SoftBodyMotionProperties: add a constructor and 5 public methods

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

@@ -44,6 +44,15 @@ public MotionProperties() {
         setVirtualAddress(propertiesVa, () -> free(propertiesVa));
     }
 
+    /**
+     * Instantiate properties with no containing object and no native object
+     * assigned.
+     *
+     * @param dummy unused argument to distinguish from the zero-arg constructor
+     */
+    MotionProperties(boolean dummy) {
+    }
+
     /**
      * Instantiate with the specified container and native object.
      *

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

@@ -21,6 +21,9 @@ of this software and associated documentation files (the "Software"), to deal
  */
 package com.github.stephengold.joltjni;
 
+import com.github.stephengold.joltjni.readonly.Mat44Arg;
+import com.github.stephengold.joltjni.readonly.RMat44Arg;
+
 /**
  * The motion properties of a soft body.
  *
@@ -30,6 +33,15 @@ public class SoftBodyMotionProperties extends MotionProperties {
     // *************************************************************************
     // constructors
 
+    /**
+     * Instantiate with the default properties.
+     */
+    public SoftBodyMotionProperties() {
+        super(false);
+        long propertiesVa = createDefault();
+        setVirtualAddress(propertiesVa, () -> free(propertiesVa));
+    }
+
     /**
      * Instantiate with the specified container and native object.
      *
@@ -59,6 +71,18 @@ public void customUpdate(
         customUpdate(propertiesVa, deltaTime, bodyVa, systemVa);
     }
 
+    /**
+     * Test whether skinning constraints are enabled.
+     *
+     * @return {@code true} if enabled, {@code false} if disabled
+     */
+    public boolean getEnableSkinConstraints() {
+        long propertiesVa = va();
+        boolean result = getEnableSkinConstraints(propertiesVa);
+
+        return result;
+    }
+
     /**
      * Access the specified face.
      *
@@ -115,6 +139,19 @@ public SoftBodySharedSettings getSettings() {
         return result;
     }
 
+    /**
+     * Return the maximum distance multiplier for skinned vertices. The
+     * properties are unaffected.
+     *
+     * @return the multiplier
+     */
+    public float getSkinnedMaxDistanceMultiplier() {
+        long propertiesVa = va();
+        float result = getSkinnedMaxDistanceMultiplier(propertiesVa);
+
+        return result;
+    }
+
     /**
      * Access the specified vertex.
      *
@@ -147,6 +184,17 @@ public SoftBodyVertex[] getVertices() {
         return result;
     }
 
+    /**
+     * Enable or disable any skinning constraints.
+     *
+     * @param enable {@code true} to enable any skinning constraints,
+     * {@code false} to disable them (default=true)
+     */
+    public void setEnableSkinConstraints(boolean enable) {
+        long propertiesVa = va();
+        setEnableSkinConstraints(propertiesVa, enable);
+    }
+
     /**
      * Alter the number of solver iterations.
      *
@@ -156,24 +204,79 @@ public void setNumIterations(int numIterations) {
         long propertiesVa = va();
         setNumIterations(propertiesVa, numIterations);
     }
+
+    /**
+     * Alter the maximum distance multiplier for skinned vertices.
+     *
+     * @param multiplier the desired multiplier (default=1)
+     */
+    public void setSkinnedMaxDistanceMultiplier(float multiplier) {
+        long propertiesVa = va();
+        setSkinnedMaxDistanceMultiplier(propertiesVa, multiplier);
+    }
+
+    /**
+     * Skin vertices to the specified joints.
+     *
+     * @param comTransform the body's center-of-mass transform (not null,
+     * unaffected)
+     * @param jointMatrices the joint matrices (relative to the center-of-mass
+     * transform, not null, length≥numJoints, unaffected)
+     * @param numJoints the number of joints (≥0)
+     * @param hardSkinAll {@code true} to reposition all vertices to their
+     * skinned locations
+     * @param allocator for temporary allocations (not null)
+     */
+    public void skinVertices(
+            RMat44Arg comTransform, Mat44Arg[] jointMatrices, int numJoints,
+            boolean hardSkinAll, TempAllocator allocator) {
+        long propertiesVa = va();
+        long comTransformVa = comTransform.targetVa();
+        long[] jointMatrixVas = new long[numJoints];
+        for (int i = 0; i < numJoints; ++i) {
+            jointMatrixVas[i] = jointMatrices[i].targetVa();
+        }
+        long allocatorVa = allocator.va();
+        skinVertices(propertiesVa, comTransformVa, jointMatrixVas,
+                hardSkinAll, allocatorVa);
+    }
     // *************************************************************************
     // native private methods
 
     native private static int countFaces(long propertiesVa);
 
     native private static int countVertices(long propertiesVa);
 
+    native private static long createDefault();
+
     native private static void customUpdate(
             long propertiesVa, float deltaTime, long bodyVa, long systemVa);
 
+    native private static void free(long propertiesVa);
+
+    native private static boolean getEnableSkinConstraints(long propertiesVa);
+
     native private static long getFace(long propertiesVa, int index);
 
     native private static int getNumIterations(long propertiesVa);
 
     native private static long getSettings(long propertiesVa);
 
+    native private static float getSkinnedMaxDistanceMultiplier(
+            long propertiesVa);
+
     native private static long getVertex(long propertiesVa, int index);
 
