/*
* 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.
*/
#include <math.h>
#include "jmeBulletUtil.h"
/**
* Author: Normen Hansen,Empire Phoenix, Lutherion
*/
void jmeBulletUtil::convert(JNIEnv* env, jobject in, btVector3* out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
float x = env->GetFloatField(in, jmeClasses::Vector3f_x); //env->CallFloatMethod(in, jmeClasses::Vector3f_getX);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float y = env->GetFloatField(in, jmeClasses::Vector3f_y); //env->CallFloatMethod(in, jmeClasses::Vector3f_getY);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float z = env->GetFloatField(in, jmeClasses::Vector3f_z); //env->CallFloatMethod(in, jmeClasses::Vector3f_getZ);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
out->setX(x);
out->setY(y);
out->setZ(z);
}
void jmeBulletUtil::convert(JNIEnv* env, const btVector3* in, jobject out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
float x = in->getX();
float y = in->getY();
float z = in->getZ();
env->SetFloatField(out, jmeClasses::Vector3f_x, x);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Vector3f_y, y);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Vector3f_z, z);
// env->CallObjectMethod(out, jmeClasses::Vector3f_set, x, y, z);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
}
void jmeBulletUtil::convert(JNIEnv* env, jobject in, btMatrix3x3* out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
float m00 = env->GetFloatField(in, jmeClasses::Matrix3f_m00);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m01 = env->GetFloatField(in, jmeClasses::Matrix3f_m01);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m02 = env->GetFloatField(in, jmeClasses::Matrix3f_m02);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m10 = env->GetFloatField(in, jmeClasses::Matrix3f_m10);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m11 = env->GetFloatField(in, jmeClasses::Matrix3f_m11);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m12 = env->GetFloatField(in, jmeClasses::Matrix3f_m12);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m20 = env->GetFloatField(in, jmeClasses::Matrix3f_m20);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m21 = env->GetFloatField(in, jmeClasses::Matrix3f_m21);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float m22 = env->GetFloatField(in, jmeClasses::Matrix3f_m22);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
out->setValue(m00, m01, m02, m10, m11, m12, m20, m21, m22);
}
void jmeBulletUtil::convert(JNIEnv* env, const btMatrix3x3* in, jobject out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
float m00 = in->getRow(0).m_floats[0];
float m01 = in->getRow(0).m_floats[1];
float m02 = in->getRow(0).m_floats[2];
float m10 = in->getRow(1).m_floats[0];
float m11 = in->getRow(1).m_floats[1];
float m12 = in->getRow(1).m_floats[2];
float m20 = in->getRow(2).m_floats[0];
float m21 = in->getRow(2).m_floats[1];
float m22 = in->getRow(2).m_floats[2];
env->SetFloatField(out, jmeClasses::Matrix3f_m00, m00);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m01, m01);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m02, m02);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m10, m10);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m11, m11);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m12, m12);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m20, m20);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m21, m21);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Matrix3f_m22, m22);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
}
void jmeBulletUtil::convertQuat(JNIEnv* env, jobject in, btMatrix3x3* out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
float x = env->GetFloatField(in, jmeClasses::Quaternion_x);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float y = env->GetFloatField(in, jmeClasses::Quaternion_y);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float z = env->GetFloatField(in, jmeClasses::Quaternion_z);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float w = env->GetFloatField(in, jmeClasses::Quaternion_w);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
float norm = w * w + x * x + y * y + z * z;
float s = (norm == 1.0) ? 2.0 : (norm > 0.1) ? 2.0 / norm : 0.0;
// compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs
// will be used 2-4 times each.
float xs = x * s;
float ys = y * s;
float zs = z * s;
float xx = x * xs;
float xy = x * ys;
float xz = x * zs;
float xw = w * xs;
float yy = y * ys;
float yz = y * zs;
float yw = w * ys;
float zz = z * zs;
float zw = w * zs;
// using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here
out->setValue(1.0 - (yy + zz), (xy - zw), (xz + yw),
(xy + zw), 1 - (xx + zz), (yz - xw),
(xz - yw), (yz + xw), 1.0 - (xx + yy));
}
void jmeBulletUtil::convertQuat(JNIEnv* env, const btMatrix3x3* in, jobject out) {
if (in == NULL || out == NULL) {
jmeClasses::throwNPE(env);
}
// the trace is the sum of the diagonal elements; see
// http://mathworld.wolfram.com/MatrixTrace.html
float t = in->getRow(0).m_floats[0] + in->getRow(1).m_floats[1] + in->getRow(2).m_floats[2];
float w, x, y, z;
// we protect the division by s by ensuring that s>=1
if (t >= 0) { // |w| >= .5
float s = sqrt(t + 1); // |s|>=1 ...
