From 6deb4d14445e112483522ee323a558aeefd169de Mon Sep 17 00:00:00 2001
From: stephengold <sgold@sonic.net>
Date: Fri, 28 Jun 2024 13:54:33 -0700
Subject: [PATCH] BodyInterface:  add the activateBody() and
 setAngularVelocity() methods

---
 .../stephengold/joltjni/BodyInterface.java    | 30 +++++++++++++++++++
 ...thub_stephengold_joltjni_BodyInterface.cpp | 28 +++++++++++++++++
 2 files changed, 58 insertions(+)

diff --git a/src/main/java/com/github/stephengold/joltjni/BodyInterface.java b/src/main/java/com/github/stephengold/joltjni/BodyInterface.java
index 41ff85f9..b979b766 100644
--- a/src/main/java/com/github/stephengold/joltjni/BodyInterface.java
+++ b/src/main/java/com/github/stephengold/joltjni/BodyInterface.java
@@ -37,6 +37,17 @@ public class BodyInterface extends NonCopyable {
     // *************************************************************************
     // new methods exposed
 
+    /**
+     * Activate the specified body.
+     *
+     * @param bodyId which body to activate (not null)
+     */
+    public void activateBody(BodyId bodyId) {
+        long bodyInterfaceVa = va();
+        long bodyIdVa = bodyId.va();
+        activateBody(bodyInterfaceVa, bodyIdVa);
+    }
+
     /**
      * Add the specified body to the physics system.
      *
@@ -152,6 +163,19 @@ public boolean isActive(BodyId bodyId) {
         return result;
     }
 
+    /**
+     * Alter the linear velocity of the specified body.
+     *
+     * @param bodyId the ID of the body to test (not null)
+     * @param omega the desired rates (not null, unaffected)
+     */
+    public void setAngularVelocity(BodyId bodyId, Vec3 omega) {
+        long bodyInterfaceVa = va();
+        long bodyIdVa = bodyId.va();
+        setAngularVelocity(bodyInterfaceVa, bodyIdVa,
+                omega.getX(), omega.getY(), omega.getZ());
+    }
+
     /**
      * Alter the linear velocity of the specified body.
      *
@@ -166,6 +190,9 @@ public void setLinearVelocity(BodyId bodyId, Vec3 velocity) {
     // *************************************************************************
     // native private methods
 
+    native private static void activateBody(
+            long bodyInterfaceVa, long bodyIdVa);
+
     native private static void addBody(
             long bodyInterfaceVa, long bodyIdVa, int activationOrdinal);
 
@@ -201,6 +228,9 @@ native private static float getLinearVelocityZ(
     native private static void removeBody(
             long bodyInterfaceVa, long bodyIdVa);
 
+    native private static void setAngularVelocity(
+            long bodyInterfaceVa, long bodyIdVa, float wx, float wy, float wz);
+
     native private static void setLinearVelocity(
             long bodyInterfaceVa, long bodyIdVa, float vx, float vy, float vz);
 }
diff --git a/src/main/native/glue/com_github_stephengold_joltjni_BodyInterface.cpp b/src/main/native/glue/com_github_stephengold_joltjni_BodyInterface.cpp
index c0a5c3e3..4851c83f 100644
--- a/src/main/native/glue/com_github_stephengold_joltjni_BodyInterface.cpp
+++ b/src/main/native/glue/com_github_stephengold_joltjni_BodyInterface.cpp
@@ -29,6 +29,19 @@ SOFTWARE.
 
 using namespace JPH;
 
+/*
+ * Class:     com_github_stephengold_joltjni_BodyInterface
+ * Method:    activateBody
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_BodyInterface_activateBody
+  (JNIEnv *, jclass, jlong bodyInterfaceVa, jlong bodyIdVa) {
+    BodyInterface * const pInterface
+            = reinterpret_cast<BodyInterface *> (bodyInterfaceVa);
+    const BodyID * const pBodyId = reinterpret_cast<BodyID *> (bodyIdVa);
+    pInterface->ActivateBody(*pBodyId);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_BodyInterface
  * Method:    addBody
@@ -199,6 +212,21 @@ JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_BodyInterface_removeB
     pInterface->RemoveBody(*pBodyId);
 }
 
+/*
+ * Class:     com_github_stephengold_joltjni_BodyInterface
+ * Method:    setAngularVelocity
+ * Signature: (JJFFF)V
+ */
+JNIEXPORT void JNICALL Java_com_github_stephengold_joltjni_BodyInterface_setAngularVelocity
+  (JNIEnv *, jclass, jlong bodyInterfaceVa, jlong bodyIdVa,
+    jfloat wx, jfloat wy, jfloat wz) {
+    BodyInterface * const pInterface
+            = reinterpret_cast<BodyInterface *> (bodyInterfaceVa);
+    const BodyID * const pBodyId = reinterpret_cast<BodyID *> (bodyIdVa);
+    const Vec3 omega(wx, wy, wz);
+    pInterface->SetAngularVelocity(*pBodyId, omega);
+}
+
 /*
  * Class:     com_github_stephengold_joltjni_BodyInterface
  * Method:    setLinearVelocity