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
37#include "com_jme3_bullet_objects_PhysicsVehicle.h"
38#include "jmeBulletUtil.h"
39#include "jmePhysicsSpace.h"
40#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
41
42#ifdef __cplusplus
43extern "C" {
44#endif
45
46    /*
47     * Class:     com_jme3_bullet_objects_PhysicsVehicle
48     * Method:    updateWheelTransform
49     * Signature: (JIZ)V
50     */
51    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_updateWheelTransform
52    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jboolean interpolated) {
53        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
54        if (vehicle == NULL) {
55            jclass newExc = env->FindClass("java/lang/NullPointerException");
56            env->ThrowNew(newExc, "The native object does not exist.");
57            return;
58        }
59        vehicle->updateWheelTransform(wheel, interpolated);
60    }
61
62    /*
63     * Class:     com_jme3_bullet_objects_PhysicsVehicle
64     * Method:    createVehicleRaycaster
65     * Signature: (JJ)J
66     */
67    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_createVehicleRaycaster
68    (JNIEnv *env, jobject object, jlong bodyId, jlong spaceId) {
69        //btRigidBody* body = reinterpret_cast<btRigidBody*> bodyId;
70        jmeClasses::initJavaClasses(env);
71        jmePhysicsSpace *space = reinterpret_cast<jmePhysicsSpace*>(spaceId);
72        if (space == NULL) {
73            jclass newExc = env->FindClass("java/lang/NullPointerException");
74            env->ThrowNew(newExc, "The native object does not exist.");
75            return 0;
76        }
77        btDefaultVehicleRaycaster* caster = new btDefaultVehicleRaycaster(space->getDynamicsWorld());
78        return reinterpret_cast<jlong>(caster);
79    }
80
81    /*
82     * Class:     com_jme3_bullet_objects_PhysicsVehicle
83     * Method:    createRaycastVehicle
84     * Signature: (JJ)J
85     */
86    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_createRaycastVehicle
87    (JNIEnv *env, jobject object, jlong objectId, jlong casterId) {
88        jmeClasses::initJavaClasses(env);
89        btRigidBody* body = reinterpret_cast<btRigidBody*>(objectId);
90        if (body == NULL) {
91            jclass newExc = env->FindClass("java/lang/NullPointerException");
92            env->ThrowNew(newExc, "The native object does not exist.");
93            return 0;
94        }
95        body->setActivationState(DISABLE_DEACTIVATION);
96        btVehicleRaycaster* caster = reinterpret_cast<btDefaultVehicleRaycaster*>(casterId);
97        if (caster == NULL) {
98            jclass newExc = env->FindClass("java/lang/NullPointerException");
99            env->ThrowNew(newExc, "The native object does not exist.");
100            return 0;
101        }
102        btRaycastVehicle::btVehicleTuning tuning;
103        btRaycastVehicle* vehicle = new btRaycastVehicle(tuning, body, caster);
104        return reinterpret_cast<jlong>(vehicle);
105
106    }
107
108    /*
109     * Class:     com_jme3_bullet_objects_PhysicsVehicle
110     * Method:    setCoordinateSystem
111     * Signature: (JIII)V
112     */
113    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_setCoordinateSystem
114    (JNIEnv *env, jobject object, jlong vehicleId, jint right, jint up, jint forward) {
115        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
116        if (vehicle == NULL) {
117            jclass newExc = env->FindClass("java/lang/NullPointerException");
118            env->ThrowNew(newExc, "The native object does not exist.");
119            return;
120        }
121        vehicle->setCoordinateSystem(right, up, forward);
122    }
123
124    /*
125     * Class:     com_jme3_bullet_objects_PhysicsVehicle
126     * Method:    addWheel
127     * Signature: (JLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;FFLcom/jme3/bullet/objects/infos/VehicleTuning;Z)J
128     */
129    JNIEXPORT jint JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_addWheel
130    (JNIEnv *env, jobject object, jlong vehicleId, jobject location, jobject direction, jobject axle, jfloat restLength, jfloat radius, jobject tuning, jboolean frontWheel) {
131        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
132        if (vehicle == NULL) {
133            jclass newExc = env->FindClass("java/lang/NullPointerException");
134            env->ThrowNew(newExc, "The native object does not exist.");
135            return 0;
136        }
137        btVector3 vec1 = btVector3();
138        btVector3 vec2 = btVector3();
139        btVector3 vec3 = btVector3();
140        jmeBulletUtil::convert(env, location, &vec1);
141        jmeBulletUtil::convert(env, direction, &vec2);
142        jmeBulletUtil::convert(env, axle, &vec3);
143        btRaycastVehicle::btVehicleTuning tune;
144        btWheelInfo* info = &vehicle->addWheel(vec1, vec2, vec3, restLength, radius, tune, frontWheel);
145        int idx = vehicle->getNumWheels();
146        return idx-1;
