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a JNI interface to Jolt Physics
/*
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.EConstraintSpace;
import com.github.stephengold.joltjni.enumerate.EConstraintSubType;
import com.github.stephengold.joltjni.readonly.RVec3Arg;
import com.github.stephengold.joltjni.readonly.Vec3Arg;
/**
* Settings used to construct a {@code HingeConstraint}.
*
* @author Stephen Gold [email protected]
*/
public class HingeConstraintSettings extends TwoBodyConstraintSettings {
// *************************************************************************
// constructors
/**
* Instantiate with the specified native object assigned but not owned.
*
* @param settingsVa the virtual address of the native object to assign (not
* zero)
*/
HingeConstraintSettings(long settingsVa) {
super(settingsVa);
setSubType(EConstraintSubType.Hinge);
}
/**
* Instantiate default settings.
*/
public HingeConstraintSettings() {
long settingsVa = createHingeConstraintSettings();
setVirtualAddress(settingsVa, null); // not owner due to ref counting
setSubType(EConstraintSubType.Hinge);
}
// *************************************************************************
// new methods exposed
/**
* Copy the hinge axis of body 1. The settings are unaffected. (native
* attribute: mHingeAxis1)
*
* @return a new direction vector
*/
public Vec3 getHingeAxis1() {
long settingsVa = va();
float x = getHingeAxis1X(settingsVa);
float y = getHingeAxis1Y(settingsVa);
float z = getHingeAxis1Z(settingsVa);
Vec3 result = new Vec3(x, y, z);
return result;
}
/**
* Copy the hinge axis of body 2. The settings are unaffected. (native
* attribute: mHingeAxis2)
*
* @return a new direction vector
*/
public Vec3 getHingeAxis2() {
long settingsVa = va();
float x = getHingeAxis2X(settingsVa);
float y = getHingeAxis2Y(settingsVa);
float z = getHingeAxis2Z(settingsVa);
Vec3 result = new Vec3(x, y, z);
return result;
}
/**
* Return the upper limit of rotation. The settings are unaffected. (native
* attribute: mLimitsMax)
*
* @return the upper limit (in radians)
*/
public float getLimitsMax() {
long settingsVa = va();
float result = getLimitsMax(settingsVa);
return result;
}
/**
* Return the lower limit of rotation. The settings are unaffected. (native
* attribute: mLimitsMin)
*
* @return the lower limit (in radians)
*/
public float getLimitsMin() {
long settingsVa = va();
float result = getLimitsMin(settingsVa);
return result;
}
/**
* Access the spring settings. The constraint settings are unaffected.
* (native attribute: mLimitsSpringSettings)
*
* @return a new JVM object with the pre-existing native object assigned
*/
public SpringSettings getLimitsSpringSettings() {
long constraintSettingsVa = va();
long springSettingsVa
= getLimitsSpringSettings(constraintSettingsVa);
SpringSettings result = new SpringSettings(this, springSettingsVa);
return result;
}
/**
* Return the maximum friction torque when not driven by a motor. The
* settings are unaffected. (native attribute: mMaxFrictionTorque)
*
* @return the torque (in Newton-meters)
*/
public float getMaxFrictionTorque() {
long settingsVa = va();
float result = getMaxFrictionTorque(settingsVa);
return result;
}
/**
* Access the motor settings. The constraint settings are unaffected.
* (native attribute: mMotorSettings)
*
* @return a new JVM object with the pre-existing native object assigned
*/
public MotorSettings getMotorSettings() {
long constraintSettingsVa = va();
long motorSettingsVa
= getMotorSettings(constraintSettingsVa);
MotorSettings result = new MotorSettings(this, motorSettingsVa);
return result;
}
/**
* Copy the normal axis of body 1. The settings are unaffected. (native
* attribute: mNormalAxis1)
*
* @return a new direction vector
*/
public Vec3 getNormalAxis1() {
long settingsVa = va();
float x = getNormalAxis1X(settingsVa);
float y = getNormalAxis1Y(settingsVa);
float z = getNormalAxis1Z(settingsVa);
Vec3 result = new Vec3(x, y, z);
return result;
}
/**
* Copy the normal axis of body 2. The settings are unaffected. (native
* attribute: mNormalAxis2)
*
* @return a new direction vector
*/
public Vec3 getNormalAxis2() {
long settingsVa = va();
float x = getNormalAxis2X(settingsVa);
float y = getNormalAxis2Y(settingsVa);
float z = getNormalAxis2Z(settingsVa);
Vec3 result = new Vec3(x, y, z);
return result;
}
/**
* Copy the constraint location for body 1. The settings are unaffected.
