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  // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  
  #include "ExtFixedJoint.h"
  #include "ExtConstraintHelper.h"
  
  namespace physx
  {
  namespace Ext
  {
  
  	PxU32 FixedJointSolverPrep(Px1DConstraint* constraints,
  		PxVec3& body0WorldOffset,
  		PxU32 maxConstraints,
  		PxConstraintInvMassScale &invMassScale,
  		const void* constantBlock,
  		const PxTransform& bA2w,
  		const PxTransform& bB2w)
  	{
  		PX_UNUSED(maxConstraints);
  
  		const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);
  		invMassScale = data.invMassScale;
  
  		PxTransform cA2w = bA2w.transform(data.c2b[0]);
  		PxTransform cB2w = bB2w.transform(data.c2b[1]);
  
  		PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
  
  		body0WorldOffset = cB2w.p-bA2w.p;
  		joint::ConstraintHelper ch(constraints,cB2w.p-bA2w.p, cB2w.p-bB2w.p);
  		ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, 7, 7);
  
  		return ch.getCount();
  	}
  
  
  }//namespace
  
  }
  
  //~PX_SERIALIZATION
  