+    native private static void setEnableSkinConstraints(
+            long propertiesVa, boolean enable);
+
     native private static void setNumIterations(
             long propertiesVa, int numInterations);
+
+    native private static void setSkinnedMaxDistanceMultiplier(
+            long propertiesVa, float multiplier);
+
+    native private static void skinVertices(
+            long propertiesVa, long comTransformVa, long[] jointMatrixVas,
+            boolean hardSkinAll, long allocatorVa);
 }

src/main/native/glue/s/SoftBodyMotionProperties.cpp

@@ -26,6 +26,7 @@ SOFTWARE.
 #include "Jolt/Jolt.h"
 #include "Jolt/Physics/SoftBody/SoftBodyMotionProperties.h"
 #include "auto/com_github_stephengold_joltjni_SoftBodyMotionProperties.h"
+#include "glue/glue.h"
 
 using namespace JPH;
 
@@ -57,6 +58,19 @@ JNIEXPORT jint JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionPropert
     return result;
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    createDefault
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_createDefault
+  (JNIEnv *, jclass) {
+    SoftBodyMotionProperties * const pResult
+            = new SoftBodyMotionProperties();
+    TRACE_NEW("SoftBodyMotionProperties", pResult)
+    return reinterpret_cast<jlong> (pResult);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
  * Method:    customUpdate
@@ -71,6 +85,32 @@ JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionPropert
     pProperties->CustomUpdate(deltaTime, *pBody, *pSystem);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    free
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_free
+  (JNIEnv *, jclass, jlong propertiesVa) {
+    SoftBodyMotionProperties * const pProperties
+            = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
+    TRACE_DELETE("SoftBodyMotionProperties", pProperties);
+    delete pProperties;
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    getEnableSkinConstraints
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_getEnableSkinConstraints
+  (JNIEnv *, jclass, jlong propertiesVa) {
+    const SoftBodyMotionProperties * const pProperties
+            = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
+    const bool result = pProperties->GetEnableSkinConstraints();
+    return result;
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
  * Method:    getFace
@@ -110,6 +150,19 @@ JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProper
     return reinterpret_cast<jlong> (pResult);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    getSkinnedMaxDistanceMultiplier
+ * Signature: (J)F
+ */
+JNIEXPORT jfloat JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_getSkinnedMaxDistanceMultiplier
+  (JNIEnv *, jclass, jlong propertiesVa) {
+    const SoftBodyMotionProperties * const pProperties
+            = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
+    const float result = pProperties->GetSkinnedMaxDistanceMultiplier();
+    return result;
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
  * Method:    getVertex
@@ -123,6 +176,18 @@ JNIEXPORT jlong JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProper
     return reinterpret_cast<jlong> (&result);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    setEnableSkinConstraints
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_setEnableSkinConstraints
+  (JNIEnv *, jclass, jlong propertiesVa, jboolean enable) {
+    SoftBodyMotionProperties * const pProperties
+            = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
+    pProperties->SetEnableSkinConstraints(enable);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
  * Method:    setNumIterations
@@ -133,4 +198,48 @@ JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionPropert
     SoftBodyMotionProperties * const pProperties
             = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
     pProperties->SetNumIterations(numIterations);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    setSkinnedMaxDistanceMultiplier
+ * Signature: (JF)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_setSkinnedMaxDistanceMultiplier
+  (JNIEnv *, jclass, jlong propertiesVa, jfloat multiplier) {
+    SoftBodyMotionProperties * const pProperties
+            = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
+    pProperties->SetSkinnedMaxDistanceMultiplier(multiplier);
+}
+
+/*
+ * Class:     com_github_stephengold_joltjni_SoftBodyMotionProperties
+ * Method:    skinVertices
+ * Signature: (JJ[JZJ)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_SoftBodyMotionProperties_skinVertices
+  (JNIEnv *pEnv, jclass, jlong propertiesVa, jlong comTransformVa,
+  jlongArray jointMatrixVas, jboolean hardSkinAll, jlong allocatorVa) {
+    const jsize numJoints = pEnv->GetArrayLength(jointMatrixVas);
+    Mat44 * const pTempArray = new Mat44[numJoints];
+    TRACE_NEW("Mat44[]", pTempArray)
+    jboolean isCopy;
+    jlong * const pMatrixVas
+            = pEnv->GetLongArrayElements(jointMatrixVas, &isCopy);
+    for (jsize i = 0; i < numJoints; ++i) {
+        const jlong matrixVa = pMatrixVas[i];
+        Mat44 * const pMatrix = reinterpret_cast<Mat44 *> (matrixVa);
+        pTempArray[i] = *pMatrix;
+    }
+    pEnv->ReleaseLongArrayElements(jointMatrixVas, pMatrixVas, JNI_ABORT);
+    SoftBodyMotionProperties * const pProperties
+            = reinterpret_cast<SoftBodyMotionProperties *> (propertiesVa);
+    const RMat44 * const pComTransform
+            = reinterpret_cast<RMat44 *> (comTransformVa);
+    TempAllocator * const pAllocator
+            = reinterpret_cast<TempAllocator *> (allocatorVa);
+    pProperties->SkinVertices(*pComTransform, pTempArray, numJoints,
+            hardSkinAll, *pAllocator);
+    TRACE_DELETE("Mat44[]", pTempArray)
+    delete[] pTempArray;
 }