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_SixDofJoint.h"
37#include "jmeBulletUtil.h"
38
39#ifdef __cplusplus
40extern "C" {
41#endif
42
43    /*
44     * Class:     com_jme3_bullet_joints_SixDofJoint
45     * Method:    getRotationalLimitMotor
46     * Signature: (JI)J
47     */
48    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getRotationalLimitMotor
49    (JNIEnv * env, jobject object, jlong jointId, jint index) {
50        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(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 0;
55        }
56        return reinterpret_cast<jlong>(joint->getRotationalLimitMotor(index));
57    }
58
59    /*
60     * Class:     com_jme3_bullet_joints_SixDofJoint
61     * Method:    getTranslationalLimitMotor
62     * Signature: (J)J
63     */
64    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getTranslationalLimitMotor
65    (JNIEnv * env, jobject object, jlong jointId) {
66        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
67        if (joint == NULL) {
68            jclass newExc = env->FindClass("java/lang/NullPointerException");
69            env->ThrowNew(newExc, "The native object does not exist.");
70            return 0;
71        }
72        return reinterpret_cast<jlong>(joint->getTranslationalLimitMotor());
73    }
74
75    /*
76     * Class:     com_jme3_bullet_joints_SixDofJoint
77     * Method:    setLinearUpperLimit
78     * Signature: (JLcom/jme3/math/Vector3f;)V
79     */
80    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearUpperLimit
81    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
82        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
83        if (joint == NULL) {
84            jclass newExc = env->FindClass("java/lang/NullPointerException");
85            env->ThrowNew(newExc, "The native object does not exist.");
86            return;
87        }
88        btVector3 vec = btVector3();
89        jmeBulletUtil::convert(env, vector, &vec);
90        joint->setLinearUpperLimit(vec);
91    }
92
93    /*
94     * Class:     com_jme3_bullet_joints_SixDofJoint
95     * Method:    setLinearLowerLimit
96     * Signature: (JLcom/jme3/math/Vector3f;)V
97     */
98    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setLinearLowerLimit
99    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
100        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
101        if (joint == NULL) {
102            jclass newExc = env->FindClass("java/lang/NullPointerException");
103            env->ThrowNew(newExc, "The native object does not exist.");
104            return;
105        }
106        btVector3 vec = btVector3();
107        jmeBulletUtil::convert(env, vector, &vec);
108        joint->setLinearLowerLimit(vec);
109    }
110
111    /*
112     * Class:     com_jme3_bullet_joints_SixDofJoint
113     * Method:    setAngularUpperLimit
114     * Signature: (JLcom/jme3/math/Vector3f;)V
115     */
116    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularUpperLimit
117    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
118        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
119        if (joint == NULL) {
120            jclass newExc = env->FindClass("java/lang/NullPointerException");
121            env->ThrowNew(newExc, "The native object does not exist.");
122            return;
123        }
124        btVector3 vec = btVector3();
125        jmeBulletUtil::convert(env, vector, &vec);
126        joint->setAngularUpperLimit(vec);
127    }
128
129    /*
130     * Class:     com_jme3_bullet_joints_SixDofJoint
131     * Method:    setAngularLowerLimit
132     * Signature: (JLcom/jme3/math/Vector3f;)V
133     */
134    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_setAngularLowerLimit
135    (JNIEnv * env, jobject object, jlong jointId, jobject vector) {
136        btGeneric6DofConstraint* joint = reinterpret_cast<btGeneric6DofConstraint*>(jointId);
137        if (joint == NULL) {
138            jclass newExc = env->FindClass("java/lang/NullPointerException");
139            env->ThrowNew(newExc, "The native object does not exist.");
140            return;
141        }
142        btVector3 vec = btVector3();
143        jmeBulletUtil::convert(env, vector, &vec);
144        joint->setAngularLowerLimit(vec);
145    }
146
147    /*
148     * Class:     com_jme3_bullet_joints_SixDofJoint
149     * Method:    createJoint
150     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Matrix3f;Z)J
151     */
152    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_SixDofJoint_createJoint
153    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject rotA, jobject pivotB, jobject rotB, jboolean useLinearReferenceFrameA) {
154        jmeClasses::initJavaClasses(env);
155        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
156        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
157        btMatrix3x3 mtx1 = btMatrix3x3();
158        btMatrix3x3 mtx2 = btMatrix3x3();
159        btTransform transA = btTransform(mtx1);
160        jmeBulletUtil::convert(env, pivotA, &transA.getOrigin());
161        jmeBulletUtil::convert(env, rotA, &transA.getBasis());
162        btTransform transB = btTransform(mtx2);
163        jmeBulletUtil::convert(env, pivotB, &transB.getOrigin());
164        jmeBulletUtil::convert(env, rotB, &transB.getBasis());
165        btGeneric6DofConstraint* joint = new btGeneric6DofConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA);
166        return reinterpret_cast<jlong>(joint);
167    }
168#ifdef __cplusplus
169}
170#endif
171