/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef B3_POINT2POINTCONSTRAINT_H
#define B3_POINT2POINTCONSTRAINT_H

#include "Bullet3Common/b3Vector3.h"
//#include "b3JacobianEntry.h"
#include "b3TypedConstraint.h"

class b3RigidBody;

#ifdef B3_USE_DOUBLE_PRECISION
#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData
#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData"
#else
#define b3Point2PointConstraintData b3Point2PointConstraintFloatData
#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData"
#endif  //B3_USE_DOUBLE_PRECISION

struct b3ConstraintSetting
{
	b3ConstraintSetting() : m_tau(b3Scalar(0.3)),
							m_damping(b3Scalar(1.)),
							m_impulseClamp(b3Scalar(0.))
	{
	}
	b3Scalar m_tau;
	b3Scalar m_damping;
	b3Scalar m_impulseClamp;
};

enum b3Point2PointFlags
{
	B3_P2P_FLAGS_ERP = 1,
	B3_P2P_FLAGS_CFM = 2
};

/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
B3_ATTRIBUTE_ALIGNED16(class)
b3Point2PointConstraint : public b3TypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif

	b3Vector3 m_pivotInA;
	b3Vector3 m_pivotInB;

	int m_flags;
	b3Scalar m_erp;
	b3Scalar m_cfm;

public:
	B3_DECLARE_ALIGNED_ALLOCATOR();

	b3ConstraintSetting m_setting;

	b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB);

	//b3Point2PointConstraint(int  rbA,const b3Vector3& pivotInA);

	virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);

	void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);

	virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);

	void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& body0_trans, const b3Transform& body1_trans);

	void updateRHS(b3Scalar timeStep);

	void setPivotA(const b3Vector3& pivotA)
	{
		m_pivotInA = pivotA;
	}

	void setPivotB(const b3Vector3& pivotB)
	{
		m_pivotInB = pivotB;
	}

	const b3Vector3& getPivotInA() const
	{
		return m_pivotInA;
	}

	const b3Vector3& getPivotInB() const
	{
		return m_pivotInB;
	}

	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
	///If no axis is provided, it uses the default axis for this constraint.
	virtual void setParam(int num, b3Scalar value, int axis = -1);
	///return the local value of parameter
	virtual b3Scalar getParam(int num, int axis = -1) const;

	//	virtual	int	calculateSerializeBufferSize() const;

	///fills the dataBuffer and returns the struct name (and 0 on failure)
	//	virtual	const char*	serialize(void* dataBuffer, b3Serializer* serializer) const;
};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct b3Point2PointConstraintFloatData
{
	b3TypedConstraintData m_typeConstraintData;
	b3Vector3FloatData m_pivotInA;
	b3Vector3FloatData m_pivotInB;
};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct b3Point2PointConstraintDoubleData
{
	b3TypedConstraintData m_typeConstraintData;
	b3Vector3DoubleData m_pivotInA;
	b3Vector3DoubleData m_pivotInB;
};

/*
B3_FORCE_INLINE	int	b3Point2PointConstraint::calculateSerializeBufferSize() const
{
	return sizeof(b3Point2PointConstraintData);

}

	///fills the dataBuffer and returns the struct name (and 0 on failure)
B3_FORCE_INLINE	const char*	b3Point2PointConstraint::serialize(void* dataBuffer, b3Serializer* serializer) const
{
	b3Point2PointConstraintData* p2pData = (b3Point2PointConstraintData*)dataBuffer;

	b3TypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
	m_pivotInA.serialize(p2pData->m_pivotInA);
	m_pivotInB.serialize(p2pData->m_pivotInB);

	return b3Point2PointConstraintDataName;
}
*/

#endif  //B3_POINT2POINTCONSTRAINT_H