//
// 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_CONSTRAINT_SIM
#define PX_PHYSICS_CONSTRAINT_SIM

#include "PxSimulationEventCallback.h"
#include "DyConstraint.h"

namespace physx
{
namespace Sc
{

	class Scene;
	class ConstraintInteraction;
	class ConstraintCore;
	class RigidCore;
	class BodySim;
	class RigidSim;

	class ConstraintSim : public Ps::UserAllocated 
	{
	public:
		enum Enum
		{
			ePENDING_GROUP_UPDATE		=	(1<<0),	// For constraint projection an island of the bodies connected by constraints is generated.
													// Schedule generation/update of the island this constraint is a part of.
			eBREAKABLE					=	(1<<1),	// The constraint can break
			eCHECK_MAX_FORCE_EXCEEDED	=	(1<<2),	// This constraint will get tested for breakage at the end of the sim step
			eBROKEN						=	(1<<3)
		};

												ConstraintSim(ConstraintCore& core, 
													RigidCore* r0,
													RigidCore* r1,
													Scene& scene);

												~ConstraintSim();

						void					preBodiesChange();
						void					postBodiesChange(RigidCore* r0, RigidCore* r1);

						void					checkMaxForceExceeded();

						void					setBreakForceLL(PxReal linear, PxReal angular);
		PX_INLINE		void					setMinResponseThresholdLL(PxReal threshold);
		PX_INLINE		void					setAngularConstraintLinearCoefficientLL(PxReal coefficient);
						void					setConstantsLL(void* addr);
		PX_INLINE		const void*				getConstantsLL() const;

						void					postFlagChange(PxConstraintFlags oldFlags, PxConstraintFlags newFlags);

		PX_FORCE_INLINE	const Dy::Constraint&	getLowLevelConstraint()	const	{ return mLowLevelConstraint;	}
		PX_FORCE_INLINE	Dy::Constraint&			getLowLevelConstraint()			{ return mLowLevelConstraint;	}
		PX_FORCE_INLINE	ConstraintCore&			getCore()				const	{ return mCore;					}
		PX_FORCE_INLINE	BodySim*				getBody(PxU32 i) const  // for static actors or world attached constraints NULL is returned
												{
													return mBodies[i];
												}

						RigidSim&				getRigid(PxU32 i);

						void					getForce(PxVec3& force, PxVec3& torque);

		PX_FORCE_INLINE	PxU8					readFlag(PxU8 flag)	const	{ return PxU8(mFlags & flag);						}
		PX_FORCE_INLINE	void					setFlag(PxU8 flag)			{ mFlags |= flag;									}
		PX_FORCE_INLINE	void					clearFlag(PxU8 flag)		{ mFlags &= ~flag;									}
		PX_FORCE_INLINE	PxU32					isBroken()			const	{ return PxU32(mFlags) & ConstraintSim::eBROKEN;	}


		//------------------------------------ Projection trees -----------------------------------------
	private:
		PX_INLINE		BodySim*				getConstraintGroupBody();

	public:
						bool					hasDynamicBody();

						void					projectPose(BodySim* childBody, Ps::Array<BodySim*>& projectedBodies);
		PX_INLINE		BodySim*				getOtherBody(BodySim*);
		PX_INLINE		BodySim*				getAnyBody();

						bool					needsProjection();
		//-----------------------------------------------------------------------------------------------

						void					visualize(PxRenderBuffer &out);
	private:
						ConstraintSim&			operator=(const ConstraintSim&);
						bool					createLLConstraint();
						void					destroyLLConstraint();
	private:
						Dy::Constraint			mLowLevelConstraint;
						Scene&					mScene;
						ConstraintCore&			mCore;
						ConstraintInteraction*	mInteraction;
						BodySim*				mBodies[2];
						PxU8					mFlags;
	};
} // namespace Sc


PX_INLINE void Sc::ConstraintSim::setMinResponseThresholdLL(PxReal threshold)
{
	mLowLevelConstraint.minResponseThreshold = threshold;
}

PX_INLINE const void* Sc::ConstraintSim::getConstantsLL()	const
{
	return mLowLevelConstraint.constantBlock;
}


PX_INLINE Sc::BodySim* Sc::ConstraintSim::getOtherBody(BodySim* b)
{
	return (b == mBodies[0]) ? mBodies[1] : mBodies[0];
}


PX_INLINE Sc::BodySim* Sc::ConstraintSim::getAnyBody()
{
	if (mBodies[0]) 
		return mBodies[0];
	else 
		return mBodies[1];
}

}

#endif
