1 /* 2 * Copyright (c) 2009-2010 jMonkeyEngine 3 * All rights reserved. 4 * 5 * Redistribution and use in source and binary forms, with or without 6 * modification, are permitted provided that the following conditions are 7 * met: 8 * 9 * * Redistributions of source code must retain the above copyright 10 * notice, this list of conditions and the following disclaimer. 11 * 12 * * Redistributions in binary form must reproduce the above copyright 13 * notice, this list of conditions and the following disclaimer in the 14 * documentation and/or other materials provided with the distribution. 15 * 16 * * Neither the name of 'jMonkeyEngine' nor the names of its contributors 17 * may be used to endorse or promote products derived from this software 18 * without specific prior written permission. 19 * 20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 22 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 23 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 24 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 25 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 26 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 27 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 28 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 29 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 30 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 /** 34 * Author: Normen Hansen 35 */ 36 #include "com_jme3_bullet_joints_ConeJoint.h" 37 #include "jmeBulletUtil.h" 38 39 #ifdef __cplusplus 40 extern "C" { 41 #endif 42 43 /* 44 * Class: com_jme3_bullet_joints_ConeJoint 45 * Method: setLimit 46 * Signature: (JFFF)V 47 */ Java_com_jme3_bullet_joints_ConeJoint_setLimit(JNIEnv * env,jobject object,jlong jointId,jfloat swingSpan1,jfloat swingSpan2,jfloat twistSpan)48 JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setLimit 49 (JNIEnv * env, jobject object, jlong jointId, jfloat swingSpan1, jfloat swingSpan2, jfloat twistSpan) { 50 btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId); 51 if (joint == NULL) { 52 jclass newExc = env->FindClass("java/lang/NullPointerException"); 53 env->ThrowNew(newExc, "The native object does not exist."); 54 return; 55 } 56 //TODO: extended setLimit! 57 joint->setLimit(swingSpan1, swingSpan2, twistSpan); 58 } 59 60 /* 61 * Class: com_jme3_bullet_joints_ConeJoint 62 * Method: setAngularOnly 63 * Signature: (JZ)V 64 */ Java_com_jme3_bullet_joints_ConeJoint_setAngularOnly(JNIEnv * env,jobject object,jlong jointId,jboolean angularOnly)65 JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_ConeJoint_setAngularOnly 66 (JNIEnv * env, jobject object, jlong jointId, jboolean angularOnly) { 67 btConeTwistConstraint* joint = reinterpret_cast<btConeTwistConstraint*>(jointId); 68 if (joint == NULL) { 69 jclass newExc = env->FindClass("java/lang/NullPointerException"); 70 env->ThrowNew(newExc, "The native object does not exist."); 71 return; 72 } 73 joint->setAngularOnly(angularOnly); 74 } 75 76 /* 77 * Class: com_jme3_bullet_joints_ConeJoint 78 * Method: createJoint 79 * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;)J 80 */ Java_com_jme3_bullet_joints_ConeJoint_createJoint(JNIEnv * env,jobject object,jlong bodyIdA,jlong bodyIdB,jobject pivotA,jobject rotA,jobject pivotB,jobject rotB)81 JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_ConeJoint_createJoint 82 (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB) { 83 jmeClasses::initJavaClasses(env); 84 btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA); 85 btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB); 86 btMatrix3x3 mtx1 = btMatrix3x3(); 87 btMatrix3x3 mtx2 = btMatrix3x3(); 88 btTransform transA = btTransform(mtx1); 89 jmeBulletUtil::convert(env, pivotA, &transA.getOrigin()); 90 jmeBulletUtil::convert(env, rotA, &transA.getBasis()); 91 btTransform transB = btTransform(mtx2); 92 jmeBulletUtil::convert(env, pivotB, &transB.getOrigin()); 93 jmeBulletUtil::convert(env, rotB, &transB.getBasis()); 94 btConeTwistConstraint* joint = new btConeTwistConstraint(*bodyA, *bodyB, transA, transB); 95 return reinterpret_cast<jlong>(joint); 96 } 97 98 #ifdef __cplusplus 99 } 100 #endif 101