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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 "PsFoundation.h"
  
  #include "ScPhysics.h"
  #include "ScBodyCore.h"
  #include "ScConstraintCore.h"
  #include "ScConstraintSim.h"
  
  using namespace physx;
  
  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  
  Sc::ConstraintCore::ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize)
  :	mFlags(PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)
  ,	mAppliedForce(PxVec3(0))
  ,	mAppliedTorque(PxVec3(0))
  ,	mConnector(&connector)
  ,	mProject(shaders.project)
  ,	mSolverPrep(shaders.solverPrep)
  ,	mVisualize(shaders.visualize)
  ,	mDataSize(dataSize)
  ,	mLinearBreakForce(PX_MAX_F32)
  ,	mAngularBreakForce(PX_MAX_F32)
  ,	mMinResponseThreshold(0)
  ,	mSim(NULL)
  {
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  
  Sc::ConstraintCore::~ConstraintCore()
  {
  }
  
  void Sc::ConstraintCore::setFlags(PxConstraintFlags flags)
  {
  	PxConstraintFlags old = mFlags;
  	flags = flags | (old & PxConstraintFlag::eGPU_COMPATIBLE);
  	if(flags != old)
  	{		
  		mFlags = flags;
  		if(getSim())
  			getSim()->postFlagChange(old, flags);
  	}
  }
  
  void Sc::ConstraintCore::getForce(PxVec3& force, PxVec3& torque) const
  {
  	if(!mSim)
  	{
  		force = PxVec3(0,0,0);
  		torque = PxVec3(0,0,0);
  	}
  	else
  		mSim->getForce(force, torque);
  
  }
  
  void Sc::ConstraintCore::setBodies(RigidCore* r0v, RigidCore* r1v)
  {
  	if(mSim)
  		mSim->postBodiesChange(r0v, r1v);
  }
  
  bool Sc::ConstraintCore::updateConstants(void* addr)
  {
  	if (getSim())
  	{
  		getSim()->setConstantsLL(addr);
  		return true;
  	}
  	return false;
  }
  
  void Sc::ConstraintCore::setBreakForce(PxReal linear, PxReal angular)
  {
  	mLinearBreakForce = linear;
  	mAngularBreakForce = angular;
  
  	if (getSim())
  		getSim()->setBreakForceLL(linear, angular);
  }
  
  void Sc::ConstraintCore::getBreakForce(PxReal& linear, PxReal& angular) const
  {
  	linear = mLinearBreakForce;
  	angular = mAngularBreakForce;
  }
  
  void Sc::ConstraintCore::setMinResponseThreshold(PxReal threshold)
  {
  	mMinResponseThreshold = threshold;
  
  	if (getSim())
  		getSim()->setMinResponseThresholdLL(threshold);
  }
  
  PxConstraint* Sc::ConstraintCore::getPxConstraint()
  {
  	return gOffsetTable.convertScConstraint2Px(this);
  }
  
  const PxConstraint* Sc::ConstraintCore::getPxConstraint() const
  {
  	return gOffsetTable.convertScConstraint2Px(this);
  }
  
  void Sc::ConstraintCore::breakApart()
  {
  	// TODO: probably want to do something with the interaction here
  	// as well as remove the constraint from LL.
  
  	mFlags |= PxConstraintFlag::eBROKEN;
  }
  
  void Sc::ConstraintCore::prepareForSetBodies()
  {
  	if(mSim)
  		mSim->preBodiesChange();
  }
  