java/src/trajbell.c

   1 #include "a.h"
   2 #include "a/trajbell.h"
   3 #include "liba_trajbell.h"
   4
   5 #undef L
   6 #define L Java_liba_trajbell
   7 static struct
   8 {
   9     jmethodID alloc;
  10     jfieldID ctx;
  11 } L = {NULL, NULL};
  12
  13 JNIEXPORT void JNICALL Java_liba_trajbell_clinit(JNIEnv *_env, jclass _cls)
  14 {
  15     jclass _bb = (*_env)->FindClass(_env, "Ljava/nio/ByteBuffer;");
  16     L.ctx = (*_env)->GetFieldID(_env, _cls, "ctx", "Ljava/nio/ByteBuffer;");
  17     L.alloc = (*_env)->GetStaticMethodID(_env, _bb, "allocateDirect", "(I)Ljava/nio/ByteBuffer;");
  18 }
  19
  20 JNIEXPORT void JNICALL Java_liba_trajbell_init(JNIEnv *_env, jobject _obj)
  21 {
  22     jobject _ctx = (*_env)->CallObjectMethod(_env, _obj, L.alloc, (jint)sizeof(a_trajbell));
  23     (*_env)->SetObjectField(_env, _obj, L.ctx, _ctx);
  24 }
  25
  26 JNIEXPORT jdouble JNICALL Java_liba_trajbell_gen(JNIEnv *_env, jobject _obj, jdouble jm, jdouble am, jdouble vm, jdouble p0, jdouble p1, jdouble vs, jdouble ve)
  27 {
  28     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  29     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  30     return a_trajbell_gen(ctx, jm, am, vm, p0, p1, vs, ve);
  31 }
  32
  33 JNIEXPORT jdouble JNICALL Java_liba_trajbell_t(JNIEnv *_env, jobject _obj)
  34 {
  35     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  36     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  37     return ctx->t;
  38 }
  39
  40 JNIEXPORT jdouble JNICALL Java_liba_trajbell_tv(JNIEnv *_env, jobject _obj)
  41 {
  42     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  43     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  44     return ctx->tv;
  45 }
  46
  47 JNIEXPORT jdouble JNICALL Java_liba_trajbell_ta(JNIEnv *_env, jobject _obj)
  48 {
  49     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  50     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  51     return ctx->ta;
  52 }
  53
  54 JNIEXPORT jdouble JNICALL Java_liba_trajbell_td(JNIEnv *_env, jobject _obj)
  55 {
  56     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  57     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  58     return ctx->td;
  59 }
  60
  61 JNIEXPORT jdouble JNICALL Java_liba_trajbell_taj(JNIEnv *_env, jobject _obj)
  62 {
  63     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  64     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  65     return ctx->taj;
  66 }
  67
  68 JNIEXPORT jdouble JNICALL Java_liba_trajbell_tdj(JNIEnv *_env, jobject _obj)
  69 {
  70     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  71     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  72     return ctx->tdj;
  73 }
  74
  75 JNIEXPORT jdouble JNICALL Java_liba_trajbell_p0(JNIEnv *_env, jobject _obj)
  76 {
  77     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  78     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  79     return ctx->p0;
  80 }
  81
  82 JNIEXPORT jdouble JNICALL Java_liba_trajbell_p1(JNIEnv *_env, jobject _obj)
  83 {
  84     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  85     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  86     return ctx->p1;
  87 }
  88
  89 JNIEXPORT jdouble JNICALL Java_liba_trajbell_v0(JNIEnv *_env, jobject _obj)
  90 {
  91     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  92     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  93     return ctx->v0;
  94 }
  95
  96 JNIEXPORT jdouble JNICALL Java_liba_trajbell_v1(JNIEnv *_env, jobject _obj)
  97 {
  98     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  99     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 100     return ctx->v1;
 101 }
 102
 103 JNIEXPORT jdouble JNICALL Java_liba_trajbell_vm(JNIEnv *_env, jobject _obj)
 104 {
 105     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 106     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 107     return ctx->vm;
 108 }
 109
 110 JNIEXPORT jdouble JNICALL Java_liba_trajbell_jm(JNIEnv *_env, jobject _obj)
 111 {
 112     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 113     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 114     return ctx->jm;
 115 }
 116
 117 JNIEXPORT jdouble JNICALL Java_liba_trajbell_am(JNIEnv *_env, jobject _obj)
 118 {
 119     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 120     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 121     return ctx->am;
 122 }
 123
 124 JNIEXPORT jdouble JNICALL Java_liba_trajbell_dm(JNIEnv *_env, jobject _obj)
 125 {
 126     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 127     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 128     return ctx->dm;
 129 }
 130
 131 JNIEXPORT jdouble JNICALL Java_liba_trajbell_pos(JNIEnv *_env, jobject _obj, jdouble dt)
 132 {
 133     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 134     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 135     return a_trajbell_pos(ctx, dt);
 136 }
 137
 138 JNIEXPORT jdouble JNICALL Java_liba_trajbell_vel(JNIEnv *_env, jobject _obj, jdouble dt)
 139 {
 140     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 141     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 142     return a_trajbell_vel(ctx, dt);
 143 }
 144
 145 JNIEXPORT jdouble JNICALL Java_liba_trajbell_acc(JNIEnv *_env, jobject _obj, jdouble dt)
 146 {
 147     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 148     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 149     return a_trajbell_acc(ctx, dt);
 150 }
 151
 152 JNIEXPORT jdouble JNICALL Java_liba_trajbell_jer(JNIEnv *_env, jobject _obj, jdouble dt)
 153 {
 154     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 155     a_trajbell *ctx = (a_trajbell *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 156     return a_trajbell_jer(ctx, dt);
 157 }