147    }
148
149    /*
150     * Class:     com_jme3_bullet_objects_PhysicsVehicle
151     * Method:    resetSuspension
152     * Signature: (J)V
153     */
154    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_resetSuspension
155    (JNIEnv *env, jobject object, jlong vehicleId) {
156        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
157        if (vehicle == NULL) {
158            jclass newExc = env->FindClass("java/lang/NullPointerException");
159            env->ThrowNew(newExc, "The native object does not exist.");
160            return;
161        }
162        vehicle->resetSuspension();
163    }
164
165    /*
166     * Class:     com_jme3_bullet_objects_PhysicsVehicle
167     * Method:    applyEngineForce
168     * Signature: (JIF)V
169     */
170    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_applyEngineForce
171    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jfloat force) {
172        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
173        if (vehicle == NULL) {
174            jclass newExc = env->FindClass("java/lang/NullPointerException");
175            env->ThrowNew(newExc, "The native object does not exist.");
176            return;
177        }
178        vehicle->applyEngineForce(force, wheel);
179    }
180
181    /*
182     * Class:     com_jme3_bullet_objects_PhysicsVehicle
183     * Method:    steer
184     * Signature: (JIF)V
185     */
186    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_steer
187    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jfloat value) {
188        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
189        if (vehicle == NULL) {
190            jclass newExc = env->FindClass("java/lang/NullPointerException");
191            env->ThrowNew(newExc, "The native object does not exist.");
192            return;
193        }
194        vehicle->setSteeringValue(value, wheel);
195    }
196
197    /*
198     * Class:     com_jme3_bullet_objects_PhysicsVehicle
199     * Method:    brake
200     * Signature: (JIF)F
201     */
202    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_brake
203    (JNIEnv *env, jobject object, jlong vehicleId, jint wheel, jfloat value) {
204        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
205        if (vehicle == NULL) {
206            jclass newExc = env->FindClass("java/lang/NullPointerException");
207            env->ThrowNew(newExc, "The native object does not exist.");
208            return;
209        }
210        vehicle->setBrake(value, wheel);
211    }
212
213    /*
214     * Class:     com_jme3_bullet_objects_PhysicsVehicle
215     * Method:    getCurrentVehicleSpeedKmHour
216     * Signature: (J)F
217     */
218    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getCurrentVehicleSpeedKmHour
219    (JNIEnv *env, jobject object, jlong vehicleId) {
220        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
221        if (vehicle == NULL) {
222            jclass newExc = env->FindClass("java/lang/NullPointerException");
223            env->ThrowNew(newExc, "The native object does not exist.");
224            return 0;
225        }
226        return vehicle->getCurrentSpeedKmHour();
227    }
228
229    /*
230     * Class:     com_jme3_bullet_objects_PhysicsVehicle
231     * Method:    getForwardVector
232     * Signature: (JLcom/jme3/math/Vector3f;)V
233     */
234    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_getForwardVector
235    (JNIEnv *env, jobject object, jlong vehicleId, jobject out) {
236        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
237        if (vehicle == NULL) {
238            jclass newExc = env->FindClass("java/lang/NullPointerException");
239            env->ThrowNew(newExc, "The native object does not exist.");
240            return;
241        }
242        btVector3 forwardVector = vehicle->getForwardVector();
243        jmeBulletUtil::convert(env, &forwardVector, out);
244    }
245
246    /*
247     * Class:     com_jme3_bullet_objects_PhysicsVehicle
248     * Method:    finalizeNative
249     * Signature: (JJ)V
250     */
251    JNIEXPORT void JNICALL Java_com_jme3_bullet_objects_PhysicsVehicle_finalizeNative
252    (JNIEnv *env, jobject object, jlong casterId, jlong vehicleId) {
253        btVehicleRaycaster* rayCaster = reinterpret_cast<btVehicleRaycaster*>(casterId);
254        btRaycastVehicle* vehicle = reinterpret_cast<btRaycastVehicle*>(vehicleId);
255        if (vehicle == NULL) {
256            jclass newExc = env->FindClass("java/lang/NullPointerException");
257            env->ThrowNew(newExc, "The native object does not exist.");
258            return;
259        }
260        delete(vehicle);
261        if (rayCaster == NULL) {
262            jclass newExc = env->FindClass("java/lang/NullPointerException");
263            env->ThrowNew(newExc, "The native object does not exist.");
264            return;
265        }
266        delete(rayCaster);
267    }
268
269#ifdef __cplusplus
270}
271#endif
272
273