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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.readonly.Vec3Arg;
import com.github.stephengold.joltjni.template.Ref;
import com.github.stephengold.joltjni.template.RefTarget;
import java.util.ArrayList;
import java.util.List;
/**
* Settings used to construct a {@code VehicleConstraint}.
*
* @author Stephen Gold [email protected]
*/
public class VehicleConstraintSettings extends ConstraintSettings {
// *************************************************************************
// fields
/**
* references to all wheel settings that have been added, in their order of
* addition
*/
final private List wheelRefs = new ArrayList<>(4);
/**
* reference to the controller settings
*/
private VehicleControllerSettingsRef controllerRef;
// *************************************************************************
// constructors
/**
* Instantiate default settings.
*/
public VehicleConstraintSettings() {
long settingsVa = createDefault();
setVirtualAddress(settingsVa, null); // not owner due to ref counting
setSubType(EConstraintSubType.Vehicle);
}
/**
* Instantiate with the specified native object assigned but not owned.
*
* @param settingsVa the virtual address of the native object to assign (not
* zero)
*/
VehicleConstraintSettings(long settingsVa) {
super(settingsVa);
setSubType(EConstraintSubType.Vehicle);
}
// *************************************************************************
// new methods exposed
/**
* Append the specified wheel settings. (native attribute: mWheels)
*
* @param wheelSettingsArray the wheel settings to append
*/
public void addWheels(WheelSettings... wheelSettingsArray) {
long constraintSettingsVa = va();
for (WheelSettings wheelSettings : wheelSettingsArray) {
Ref ref = wheelSettings.toRef();
wheelRefs.add(ref);
long wheelSettingsVa = wheelSettings.va();
addWheel(constraintSettingsVa, wheelSettingsVa);
}
}
/**
* Access the controller settings.
*
* @return a new JVM object with the pre-existing native object assigned
*/
public VehicleControllerSettings getController() {
VehicleControllerSettings result = controllerRef.getPtr();
return result;
}
/**
* Copy the "forward" vector. The settings are unaffected. (native
* attribute: mForward)
*
* @return a new direction vector
*/
public Vec3 getForward() {
long settingsVa = va();
float dx = getForwardX(settingsVa);
float dy = getForwardY(settingsVa);
float dz = getForwardZ(settingsVa);
Vec3 result = new Vec3(dx, dy, dz);
return result;
}
/**
* Return the vehicle's maximum pitch/roll angle. The settings are
* unaffected. (native attribute: mMaxPitchRollAngle)
*
* @return the angle (in radians)
*/
public float getMaxPitchRollAngle() {
long constraintSettingsVa = va();
float result = getMaxPitchRollAngle(constraintSettingsVa);
return result;
}
/**
* Count the wheels. The settings are unaffected. (native attribute:
* mWheels)
*
* @return the count (≥0)
*/
public int getNumWheels() {
int result = wheelRefs.size();
return result;
}
/**
* Enumerate the wheel settings. The settings are unaffected. (native
* attribute: mWheels)
*
* @return a new array of pre-existing objects
*/
public WheelSettings[] getWheels() {
int numWheels = wheelRefs.size();
WheelSettings[] result = new WheelSettings[numWheels];
for (int i = 0; i < numWheels; ++i) {
Ref r = wheelRefs.get(i);
RefTarget t = r.getPtr();
result[i] = (WheelSettings) t;
}
return result;
}
/**
* Copy the "up" vector. The settings are unaffected. (native attribute:
* mUp)
*
* @return a new direction vector
*/
public Vec3 getUp() {
long settingsVa = va();
float dx = getUpX(settingsVa);
float dy = getUpY(settingsVa);
float dz = getUpZ(settingsVa);
Vec3 result = new Vec3(dx, dy, dz);
return result;
}
/**
* Alter the how the vehicle accelerates and decelerates. (native attribute:
* mController)
*
* @param controllerSettings the desired settings (not null)
*/
public void setController(VehicleControllerSettings controllerSettings) {
this.controllerRef = controllerSettings.toRef();
long constraintSettingsVa = va();
long controllerSettingsVa = controllerSettings.va();
setController(constraintSettingsVa, controllerSettingsVa);
int controllerType = controllerSettings.controllerTypeOrdinal();
ConstraintSettings.setControllerType(
constraintSettingsVa, controllerType);
}
/**
* Alter the forward direction. (native attribute: mForward)
*
* @param forward the desired forward direction (not null, unaffected,
* default=(0,0,1))
*/
public void setForward(Vec3Arg forward) {
long settingsVa = va();
float dx = forward.getX();
float dy = forward.getY();
float dz = forward.getZ();
setForward(settingsVa, dx, dy, dz);
}
/**
* Alter the vehicle's maximum pitch/roll angle. (native attribute:
* mMaxPitchRollAngle)
*
* @param angle the desired limit (in radians, default=Pi)
*/
public void setMaxPitchRollAngle(float angle) {
long constraintSettingsVa = va();
setMaxPitchRollAngle(constraintSettingsVa, angle);
}
/**
* Alter the up direction. (native attribute: mUp)
*
* @param up the desired up direction (not null, unaffected,
* default=(0,1,0))
*/
public void setUp(Vec3Arg up) {
long settingsVa = va();
float dx = up.getX();
float dy = up.getY();
float dz = up.getZ();
setUp(settingsVa, dx, dy, dz);
}
// *************************************************************************
// native private methods
native private static void addWheel(
long constraintSettingsVa, long wheelSettingsVa);
native private static long createDefault();
native private static float getMaxPitchRollAngle(long constraintSettingsVa);
native private static float getForwardX(long settingsVa);
native private static float getForwardY(long settingsVa);
native private static float getForwardZ(long settingsVa);
native private static float getUpX(long settingsVa);
native private static float getUpY(long settingsVa);
native private static float getUpZ(long settingsVa);
native private static void setController(
long constraintSettingsVa, long controllerSettingsVa);
native private static void setForward(
long settingsVa, float dx, float dy, float dz);
native private static void setMaxPitchRollAngle(
long constraintSettingsVa, float angle);
native private static void setUp(
long settingsVa, float dx, float dy, float dz);
}