//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_PHYSICS_NP_ARTICULATION_LINK
#define PX_PHYSICS_NP_ARTICULATION_LINK

#include "NpRigidBodyTemplate.h"
#include "PxArticulationLink.h"

#if PX_ENABLE_DEBUG_VISUALIZATION
#include "CmRenderOutput.h"
#endif

namespace physx
{
class NpArticulation;
class NpArticulationLink;
class NpArticulationJoint;
class PxConstraintVisualizer;

typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;

class NpArticulationLinkArray : public Ps::InlineArray<NpArticulationLink*, 4>  //!!!AL TODO: check if default of 4 elements makes sense
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
	NpArticulationLinkArray(const PxEMPTY) : Ps::InlineArray<NpArticulationLink*, 4> (PxEmpty) {}
	static	void	getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
	NpArticulationLinkArray() : Ps::InlineArray<NpArticulationLink*, 4>(PX_DEBUG_EXP("articulationLinkArray")) {}
};

class NpArticulationLink : public NpArticulationLinkT
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
											NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty)	{}
				void						preExportDataReset() { NpArticulationLinkT::preExportDataReset(); }
	virtual		void						exportExtraData(PxSerializationContext& context);
				void						importExtraData(PxDeserializationContext& context);
				void						resolveReferences(PxDeserializationContext& context);
	virtual		void						requiresObjects(PxProcessPxBaseCallback& c);
	virtual		bool						isSubordinate()  const	 { return true; } 
	static		NpArticulationLink*			createObject(PxU8*& address, PxDeserializationContext& context);
	static		void						getBinaryMetaData(PxOutputStream& stream);		
//~PX_SERIALIZATION
	virtual									~NpArticulationLink();

	//---------------------------------------------------------------------------------
	// PxArticulationLink implementation
	//---------------------------------------------------------------------------------
	virtual		void						release();


	virtual		PxActorType::Enum			getType() const { return PxActorType::eARTICULATION_LINK; }

	// Pose
	virtual		void						setGlobalPose(const PxTransform& pose);
	virtual		void 						setGlobalPose(const PxTransform& pose, bool autowake);
	virtual		PxTransform					getGlobalPose() const;

	//damping
	virtual		void						setLinearDamping(PxReal linDamp);
	virtual		PxReal						getLinearDamping() const;

	virtual		void						setAngularDamping(PxReal angDamp);
	virtual		PxReal						getAngularDamping() const;
	
	// Velocity
	virtual		void						setLinearVelocity(const PxVec3&, bool autowake = true);
	virtual		void						setAngularVelocity(const PxVec3&, bool autowake = true);
	virtual		void						setMaxAngularVelocity(PxReal);
	virtual		PxReal						getMaxAngularVelocity() const;
	virtual		void						setMaxLinearVelocity(PxReal);
	virtual		PxReal						getMaxLinearVelocity() const;

	virtual		PxArticulationBase&			getArticulation() const;
	virtual		PxArticulationJointBase*	getInboundJoint() const;
	virtual		PxU32						getInboundJointDof() const;

	virtual		PxU32						getNbChildren() const;
	virtual		PxU32						getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
	virtual		PxU32						getLinkIndex() const;
	virtual		void						setCMassLocalPose(const PxTransform& pose);

	virtual		void						addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
	virtual		void						addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
	virtual		void						setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
	virtual		void						clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
	virtual		void						clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);

	//---------------------------------------------------------------------------------
	// Miscellaneous
	//---------------------------------------------------------------------------------
											NpArticulationLink(const PxTransform& bodyPose, PxArticulationBase& root, NpArticulationLink* parent);

				void						releaseInternal();

	PX_INLINE	PxArticulationBase&			getRoot()	{ return *mRoot; }
	PX_INLINE	NpArticulationLink*			getParent()	{ return mParent; }

	PX_INLINE	void						setInboundJoint(PxArticulationJointBase& joint) { mInboundJoint = &joint; }

	void 									setGlobalPoseInternal(const PxTransform& pose, bool autowake);
	void									setLLIndex(const PxU32 index) { mLLIndex = index; }
	void									setInboundJointDof(const PxU32 index) { mInboundJointDof = index; }
private:
	PX_INLINE	void						addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(&link); }
	PX_INLINE	void						removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(&link); }

public:
	PX_INLINE	NpArticulationLink* const*	getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }
	void		setKinematicLink(const bool value);

#if PX_ENABLE_DEBUG_VISUALIZATION
public:
				void						visualize(Cm::RenderOutput& out, NpScene* scene);
				void						visualizeJoint(PxConstraintVisualizer& jointViz);
#endif

private:
				PxArticulationBase*			mRoot;  //!!!AL TODO: Revisit: Could probably be avoided if registration and deregistration in root is handled differently
				PxArticulationJointBase*	mInboundJoint;
				NpArticulationLink*			mParent;  //!!!AL TODO: Revisit: Some memory waste but makes things faster
				NpArticulationLinkArray		mChildLinks;
				PxU32						mLLIndex;
				PxU32						mInboundJointDof;
};

}

#endif
