159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/* 259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Copyright (c) 2009-2010 jMonkeyEngine 359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * All rights reserved. 459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Redistribution and use in source and binary forms, with or without 659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * modification, are permitted provided that the following conditions are 759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * met: 859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Redistributions of source code must retain the above copyright 1059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * notice, this list of conditions and the following disclaimer. 1159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 1259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Redistributions in binary form must reproduce the above copyright 1359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * notice, this list of conditions and the following disclaimer in the 1459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * documentation and/or other materials provided with the distribution. 1559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 1659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * * Neither the name of 'jMonkeyEngine' nor the names of its contributors 1759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * may be used to endorse or promote products derived from this software 1859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * without specific prior written permission. 1959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * 2059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 2159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 2259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 2359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 2459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 2559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 2659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 2759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 2859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 2959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 3059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 3159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 3259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 3359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta/** 3459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Author: Normen Hansen 3559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 3659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include "com_jme3_bullet_joints_Point2PointJoint.h" 3759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#include "jmeBulletUtil.h" 3859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 3959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef __cplusplus 4059b2e6871c65f58fdad78cd7229c292f6a177578Scott Bartaextern "C" { 4159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 4259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 4359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 4459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 4559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: setDamping 4659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (JF)V 4759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 4859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setDamping 4959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong jointId, jfloat damping) { 5059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId); 5159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (joint == NULL) { 5259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jclass newExc = env->FindClass("java/lang/NullPointerException"); 5359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->ThrowNew(newExc, "The native object does not exist."); 5459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 5559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 5659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta joint->m_setting.m_damping = damping; 5759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 5859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 5959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 6059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 6159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: setImpulseClamp 6259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (JF)V 6359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 6459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setImpulseClamp 6559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong jointId, jfloat clamp) { 6659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId); 6759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (joint == NULL) { 6859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jclass newExc = env->FindClass("java/lang/NullPointerException"); 6959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->ThrowNew(newExc, "The native object does not exist."); 7059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 7159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta joint->m_setting.m_impulseClamp = clamp; 7359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 7459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 7559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 7659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 7759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: setTau 7859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (JF)V 7959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 8059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setTau 8159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong jointId, jfloat tau) { 8259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId); 8359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (joint == NULL) { 8459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jclass newExc = env->FindClass("java/lang/NullPointerException"); 8559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->ThrowNew(newExc, "The native object does not exist."); 8659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return; 8759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 8859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta joint->m_setting.m_tau = tau; 8959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 9059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 9159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 9259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 9359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: getDamping 9459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (J)F 9559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 9659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getDamping 9759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong jointId) { 9859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId); 9959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (joint == NULL) { 10059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jclass newExc = env->FindClass("java/lang/NullPointerException"); 10159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->ThrowNew(newExc, "The native object does not exist."); 10259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return 0; 10359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 10459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return joint->m_setting.m_damping; 10559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 10659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 10759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 10859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 10959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: getImpulseClamp 11059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (J)F 11159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 11259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getImpulseClamp 11359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong jointId) { 11459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId); 11559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (joint == NULL) { 11659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jclass newExc = env->FindClass("java/lang/NullPointerException"); 11759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->ThrowNew(newExc, "The native object does not exist."); 11859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return 0; 11959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 12059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return joint->m_setting.m_damping; 12159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 12259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 12359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 12459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 12559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: getTau 12659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (J)F 12759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 12859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getTau 12959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong jointId) { 13059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btPoint2PointConstraint* joint = reinterpret_cast<btPoint2PointConstraint*>(jointId); 13159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta if (joint == NULL) { 13259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jclass newExc = env->FindClass("java/lang/NullPointerException"); 13359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta env->ThrowNew(newExc, "The native object does not exist."); 13459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return 0; 13559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return joint->m_setting.m_damping; 13759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 13859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 13959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta /* 14059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Class: com_jme3_bullet_joints_Point2PointJoint 14159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Method: createJoint 14259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J 14359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta */ 14459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_createJoint 14559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject pivotB) { 14659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeClasses::initJavaClasses(env); 14759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA); 14859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB); 14959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta //TODO: matrix not needed? 15059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btMatrix3x3 mtx1 = btMatrix3x3(); 15159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btMatrix3x3 mtx2 = btMatrix3x3(); 15259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btTransform transA = btTransform(mtx1); 15359b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeBulletUtil::convert(env, pivotA, &transA.getOrigin()); 15459b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btTransform transB = btTransform(mtx2); 15559b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta jmeBulletUtil::convert(env, pivotB, &transB.getOrigin()); 15659b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta btHingeConstraint* joint = new btHingeConstraint(*bodyA, *bodyB, transA, transB); 15759b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta return reinterpret_cast<jlong>(joint); 15859b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta } 15959b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta 16059b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#ifdef __cplusplus 16159b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta} 16259b2e6871c65f58fdad78cd7229c292f6a177578Scott Barta#endif 163