/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
 * 
 * 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.
 */

#include "dgPhysicsStdafx.h"
#include "dgBody.h"
#include "dgWorld.h"
#include "dgConstraint.h"

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

//#define LINEAR_VEL_DAMP	dgFloat32 (100.0f)
//#define LINEAR_POS_DAMP	dgFloat32 (1500.0f)
//#define ANGULAR_VEL_DAMP dgFloat32 (100.0f)
//#define ANGULAR_POS_DAMP dgFloat32 (1500.0f)

//#define DG_VEL_DAMP				dgFloat32(100.0f)
//#define DG_POS_DAMP				dgFloat32(1500.0f)

void* dgConstraint::GetUserData() const
{
  return m_userData;
}

void dgConstraint::SetUserData(void *userData)
{
  m_userData = userData;
}

bool dgConstraint::IsBilateral() const
{
  return false;
}

void dgConstraint::InitPointParam(dgPointParam& param, dgFloat32 stiffness,
    const dgVector& p0Global, const dgVector& p1Global) const
{
  _ASSERTE(m_body0);
  _ASSERTE(m_body1);
  param.m_stiffness = stiffness;

  param.m_r0 = p0Global - m_body0->m_globalCentreOfMass;
  param.m_posit0 = p0Global;
  param.m_veloc0 = m_body0->m_omega * param.m_r0;
  param.m_centripetal0 = m_body0->m_omega * param.m_veloc0;
  param.m_veloc0 += m_body0->m_veloc;

  param.m_r1 = p1Global - m_body1->m_globalCentreOfMass;
  param.m_posit1 = p1Global;
  param.m_veloc1 = m_body1->m_omega * param.m_r1;
  param.m_centripetal1 = m_body1->m_omega * param.m_veloc1;
  param.m_veloc1 += m_body1->m_veloc;
}

void dgConstraint::InitInfo(dgConstraintInfo* const info) const
{

  info->m_attachBody_0 = GetBody0();
  _ASSERTE(info->m_attachBody_0);
  dgWorld* const world = info->m_attachBody_0->GetWorld();
  if (info->m_attachBody_0 == world->GetSentinelBody())
  {
    info->m_attachBody_0 = NULL;
  }

  info->m_attachBody_1 = GetBody1();
  if (info->m_attachBody_1 == world->GetSentinelBody())
  {
    info->m_attachBody_1 = NULL;
  }

  info->m_attachMatrix_0 = dgGetIdentityMatrix();
  info->m_attachMatrix_1 = dgGetIdentityMatrix();

  info->m_discriptionType[0] = 0;
}

void dgConstraint::GetInfo(dgConstraintInfo* const info) const
{
  _ASSERTE(0);
}
