Point2PointJoint: add getters and setters for the pivot locations

src/main/java/com/jme3/bullet/joints/Point2PointJoint.java

@@ -35,6 +35,7 @@
 import com.jme3.math.Transform;
 import com.jme3.math.Vector3f;
 import java.util.logging.Logger;
+import jme3utilities.Validate;
 
 /**
  * A 3 degree-of-freedom joint based on Bullet's btPoint2PointConstraint.
@@ -136,6 +137,34 @@ public float getImpulseClamp() {
         return getImpulseClamp(constraintId);
     }
 
+    /**
+     * Locate the pivot in A's scaled local coordinates.
+     *
+     * @param storeResult storage for the result (modified if not null)
+     * @return the pivot location (either storeResult or a new vector, not null)
+     */
+    public Vector3f getPivotInA(Vector3f storeResult) {
+        Vector3f result = (storeResult == null) ? new Vector3f() : storeResult;
+        long constraintId = nativeId();
+        getPivotInA(constraintId, result);
+
+        return result;
+    }
+
+    /**
+     * Locate the pivot in B's scaled local coordinates.
+     *
+     * @param storeResult storage for the result (modified if not null)
+     * @return the pivot location (either storeResult or a new vector, not null)
+     */
+    public Vector3f getPivotInB(Vector3f storeResult) {
+        Vector3f result = storeResult == null ? new Vector3f() : storeResult;
+        long constraintId = nativeId();
+        getPivotInB(constraintId, result);
+
+        return result;
+    }
+
     /**
      * Read the joint's tau value.
      *
@@ -167,6 +196,30 @@ public void setImpulseClamp(float value) {
         setImpulseClamp(constraintId, value);
     }
 
+    /**
+     * Alter the pivot location in A's scaled local coordinates.
+     *
+     * @param location the desired location (not null, unaffected)
+     */
+    public void setPivotInA(Vector3f location) {
+        Validate.nonNull(location, "location");
+
+        long constraintId = nativeId();
+        setPivotInA(constraintId, location);
+    }
+
+    /**
+     * Alter the pivot location in B's scaled local coordinates.
+     *
+     * @param location the desired location (not null, unaffected)
+     */
+    public void setPivotInB(Vector3f location) {
+        Validate.nonNull(location, "location");
+
+        long constraintId = nativeId();
+        setPivotInB(constraintId, location);
+    }
+
     /**
      * Alter the joint's tau value.
      *
@@ -241,12 +294,20 @@ native private static long createJoint(long bodyIdA, long bodyIdB,
 
     native private static float getImpulseClamp(long jointId);
 
+    native private static void getPivotInA(long jointId, Vector3f storeVector);
+
+    native private static void getPivotInB(long jointId, Vector3f storeVector);
+
     native private static float getTau(long jointId);
 
     native private static void setDamping(long jointId, float desiredDamping);
 
     native private static void setImpulseClamp(long jointId,
             float desiredClamp);
 
+    native private static void setPivotInA(long jointId, Vector3f pivotInA);
+
+    native private static void setPivotInB(long jointId, Vector3f pivotInB);
+
     native private static void setTau(long jointId, float desiredTau);
 }

src/main/native/glue/com_jme3_bullet_joints_Point2PointJoint.cpp

@@ -122,6 +122,40 @@ JNIEXPORT jfloat JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getImpulse
     return pJoint->m_setting.m_impulseClamp;
 }
 
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    getPivotInA
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getPivotInA
+(JNIEnv *pEnv, jclass, jlong jointId, jobject storeVector) {
+    btPoint2PointConstraint *pJoint
+            = reinterpret_cast<btPoint2PointConstraint *> (jointId);
+    NULL_CHK(pEnv, pJoint, "The btPoint2PointConstraint does not exist.",)
+    btAssert(pJoint->getConstraintType() == POINT2POINT_CONSTRAINT_TYPE);
+    NULL_CHK(pEnv, storeVector, "The store vector does not exist.",);
+
+    const btVector3& location = pJoint->getPivotInA();
+    jmeBulletUtil::convert(pEnv, &location, storeVector);
+}
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    getPivotInB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_getPivotInB
+(JNIEnv *pEnv, jclass, jlong jointId, jobject storeVector) {
+    btPoint2PointConstraint *pJoint
+            = reinterpret_cast<btPoint2PointConstraint *> (jointId);
+    NULL_CHK(pEnv, pJoint, "The btPoint2PointConstraint does not exist.",)
+    btAssert(pJoint->getConstraintType() == POINT2POINT_CONSTRAINT_TYPE);
+    NULL_CHK(pEnv, storeVector, "The store vector does not exist.",);
+
+    const btVector3& location = pJoint->getPivotInB();
+    jmeBulletUtil::convert(pEnv, &location, storeVector);
+}
+
 /*
  * Class:     com_jme3_bullet_joints_Point2PointJoint
  * Method:    getTau
@@ -167,6 +201,42 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setImpulseCl
     pJoint->m_setting.m_impulseClamp = clamp;
 }
 
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    setPivotInA
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setPivotInA
+(JNIEnv *pEnv, jclass, jlong jointId, jobject locationVector) {
+    btPoint2PointConstraint *pJoint
+            = reinterpret_cast<btPoint2PointConstraint *> (jointId);
+    NULL_CHK(pEnv, pJoint, "The btPoint2PointConstraint does not exist.",)
+    btAssert(pJoint->getConstraintType() == POINT2POINT_CONSTRAINT_TYPE);
+    NULL_CHK(pEnv, locationVector, "The location vector does not exist.",);
+
+    btVector3 pivot;
+    jmeBulletUtil::convert(pEnv, locationVector, &pivot);
+    pJoint->setPivotA(pivot);
+}
+
+/*
+ * Class:     com_jme3_bullet_joints_Point2PointJoint
+ * Method:    setPivotInB
+ * Signature: (JLcom/jme3/math/Vector3f;)V
+ */
+JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_Point2PointJoint_setPivotInB
+(JNIEnv *pEnv, jclass, jlong jointId, jobject locationVector) {
+    btPoint2PointConstraint *pJoint
+            = reinterpret_cast<btPoint2PointConstraint *> (jointId);
+    NULL_CHK(pEnv, pJoint, "The btPoint2PointConstraint does not exist.",)
+    btAssert(pJoint->getConstraintType() == POINT2POINT_CONSTRAINT_TYPE);
+    NULL_CHK(pEnv, locationVector, "The location vector does not exist.",);
+
+    btVector3 pivot;
+    jmeBulletUtil::convert(pEnv, locationVector, &pivot);
+    pJoint->setPivotB(pivot);
+}
+
 /*
  * Class:     com_jme3_bullet_joints_Point2PointJoint
  * Method:    setTau