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
39jmeMotionState::jmeMotionState() {
40    trans = new btTransform();
41    trans -> setIdentity();
42    worldTransform = *trans;
43    dirty = true;
44}
45
46void jmeMotionState::getWorldTransform(btTransform& worldTrans) const {
47    worldTrans = worldTransform;
48}
49
50void jmeMotionState::setWorldTransform(const btTransform& worldTrans) {
51    worldTransform = worldTrans;
52    dirty = true;
53}
54
55void jmeMotionState::setKinematicTransform(const btTransform& worldTrans) {
56    worldTransform = worldTrans;
57    dirty = true;
58}
59
60void jmeMotionState::setKinematicLocation(JNIEnv* env, jobject location) {
61    jmeBulletUtil::convert(env, location, &worldTransform.getOrigin());
62    dirty = true;
63}
64
65void jmeMotionState::setKinematicRotation(JNIEnv* env, jobject rotation) {
66    jmeBulletUtil::convert(env, rotation, &worldTransform.getBasis());
67    dirty = true;
68}
69
70void jmeMotionState::setKinematicRotationQuat(JNIEnv* env, jobject rotation) {
71    jmeBulletUtil::convertQuat(env, rotation, &worldTransform.getBasis());
72    dirty = true;
73}
74
75bool 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
87jmeMotionState::~jmeMotionState() {
88    free(trans);
89}
90