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
40extern "C" {
41#endif
42
43    /*
44     * Class:     com_jme3_bullet_joints_ConeJoint
45     * Method:    setLimit
46     * Signature: (JFFF)V
47     */
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     */
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     */
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