java/src/trajpoly3.c

   1 #include "a.h"
   2 #include "a/trajpoly3.h"
   3 #include "liba_trajpoly3.h"
   4
   5 #undef L
   6 #define L Java_liba_trajpoly3
   7 static struct
   8 {
   9     jmethodID _new;
  10     jfieldID ctx;
  11 } L = {NULL, NULL};
  12
  13 JNIEXPORT void JNICALL Java_liba_trajpoly3_clinit(JNIEnv *_env, jclass _cls)
  14 {
  15     jclass _nbb = (*_env)->FindClass(_env, "Ljava/nio/ByteBuffer;");
  16     L._new = (*_env)->GetStaticMethodID(_env, _nbb, "allocateDirect", "(I)Ljava/nio/ByteBuffer;");
  17     L.ctx = (*_env)->GetFieldID(_env, _cls, "ctx", "Ljava/nio/ByteBuffer;");
  18 }
  19
  20 JNIEXPORT jobject JNICALL Java_liba_trajpoly3_gen(JNIEnv *_env, jobject _obj, jdouble ts, jdouble p0, jdouble p1, jdouble v0, jdouble v1)
  21 {
  22     jobject _ctx = (*_env)->CallObjectMethod(_env, _obj, L._new, (jint)sizeof(a_trajpoly3));
  23     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  24     (*_env)->SetObjectField(_env, _obj, L.ctx, _ctx);
  25     a_trajpoly3_gen(ctx, ts, p0, p1, v0, v1);
  26     return _obj;
  27 }
  28
  29 JNIEXPORT jobject JNICALL Java_liba_trajpoly3_p(JNIEnv *_env, jobject _obj)
  30 {
  31     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  32     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  33     jobject p = (*_env)->NewDoubleArray(_env, A_LEN(ctx->p));
  34     (*_env)->SetDoubleArrayRegion(_env, p, 0, A_LEN(ctx->p), ctx->p);
  35     return p;
  36 }
  37
  38 JNIEXPORT jobject JNICALL Java_liba_trajpoly3_v(JNIEnv *_env, jobject _obj)
  39 {
  40     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  41     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  42     jobject v = (*_env)->NewDoubleArray(_env, A_LEN(ctx->v));
  43     (*_env)->SetDoubleArrayRegion(_env, v, 0, A_LEN(ctx->v), ctx->v);
  44     return v;
  45 }
  46
  47 JNIEXPORT jobject JNICALL Java_liba_trajpoly3_a(JNIEnv *_env, jobject _obj)
  48 {
  49     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  50     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  51     jobject a = (*_env)->NewDoubleArray(_env, A_LEN(ctx->a));
  52     (*_env)->SetDoubleArrayRegion(_env, a, 0, A_LEN(ctx->a), ctx->a);
  53     return a;
  54 }
  55
  56 JNIEXPORT jdouble JNICALL Java_liba_trajpoly3_pos(JNIEnv *_env, jobject _obj, jdouble dt)
  57 {
  58     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  59     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  60     return a_trajpoly3_pos(ctx, dt);
  61 }
  62
  63 JNIEXPORT jdouble JNICALL Java_liba_trajpoly3_vel(JNIEnv *_env, jobject _obj, jdouble dt)
  64 {
  65     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  66     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  67     return a_trajpoly3_vel(ctx, dt);
  68 }
  69
  70 JNIEXPORT jdouble JNICALL Java_liba_trajpoly3_acc(JNIEnv *_env, jobject _obj, jdouble dt)
  71 {
  72     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  73     a_trajpoly3 *ctx = (a_trajpoly3 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  74     return a_trajpoly3_acc(ctx, dt);
  75 }