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 #include "jmeMotionState.h"
33 #include "jmeBulletUtil.h"
34
35 /**
36 * Author: Normen Hansen
37 */
38
jmeMotionState()39 jmeMotionState::jmeMotionState() {
40 trans = new btTransform();
41 trans -> setIdentity();
42 worldTransform = *trans;
43 dirty = true;
44 }
45
getWorldTransform(btTransform & worldTrans) const46 void jmeMotionState::getWorldTransform(btTransform& worldTrans) const {
47 worldTrans = worldTransform;
48 }
49
setWorldTransform(const btTransform & worldTrans)50 void jmeMotionState::setWorldTransform(const btTransform& worldTrans) {
51 worldTransform = worldTrans;
52 dirty = true;
53 }
54
setKinematicTransform(const btTransform & worldTrans)55 void jmeMotionState::setKinematicTransform(const btTransform& worldTrans) {
56 worldTransform = worldTrans;
57 dirty = true;
58 }
59
setKinematicLocation(JNIEnv * env,jobject location)60 void jmeMotionState::setKinematicLocation(JNIEnv* env, jobject location) {
61 jmeBulletUtil::convert(env, location, &worldTransform.getOrigin());
62 dirty = true;
63 }
64
setKinematicRotation(JNIEnv * env,jobject rotation)65 void jmeMotionState::setKinematicRotation(JNIEnv* env, jobject rotation) {
66 jmeBulletUtil::convert(env, rotation, &worldTransform.getBasis());
67 dirty = true;
68 }
69
setKinematicRotationQuat(JNIEnv * env,jobject rotation)70 void jmeMotionState::setKinematicRotationQuat(JNIEnv* env, jobject rotation) {
71 jmeBulletUtil::convertQuat(env, rotation, &worldTransform.getBasis());
72 dirty = true;
73 }
74
applyTransform(JNIEnv * env,jobject location,jobject rotation)75 bool jmeMotionState::applyTransform(JNIEnv* env, jobject location, jobject rotation) {
76 if (dirty) {
77 // fprintf(stdout, "Apply world translation\n");
78 // fflush(stdout);
79 jmeBulletUtil::convert(env, &worldTransform.getOrigin(), location);
80 jmeBulletUtil::convertQuat(env, &worldTransform.getBasis(), rotation);
81 dirty = false;
82 return true;
83 }
84 return false;
85 }
86
~jmeMotionState()87 jmeMotionState::~jmeMotionState() {
88 free(trans);
89 }
90