w = 0.5f * s;
s = 0.5f / s; // so this division isn't bad
x = (in->getRow(2).m_floats[1] - in->getRow(1).m_floats[2]) * s;
y = (in->getRow(0).m_floats[2] - in->getRow(2).m_floats[0]) * s;
z = (in->getRow(1).m_floats[0] - in->getRow(0).m_floats[1]) * s;
} else if ((in->getRow(0).m_floats[0] > in->getRow(1).m_floats[1]) && (in->getRow(0).m_floats[0] > in->getRow(2).m_floats[2])) {
float s = sqrt(1.0f + in->getRow(0).m_floats[0] - in->getRow(1).m_floats[1] - in->getRow(2).m_floats[2]); // |s|>=1
x = s * 0.5f; // |x| >= .5
s = 0.5f / s;
y = (in->getRow(1).m_floats[0] + in->getRow(0).m_floats[1]) * s;
z = (in->getRow(0).m_floats[2] + in->getRow(2).m_floats[0]) * s;
w = (in->getRow(2).m_floats[1] - in->getRow(1).m_floats[2]) * s;
} else if (in->getRow(1).m_floats[1] > in->getRow(2).m_floats[2]) {
float s = sqrt(1.0f + in->getRow(1).m_floats[1] - in->getRow(0).m_floats[0] - in->getRow(2).m_floats[2]); // |s|>=1
y = s * 0.5f; // |y| >= .5
s = 0.5f / s;
x = (in->getRow(1).m_floats[0] + in->getRow(0).m_floats[1]) * s;
z = (in->getRow(2).m_floats[1] + in->getRow(1).m_floats[2]) * s;
w = (in->getRow(0).m_floats[2] - in->getRow(2).m_floats[0]) * s;
} else {
float s = sqrt(1.0f + in->getRow(2).m_floats[2] - in->getRow(0).m_floats[0] - in->getRow(1).m_floats[1]); // |s|>=1
z = s * 0.5f; // |z| >= .5
s = 0.5f / s;
x = (in->getRow(0).m_floats[2] + in->getRow(2).m_floats[0]) * s;
y = (in->getRow(2).m_floats[1] + in->getRow(1).m_floats[2]) * s;
w = (in->getRow(1).m_floats[0] - in->getRow(0).m_floats[1]) * s;
}
env->SetFloatField(out, jmeClasses::Quaternion_x, x);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Quaternion_y, y);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Quaternion_z, z);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
env->SetFloatField(out, jmeClasses::Quaternion_w, w);
// env->CallObjectMethod(out, jmeClasses::Quaternion_set, x, y, z, w);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
}
void jmeBulletUtil::addResult(JNIEnv* env, jobject resultlist, btVector3 hitnormal, btVector3 m_hitPointWorld, btScalar m_hitFraction, btCollisionObject* hitobject) {
jobject singleresult = env->AllocObject(jmeClasses::PhysicsRay_Class);
jobject hitnormalvec = env->AllocObject(jmeClasses::Vector3f);
convert(env, const_cast<btVector3*> (&hitnormal), hitnormalvec);
jmeUserPointer *up1 = (jmeUserPointer*) hitobject -> getUserPointer();
env->SetObjectField(singleresult, jmeClasses::PhysicsRay_normalInWorldSpace, hitnormalvec);
env->SetFloatField(singleresult, jmeClasses::PhysicsRay_hitfraction, m_hitFraction);
env->SetObjectField(singleresult, jmeClasses::PhysicsRay_collisionObject, up1->javaCollisionObject);
env->CallVoidMethod(resultlist, jmeClasses::PhysicsRay_addmethod, singleresult);
if (env->ExceptionCheck()) {
env->Throw(env->ExceptionOccurred());
return;
}
}