeBulletUtil::convert(env, axisB, &vec4); |
| btHingeConstraint* joint = new btHingeConstraint(*bodyA, *bodyB, vec1, vec2, vec3, vec4); |
| return reinterpret_cast<jlong>(joint); |
| } |
| #ifdef __cplusplus |
| } |
| #endif |