add the VehicleConstraint class

src/main/java/com/github/stephengold/joltjni/Constraint.java

@@ -36,6 +36,12 @@ abstract public class Constraint extends NonCopyable
     // *************************************************************************
     // constructors
 
+    /**
+     * Instantiate a constraint with no native object assigned.
+     */
+    Constraint() {
+    }
+
     /**
      * Instantiate a constraint with the specified native object assigned but
      * not owned.
@@ -88,6 +94,9 @@ static Constraint newConstraint(long constraintVa) {
             case Slider:
                 result = new SliderConstraint(constraintVa);
                 break;
+            case Vehicle:
+                result = new VehicleConstraint(constraintVa);
+                break;
             default:
                 throw new IllegalArgumentException("subType = " + subType);
         }

src/main/java/com/github/stephengold/joltjni/VehicleConstraint.java

@@ -0,0 +1,203 @@
+/*
+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.readonly.Vec3Arg;
+
+/**
+ * A constraint used in vehicle simulation.
+ *
+ * @author Stephen Gold [email protected]
+ */
+public class VehicleConstraint
+        extends Constraint
+        implements PhysicsStepListener {
+    // *************************************************************************
+    // constructors
+
+    /**
+     * protect the collision tester (if any) from garbage collection
+     */
+    private VehicleCollisionTester tester;
+    // *************************************************************************
+    // constructors
+
+    /**
+     * Instantiate a constraint using the specified body and settings.
+     *
+     * @param body the body to which the constraint will apply (not null)
+     * @param settings the desired settings (not null, unaffected)
+     */
+    public VehicleConstraint(Body body, VehicleConstraintSettings settings) {
+        long bodyVa = body.va();
+        long settingsVa = settings.va();
+        long constraintVa = createConstraint(bodyVa, settingsVa);
+        setVirtualAddress(constraintVa, false);
+        // not the owner due to ref counting
+    }
+
+    /**
+     * Instantiate a constraint with the specified native object assigned but
+     * not owned.
+     *
+     * @param constraintVa the virtual address of the native object to assign
+     * (not zero)
+     */
+    VehicleConstraint(long constraintVa) {
+        super(constraintVa);
+    }
+    // *************************************************************************
+    // new methods exposed
+
+    /**
+     * Access the controller for this constraint.
+     *
+     * @return a new JVM object with the pre-existing native object assigned
+     */
+    public VehicleController getController() {
+        long constraintVa = va();
+        long controllerVa = getController(constraintVa);
+        VehicleController result = new VehicleController(this, controllerVa);
+
+        return result;
+    }
+
+    /**
+     * Access the vehicle body.
+     *
+     * @return a new JVM object with the pre-existing native object assigned
+     */
+    public Body getVehicleBody() {
+        long constraintVa = va();
+        long bodyVa = getVehicleBody(constraintVa);
+        Body result = new Body(bodyVa);
+
+        return result;
+    }
+
+    /**
+     * Access the underlying tester, if any.
+     *
+     * @return the pre-existing instance or {@code null} if none
+     */
+    public VehicleCollisionTester getVehicleCollisionTester() {
+        return tester;
+    }
+
+    /**
+     * Access the specified wheel.
+     *
+     * @param wheelIndex the index of the wheel to access (≥0)
+     * @return a new JVM object with the pre-existing native object assigned
+     */
+    public Wheel getWheel(int wheelIndex) {
+        long constraintVa = va();
+        long wheelVa = getWheel(constraintVa, wheelIndex);
+        Wheel result = new Wheel(wheelVa);
+
+        return result;
+    }
+
+    /**
+     * Copy the world transform of the specified wheel.
+     *
+     * @param wheelIndex the index of the wheel to query (≥0)
+     * @param right the wheel's axis of rotation (a unit vector in the wheel's
+     * model space)
+     * @param up the "up" direction (a unit vector in the wheel's model space)
+     * @return a new coordinate transform matrix
+     */
+    public RMat44 getWheelWorldTransform(
+            int wheelIndex, Vec3Arg right, Vec3Arg up) {
+        long constraintVa = va();
+        float rx = right.getX();
+        float ry = right.getY();
+        float rz = right.getZ();
+        float ux = up.getX();
+        float uy = up.getY();
+        float uz = up.getZ();
+        long matrixVa = getWheelWorldTransform(
+                constraintVa, wheelIndex, rx, ry, rz, ux, uy, uz);
+        RMat44 result = new RMat44(matrixVa, true);
+
+        return result;
+    }
+
+    /**
+     * Return the number of simulation steps between wheel collision tests when
+     * the vehicle is active.
+     *
+     * @param numSteps the desired number of steps (0=never test, 1=test every
+     * step, 2=test every other step, default=1)
+     */
+    public void setNumStepsBetweenCollisionTestActive(int numSteps) {
+        long constraintVa = va();
+        setNumStepsBetweenCollisionTestActive(constraintVa, numSteps);
+    }
+
+    /**
+     * Return the number of simulation steps between wheel collision tests when
+     * the vehicle is inactive.
+     *
+     * @param numSteps the desired number of steps (0=never, 1=every step,
+     * 2=every other step, default=1)
+     */
+    public void setNumStepsBetweenCollisionTestInactive(int numSteps) {
+        long constraintVa = va();
+        setNumStepsBetweenCollisionTestInactive(constraintVa, numSteps);
+    }
+
+    /**
+     * Replace the collision tester.
+     *
+     * @param tester the desired tester (not null, alias created)
+     */
+    public void setVehicleCollisionTester(VehicleCollisionTester tester) {
+        this.tester = tester;
+        long constraintVa = va();
+        long testerVa = tester.va();
+        setVehicleCollisionTester(constraintVa, testerVa);
+    }
+    // *************************************************************************
+    // native private methods
+
+    native private static long createConstraint(long bodyVa, long settingsVa);
+
+    native private static long getController(long constraintVa);
+
+    native private static long getVehicleBody(long constraintVa);
+
+    native private static long getWheel(long constraintVa, int wheelIndex);
+
+    native private static long getWheelWorldTransform(
+            long constraintVa, int wheelIndex, float rx, float ry, float rz,
+            float ux, float uy, float uz);
+
+    native private static void setNumStepsBetweenCollisionTestActive(
+            long constraintVa, int numSteps);
+
+    native private static void setNumStepsBetweenCollisionTestInactive(
+            long constraintVa, int numSteps);
+
+    native private static void setVehicleCollisionTester(
+            long constraintVa, long testerVa);
+}