* (native attribute: mPoint1)
*
* @return a new location vector
*/
public RVec3 getPoint1() {
long settingsVa = va();
double x = getPoint1X(settingsVa);
double y = getPoint1Y(settingsVa);
double z = getPoint1Z(settingsVa);
RVec3 result = new RVec3(x, y, z);
return result;
}
/**
* Copy the constraint location for body 2. The settings are unaffected.
* (native attribute: mPoint2)
*
* @return a new location vector
*/
public RVec3 getPoint2() {
long settingsVa = va();
double x = getPoint2X(settingsVa);
double y = getPoint2Y(settingsVa);
double z = getPoint2Z(settingsVa);
RVec3 result = new RVec3(x, y, z);
return result;
}
/**
* Return which space the other properties are specified in. The settings
* are unaffected. (native attribute: mSpace)
*
* @return an enum value (not null)
*/
public EConstraintSpace getSpace() {
long settingsVa = va();
int ordinal = getSpace(settingsVa);
EConstraintSpace result = EConstraintSpace.values()[ordinal];
return result;
}
/**
* Alter the hinge axis of body 1. (native attribute: mHingeAxis1)
*
* @param direction the desired axis direction (not null, unaffected,
* default=(0,1,0))
* @return the argument, for chaining
*/
public Vec3Arg setHingeAxis1(Vec3Arg direction) {
long settingsVa = va();
float x = direction.getX();
float y = direction.getY();
float z = direction.getZ();
setHingeAxis1(settingsVa, x, y, z);
return direction;
}
/**
* Alter the hinge axis of body 2. (native attribute: mHingeAxis2)
*
* @param direction the desired axis direction (not null, unaffected,
* default=(0,1,0))
* @return the argument, for chaining
*/
public Vec3Arg setHingeAxis2(Vec3Arg direction) {
long settingsVa = va();
float x = direction.getX();
float y = direction.getY();
float z = direction.getZ();
setHingeAxis2(settingsVa, x, y, z);
return direction;
}
/**
* Alter the upper limit of rotation. (native attribute: mLimitsMax)
*
* @param limit the desired upper limit (in radians, default=Pi)
*/
public void setLimitsMax(float limit) {
long settingsVa = va();
setLimitsMax(settingsVa, limit);
}
/**
* Alter the lower limit of rotation. (native attribute: mLimitsMin)
*
* @param limit the desired lower limit (default=-Pi)
*/
public void setLimitsMin(float limit) {
long settingsVa = va();
setLimitsMin(settingsVa, limit);
}
/**
* Alter the maximum friction torque when not driven by a motor. (native
* attribute: mMaxFrictionTorque)
*
* @param torque the desired torque (in Newton-meters, default=0)
*/
public void setMaxFrictionTorque(float torque) {
long settingsVa = va();
setMaxFrictionTorque(settingsVa, torque);
}
/**
* Alter the constraint's motor settings. (native attribute: mMotorSettings)
*
* @param settings the motor settings to copy (not null, unaffected)
*/
public void setMotorSettings(MotorSettings settings) {
long constraintSettingsVa = va();
long motorSettingsVa = settings.va();
setMotorSettings(constraintSettingsVa, motorSettingsVa);
}
/**
* Alter the normal axis of body 1. (native attribute: mNormalAxis1)
*
* @param direction the desired axis direction (not null, unaffected,
* default=(0,1,0))
* @return the argument, for chaining
*/
public Vec3Arg setNormalAxis1(Vec3Arg direction) {
long settingsVa = va();
float x = direction.getX();
float y = direction.getY();
float z = direction.getZ();
setNormalAxis1(settingsVa, x, y, z);
return direction;
}
/**
* Alter the normal axis of body 2. (native attribute: mNormalAxis2)
*
* @param direction the desired axis direction (not null, unaffected,
* default=(0,1,0))
* @return the argument, for chaining
*/
public Vec3Arg setNormalAxis2(Vec3Arg direction) {
long settingsVa = va();
float x = direction.getX();
float y = direction.getY();
float z = direction.getZ();
