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a JNI interface to Jolt Physics
The newest version!
/*
Copyright (c) 2024 Stephen Gold
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
package com.github.stephengold.joltjni;
import com.github.stephengold.joltjni.enumerate.EConstraintSubType;
import com.github.stephengold.joltjni.enumerate.EConstraintType;
import com.github.stephengold.joltjni.readonly.ConstBodyId;
import com.github.stephengold.joltjni.readonly.ConstTwoBodyConstraint;
import com.github.stephengold.joltjni.readonly.Vec3Arg;
import com.github.stephengold.joltjni.template.Ref;
/**
* A counted reference to a {@code TwoBodyConstraint}. (native type:
* {@code Ref})
*
* @author Stephen Gold [email protected]
*/
final public class TwoBodyConstraintRef
extends Ref
implements ConstTwoBodyConstraint {
// *************************************************************************
// constructors
/**
* Instantiate an empty reference.
*/
public TwoBodyConstraintRef() {
long refVa = createEmpty();
setVirtualAddress(refVa, () -> free(refVa));
}
/**
* Instantiate a reference with the specified native object assigned.
*
* @param refVa the virtual address of the native object to assign (not
* zero)
* @param owner {@code true} → make the JVM object the owner,
* {@code false} → it isn't the owner
*/
TwoBodyConstraintRef(long refVa, boolean owner) {
Runnable freeingAction = owner ? () -> free(refVa) : null;
setVirtualAddress(refVa, freeingAction);
}
// *************************************************************************
// new methods exposed
/**
* Notify the constraint that the shape of the specified body has changed
* and its center of mass has shifted by deltaCom.
*
* @param bodyId the ID of the body that changed (not null, unaffected)
* @param deltaCom the offset of the shift (not null, unaffected)
*/
public void notifyShapeChanged(ConstBodyId bodyId, Vec3Arg deltaCom) {
long constraintVa = targetVa();
long idVa = bodyId.targetVa();
float dx = deltaCom.getX();
float dy = deltaCom.getY();
float dz = deltaCom.getZ();
Constraint.notifyShapeChanged(constraintVa, idVa, dx, dy, dz);
}
// *************************************************************************
// ConstTwoBodyConstraint methods
/**
* Access the first body in the constraint. The constraint is unaffected.
*
* @return a new JVM object with the pre-existing native object assigned
*/
@Override
public Body getBody1() {
long constraintVa = targetVa();
long bodyVa = TwoBodyConstraint.getBody1(constraintVa);
Body result = new Body(bodyVa);
return result;
}
/**
* Access the 2nd body in the constraint. The constraint is unaffected.
*
* @return a new JVM object with the pre-existing native object assigned
*/
@Override
public Body getBody2() {
long constraintVa = targetVa();
long bodyVa = TwoBodyConstraint.getBody2(constraintVa);
Body result = new Body(bodyVa);
return result;
}
/**
* Calculate the coordinate transform from constraint space to body 1. The
* constraint is unaffected.
*
* @return a new transform matrix
*/
@Override
public Mat44 getConstraintToBody1Matrix() {
long constraintVa = targetVa();
long matrixVa
= TwoBodyConstraint.getConstraintToBody1Matrix(constraintVa);
Mat44 result = new Mat44(matrixVa, true);
return result;
}
/**
* Calculate the coordinate transform from constraint space to body 2. The
* constraint is unaffected.
*
* @return a new transform matrix
*/
@Override
public Mat44 getConstraintToBody2Matrix() {
long constraintVa = targetVa();
long matrixVa
= TwoBodyConstraint.getConstraintToBody2Matrix(constraintVa);
Mat44 result = new Mat44(matrixVa, true);
return result;
}
/**
* Return the constraint's priority when solving. The constraint is
* unaffected.
*
* @return the priority level
*/
@Override
public int getConstraintPriority() {
long constraintVa = targetVa();
int result = Constraint.getConstraintPriority(constraintVa);
return result;
}
/**
* Convert the constraint to a {@code ConstraintSettings} object. The
* constraint is unaffected.
*
* @return a new reference to a new settings object
*/
@Override
public ConstraintSettingsRef getConstraintSettings() {
long constraintVa = targetVa();
long settingsRefVa = Constraint.getConstraintSettings(constraintVa);
ConstraintSettingsRef result
= new ConstraintSettingsRef(settingsRefVa, true);
return result;
}
/**
* Test whether the constraint is enabled. The constraint is unaffected.
*
* @return {@code true} if enabled, otherwise {@code false}
*/
@Override
public boolean getEnabled() {
long constraintVa = targetVa();
boolean result = Constraint.getEnabled(constraintVa);
return result;
}
/**
* Return the override for the number of position iterations used in the
* solver. The constraint is unaffected.
*
* @return the number of iterations, or 0 to use the default in
* {@code PhysicsSettings}
*/
@Override
public int getNumPositionStepsOverride() {
long constraintVa = targetVa();
int result = Constraint.getNumPositionStepsOverride(constraintVa);
return result;
}
/**
* Return the override for the number of velocity iterations used in the
* solver. The constraint is unaffected.
*
* @return the number of iterations, or 0 to use the default in
* {@code PhysicsSettings}
*/
@Override
public int getNumVelocityStepsOverride() {
long constraintVa = targetVa();
int result = Constraint.getNumVelocityStepsOverride(constraintVa);
return result;
}
/**
* Return the constraint's subtype. The constraint is unaffected.
*
* @return an enum value (not null)
*/
@Override
public EConstraintSubType getSubType() {
long constraintVa = targetVa();
int ordinal = Constraint.getSubType(constraintVa);
EConstraintSubType result = EConstraintSubType.values()[ordinal];
return result;
}
/**
* Return the constraint's type. The constraint is unaffected.
*
* @return an enum value (not null)
*/
@Override
public EConstraintType getType() {
long constraintVa = targetVa();
int ordinal = Constraint.getType(constraintVa);
EConstraintType result = EConstraintType.values()[ordinal];
return result;
}
// *************************************************************************
// Ref methods
/**
* Temporarily access the referenced {@code TwoBodyConstraint}.
*
* @return a new JVM object with the pre-existing native object assigned
*/
@Override
public TwoBodyConstraint getPtr() {
long constraintVa = targetVa();
TwoBodyConstraint result
= (TwoBodyConstraint) Constraint.newConstraint(constraintVa);
return result;
}
/**
* Return the address of the native {@code TwoBodyConstraint}. No objects
* are affected.
*
* @return a virtual address (not zero)
*/
@Override
public long targetVa() {
long refVa = va();
long result = getPtr(refVa);
return result;
}
/**
* Create another counted reference to the native {@code TwoBodyConstraint}.
*
* @return a new JVM object with a new native object assigned
*/
@Override
public TwoBodyConstraintRef toRef() {
long refVa = va();
long copyVa = copy(refVa);
TwoBodyConstraintRef result = new TwoBodyConstraintRef(copyVa, true);
return result;
}
// *************************************************************************
// native private methods
native private static long copy(long refVa);
native private static long createEmpty();
native private static void free(long refVa);
native private static long getPtr(long refVa);
}