src/main/native/glue/v/VehicleConstraint.cpp

@@ -0,0 +1,143 @@
+/*
+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.
+ */
+
+/*
+ * Author: Stephen Gold
+ */
+#include "Jolt/Jolt.h"
+#include "Jolt/Physics/Vehicle/VehicleConstraint.h"
+#include "auto/com_github_stephengold_joltjni_VehicleConstraint.h"
+#include "glue/glue.h"
+
+using namespace JPH;
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    createConstraint
+ * Signature: (JJ)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_createConstraint
+  (JNIEnv *, jclass, jlong bodyVa, jlong settingsVa) {
+    Body * const pBody = reinterpret_cast<Body *> (bodyVa);
+    VehicleConstraintSettings * const pSettings
+            = reinterpret_cast<VehicleConstraintSettings *> (settingsVa);
+    VehicleConstraint * const pResult
+            = new VehicleConstraint(*pBody, *pSettings);
+    TRACE_NEW("VehicleConstraint", pResult)
+    return reinterpret_cast<jlong> (pResult);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    getController
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_getController
+  (JNIEnv *, jclass, jlong constraintVa) {
+    VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    VehicleController * const pResult = pConstraint->GetController();
+    return reinterpret_cast<jlong> (pResult);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    getVehicleBody
+ * Signature: (J)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_getVehicleBody
+  (JNIEnv *, jclass, jlong constraintVa) {
+    VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    Body * const pResult = pConstraint->GetVehicleBody();
+    return reinterpret_cast<jlong> (pResult);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    getWheel
+ * Signature: (JI)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_getWheel
+  (JNIEnv *, jclass, jlong constraintVa, jint wheelIndex) {
+    VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    Wheel * const pResult = pConstraint->GetWheel(wheelIndex);
+    return reinterpret_cast<jlong> (pResult); 	
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    getWheelWorldTransform
+ * Signature: (JIFFFFFF)J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_getWheelWorldTransform
+  (JNIEnv *, jclass, jlong constraintVa, jint wheelIndex, jfloat rx, jfloat ry, jfloat rz,
+  jfloat ux, jfloat uy, jfloat uz) {
+    const VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    const Vec3 right(rx, ry, rz);
+    const Vec3 up(ux, uy, uz);
+    const RMat44 matrix
+            = pConstraint->GetWheelWorldTransform(wheelIndex, right, up);
+    RMat44 * const pResult = new RMat44(matrix);
+    TRACE_NEW("RMat44", pResult)
+    return reinterpret_cast<jlong> (pResult);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    setNumStepsBetweenCollisionTestActive
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_setNumStepsBetweenCollisionTestActive
+  (JNIEnv *, jclass, jlong constraintVa, jint numSteps) {
+    VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    pConstraint->SetNumStepsBetweenCollisionTestActive(numSteps);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    setNumStepsBetweenCollisionTestInactive
+ * Signature: (JI)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_setNumStepsBetweenCollisionTestInactive
+  (JNIEnv *, jclass, jlong constraintVa, jint numSteps) {
+    VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    pConstraint->SetNumStepsBetweenCollisionTestInactive(numSteps);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_VehicleConstraint
+ * Method:    setVehicleCollisionTester
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_VehicleConstraint_setVehicleCollisionTester
+  (JNIEnv *, jclass, jlong constraintVa, jlong testerVa) {
+    VehicleConstraint * const pConstraint
+            = reinterpret_cast<VehicleConstraint *> (constraintVa);
+    const VehicleCollisionTester * const pTester
+            = reinterpret_cast<VehicleCollisionTester *> (testerVa);
+    pConstraint->SetVehicleCollisionTester(pTester);
+}