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100 lines
4.2 KiB
100 lines
4.2 KiB
/*
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* Copyright (c) 2009-2012 jMonkeyEngine
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/**
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* Author: Normen Hansen
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*/
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#include "com_jme3_bullet_joints_ConeJoint.h"
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#include "jmeBulletUtil.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*
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* Class: com_jme3_bullet_joints_ConeJoint
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* Method: setLimit
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* Signature: (JFFF)V
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*/
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JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setLimit
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(JNIEnv * env, jobject object, jlong jointId, jfloat swingSpan1, jfloat swingSpan2, jfloat twistSpan) {
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btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId);
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if (joint == NULL) {
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jclass newExc = env->FindClass("java/lang/NullPointerException");
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env->ThrowNew(newExc, "The native object does not exist.");
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return;
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}
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//TODO: extended setLimit!
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joint->setLimit(swingSpan1, swingSpan2, twistSpan);
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}
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/*
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* Class: com_jme3_bullet_joints_ConeJoint
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* Method: setAngularOnly
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* Signature: (JZ)V
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*/
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JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setAngularOnly
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(JNIEnv * env, jobject object, jlong jointId, jboolean angularOnly) {
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btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId);
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if (joint == NULL) {
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jclass newExc = env->FindClass("java/lang/NullPointerException");
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env->ThrowNew(newExc, "The native object does not exist.");
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return;
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}
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joint->setAngularOnly(angularOnly);
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}
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/*
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* Class: com_jme3_bullet_joints_ConeJoint
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* Method: createJoint
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* Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J
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*/
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JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_ConeJoint_createJoint
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(JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB) {
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jmeClasses::initJavaClasses(env);
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btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
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btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
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btMatrix3x3 mtx1 = btMatrix3x3();
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btMatrix3x3 mtx2 = btMatrix3x3();
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btTransform transA = btTransform(mtx1);
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jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
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jmeBulletUtil::convert(env, rotA, &transA.getBasis());
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btTransform transB = btTransform(mtx2);
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jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
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jmeBulletUtil::convert(env, rotB, &transB.getBasis());
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btConeTwistConstraint* joint = new btConeTwistConstraint(*bodyA, *bodyB, transA, transB);
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return reinterpret_cast<jlong>(joint);
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}
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#ifdef __cplusplus
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}
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#endif
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