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_HingeJoint.h"
37#include "jmeBulletUtil.h"
38
39#ifdef __cplusplus
40extern "C" {
41#endif
42
43    /*
44     * Class:     com_jme3_bullet_joints_HingeJoint
45     * Method:    enableMotor
46     * Signature: (JZFF)V
47     */
48    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_enableMotor
49    (JNIEnv * env, jobject object, jlong jointId, jboolean enable, jfloat targetVelocity, jfloat maxMotorImpulse) {
50        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(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        joint->enableAngularMotor(enable, targetVelocity, maxMotorImpulse);
57    }
58
59    /*
60     * Class:     com_jme3_bullet_joints_HingeJoint
61     * Method:    getEnableAngularMotor
62     * Signature: (J)Z
63     */
64    JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_joints_HingeJoint_getEnableAngularMotor
65    (JNIEnv * env, jobject object, jlong jointId) {
66        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(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 false;
71        }
72        return joint->getEnableAngularMotor();
73    }
74
75    /*
76     * Class:     com_jme3_bullet_joints_HingeJoint
77     * Method:    getMotorTargetVelocity
78     * Signature: (J)F
79     */
80    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMotorTargetVelocity
81    (JNIEnv * env, jobject object, jlong jointId) {
82        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(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 0;
87        }
88        return joint->getMotorTargetVelosity();
89    }
90
91    /*
92     * Class:     com_jme3_bullet_joints_HingeJoint
93     * Method:    getMaxMotorImpulse
94     * Signature: (J)F
95     */
96    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getMaxMotorImpulse
97    (JNIEnv * env, jobject object, jlong jointId) {
98        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
99        if (joint == NULL) {
100            jclass newExc = env->FindClass("java/lang/NullPointerException");
101            env->ThrowNew(newExc, "The native object does not exist.");
102            return 0;
103        }
104        return joint->getMaxMotorImpulse();
105    }
106
107    /*
108     * Class:     com_jme3_bullet_joints_HingeJoint
109     * Method:    setLimit
110     * Signature: (JFF)V
111     */
112    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFF
113    (JNIEnv * env, jobject object, jlong jointId, jfloat low, jfloat high) {
114        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
115        if (joint == NULL) {
116            jclass newExc = env->FindClass("java/lang/NullPointerException");
117            env->ThrowNew(newExc, "The native object does not exist.");
118            return;
119        }
120        return joint->setLimit(low, high);
121    }
122
123    /*
124     * Class:     com_jme3_bullet_joints_HingeJoint
125     * Method:    setLimit
126     * Signature: (JFFFFF)V
127     */
128    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setLimit__JFFFFF
129    (JNIEnv * env, jobject object, jlong jointId, jfloat low, jfloat high, jfloat softness, jfloat biasFactor, jfloat relaxationFactor) {
130        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
131        if (joint == NULL) {
132            jclass newExc = env->FindClass("java/lang/NullPointerException");
133            env->ThrowNew(newExc, "The native object does not exist.");
134            return;
135        }
136        return joint->setLimit(low, high, softness, biasFactor, relaxationFactor);
137    }
138
139    /*
140     * Class:     com_jme3_bullet_joints_HingeJoint
141     * Method:    getUpperLimit
142     * Signature: (J)F
143     */
144    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getUpperLimit
145    (JNIEnv * env, jobject object, jlong jointId) {
146        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
147        if (joint == NULL) {
148            jclass newExc = env->FindClass("java/lang/NullPointerException");
149            env->ThrowNew(newExc, "The native object does not exist.");
150            return 0;
151        }
152        return joint->getUpperLimit();
153    }
154
155    /*
156     * Class:     com_jme3_bullet_joints_HingeJoint
157     * Method:    getLowerLimit
158     * Signature: (J)F
159     */
160    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getLowerLimit
161    (JNIEnv * env, jobject object, jlong jointId) {
162        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
163        if (joint == NULL) {
164            jclass newExc = env->FindClass("java/lang/NullPointerException");
165            env->ThrowNew(newExc, "The native object does not exist.");
166            return 0;
167        }
168        return joint->getLowerLimit();
169    }
170
171    /*
172     * Class:     com_jme3_bullet_joints_HingeJoint
173     * Method:    setAngularOnly
174     * Signature: (JZ)V
175     */
176    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_HingeJoint_setAngularOnly
177    (JNIEnv * env, jobject object, jlong jointId, jboolean angular) {
178        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
179        if (joint == NULL) {
180            jclass newExc = env->FindClass("java/lang/NullPointerException");
181            env->ThrowNew(newExc, "The native object does not exist.");
182            return;
183        }
184        joint->setAngularOnly(angular);
185    }
186
187    /*
188     * Class:     com_jme3_bullet_joints_HingeJoint
189     * Method:    getHingeAngle
190     * Signature: (J)F
191     */
192    JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_HingeJoint_getHingeAngle
193    (JNIEnv * env, jobject object, jlong jointId) {
194        btHingeConstraint* joint = reinterpret_cast<btHingeConstraint*>(jointId);
195        if (joint == NULL) {
196            jclass newExc = env->FindClass("java/lang/NullPointerException");
197            env->ThrowNew(newExc, "The native object does not exist.");
198            return 0;
199        }
200        return joint->getHingeAngle();
201    }
202
203    /*
204     * Class:     com_jme3_bullet_joints_HingeJoint
205     * Method:    createJoint
206     * Signature: (JJLcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;Lcom/jme3/math/Vector3f;)J
207     */
208    JNIEXPORT jlong JNICALL Java_com_jme3_bullet_joints_HingeJoint_createJoint
209    (JNIEnv * env, jobject object, jlong bodyIdA, jlong bodyIdB, jobject pivotA, jobject axisA, jobject pivotB, jobject axisB) {
210        jmeClasses::initJavaClasses(env);
211        btRigidBody* bodyA = reinterpret_cast<btRigidBody*>(bodyIdA);
212        btRigidBody* bodyB = reinterpret_cast<btRigidBody*>(bodyIdB);
213        btVector3 vec1 = btVector3();
214        btVector3 vec2 = btVector3();
215        btVector3 vec3 = btVector3();
216        btVector3 vec4 = btVector3();
217        jmeBulletUtil::convert(env, pivotA, &vec1);
218        jmeBulletUtil::convert(env, pivotB, &vec2);
219        jmeBulletUtil::convert(env, axisA, &vec3);
220        jmeBulletUtil::convert(env, axisB, &vec4);
221        btHingeConstraint* joint = new btHingeConstraint(*bodyA, *bodyB, vec1, vec2, vec3, vec4);
222        return reinterpret_cast<jlong>(joint);
223    }
224#ifdef __cplusplus
225}
226#endif
227