setNormalAxis2(settingsVa, x, y, z);
return direction;
}
/**
* Alter the constraint location for body 1. (native attribute: mPoint1)
*
* @param location the desired location (not null, unaffected,
* default=(0,0,0))
* @return the argument, for chaining
*/
public RVec3Arg setPoint1(RVec3Arg location) {
long settingsVa = va();
double x = location.xx();
double y = location.yy();
double z = location.zz();
setPoint1(settingsVa, x, y, z);
return location;
}
/**
* Alter the constraint location for body 2. (native attribute: mPoint2)
*
* @param location the desired location (not null, unaffected,
* default=(0,0,0))
* @return the argument, for chaining
*/
public RVec3Arg setPoint2(RVec3Arg location) {
long settingsVa = va();
double x = location.xx();
double y = location.yy();
double z = location.zz();
setPoint2(settingsVa, x, y, z);
return location;
}
/**
* Alter which space the other properties are specified in. (native
* attribute: mSpace)
*
* @param space enum value (not null, default=WorldSpace)
*/
public void setSpace(EConstraintSpace space) {
long settingsVa = va();
int ordinal = space.ordinal();
setSpace(settingsVa, ordinal);
}
// *************************************************************************
// native private methods
native private static long createHingeConstraintSettings();
native private static float getHingeAxis1X(long settingsVa);
native private static float getHingeAxis1Y(long settingsVa);
native private static float getHingeAxis1Z(long settingsVa);
native private static float getHingeAxis2X(long settingsVa);
native private static float getHingeAxis2Y(long settingsVa);
native private static float getHingeAxis2Z(long settingsVa);
native private static float getLimitsMax(long settingsVa);
native private static float getLimitsMin(long settingsVa);
native private static long getLimitsSpringSettings(
long constraintSettingsVa);
native private static float getMaxFrictionTorque(long settingsVa);
native private static long getMotorSettings(long constraintSettingsVa);
native private static float getNormalAxis1X(long settingsVa);
native private static float getNormalAxis1Y(long settingsVa);
native private static float getNormalAxis1Z(long settingsVa);
native private static float getNormalAxis2X(long settingsVa);
native private static float getNormalAxis2Y(long settingsVa);
native private static float getNormalAxis2Z(long settingsVa);
native private static double getPoint1X(long settingsVa);
native private static double getPoint1Y(long settingsVa);
native private static double getPoint1Z(long settingsVa);
native private static double getPoint2X(long settingsVa);
native private static double getPoint2Y(long settingsVa);
native private static double getPoint2Z(long settingsVa);
native private static int getSpace(long settingsVa);
native private static void setHingeAxis1(
long settingsVa, float x, float y, float z);
native private static void setHingeAxis2(
long settingsVa, float x, float y, float z);
native private static void setLimitsMax(long settingsVa, float limit);
native private static void setLimitsMin(long settingsVa, float limit);
native private static void setMaxFrictionTorque(
long settingsVa, float torque);
native private static void setMotorSettings(
long constraintSettingsVa, long motorSettingsVa);
native private static void setNormalAxis1(
long settingsVa, float x, float y, float z);
native private static void setNormalAxis2(
long settingsVa, float x, float y, float z);
native private static void setPoint1(
long settingsVa, double x, double y, double z);
native private static void setPoint2(
long settingsVa, double x, double y, double z);
native private static void setSpace(long settingsVa, int ordinal);
}