/*
* 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