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#include "ExtDistanceJoint.h"
#include "common/PxSerialFramework.h"

using namespace physx;
using namespace Ext;

namespace physx
{
	PxDistanceJoint* PxDistanceJointCreate(PxPhysics& physics,
		PxRigidActor* actor0, const PxTransform& localFrame0,
		PxRigidActor* actor1, const PxTransform& localFrame1);
}

PxDistanceJoint* physx::PxDistanceJointCreate(PxPhysics& physics,
											  PxRigidActor* actor0, const PxTransform& localFrame0,
											  PxRigidActor* actor1, const PxTransform& localFrame1)
{
	PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxDistanceJointCreate: local frame 0 is not a valid transform"); 
	PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxDistanceJointCreate: local frame 1 is not a valid transform"); 
	PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxDistanceJointCreate: actors must be different");
	PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxD6JointCreate: at least one actor must be dynamic");

	DistanceJoint* j;
	PX_NEW_SERIALIZED(j,DistanceJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
	if(j->attach(physics, actor0, actor1))
		return j;

	PX_DELETE(j);
	return NULL;
}

PxReal DistanceJoint::getDistance() const
{
	return getRelativeTransform().p.magnitudeSquared();
}

void DistanceJoint::setMinDistance(PxReal distance)	
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(distance), "PxDistanceJoint::setMinDistance: invalid parameter");
	data().minDistance = distance;
	markDirty();
}

PxReal DistanceJoint::getMinDistance() const
{ 
	return data().minDistance;		
}

void DistanceJoint::setMaxDistance(PxReal distance)	
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(distance), "PxDistanceJoint::setMaxDistance: invalid parameter");
	data().maxDistance = distance;
	markDirty();
}

PxReal DistanceJoint::getMaxDistance() const	
{ 
	return data().maxDistance;			
}

void DistanceJoint::setTolerance(PxReal tolerance) 
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(tolerance), "PxDistanceJoint::setTolerance: invalid parameter");
	data().tolerance = tolerance;
	markDirty();
}

PxReal DistanceJoint::getTolerance() const
{ 
	return data().tolerance;			
}

void DistanceJoint::setStiffness(PxReal stiffness)
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(stiffness), "PxDistanceJoint::setStiffness: invalid parameter");
	data().stiffness = stiffness;
	markDirty();
}

PxReal DistanceJoint::getStiffness() const	
{ 
	return data().stiffness;
}

void DistanceJoint::setDamping(PxReal damping)
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(damping), "PxDistanceJoint::setDamping: invalid parameter");
	data().damping = damping;
	markDirty();	
}

PxReal DistanceJoint::getDamping() const
{ 
	return data().damping;
}

PxDistanceJointFlags DistanceJoint::getDistanceJointFlags(void) const
{ 
	return data().jointFlags;		
}

void DistanceJoint::setDistanceJointFlags(PxDistanceJointFlags flags) 
{ 
	data().jointFlags = flags; 
	markDirty();	
}

void DistanceJoint::setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value)
{
	if(value)
		data().jointFlags |= flag;
	else
		data().jointFlags &= ~flag;
	markDirty();
}



namespace
{
void DistanceJointVisualize(PxConstraintVisualizer& /*viz*/,
							const void* /*constantBlock*/,
							const PxTransform& /*body0Transform*/,
							const PxTransform& /*body1Transform*/,
							PxU32 /*flags*/)
{
}

void DistanceJointProject(const void* /*constantBlock*/,
						  PxTransform& /*bodyAToWorld*/,
						  PxTransform& /*bodyBToWorld*/,
						  bool /*projectToA*/)
{
	// TODO
}


}

bool Ext::DistanceJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
{
	mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(DistanceJointData));
	return mPxConstraint!=NULL;
}

void DistanceJoint::exportExtraData(PxSerializationContext& stream)
{
	if(mData)
	{
		stream.alignData(PX_SERIAL_ALIGN);
		stream.writeData(mData, sizeof(DistanceJointData));
	}
	stream.writeName(mName);
}

void DistanceJoint::importExtraData(PxDeserializationContext& context)
{
	if(mData)
		mData = context.readExtraData<DistanceJointData, PX_SERIAL_ALIGN>();

	context.readName(mName);
}

void DistanceJoint::resolveReferences(PxDeserializationContext& context)
{
	setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));	
}

DistanceJoint* DistanceJoint::createObject(PxU8*& address, PxDeserializationContext& context)
{
	DistanceJoint* obj = new (address) DistanceJoint(PxBaseFlag::eIS_RELEASABLE);
	address += sizeof(DistanceJoint);	
	obj->importExtraData(context);
	obj->resolveReferences(context);
	return obj;
}

// global function to share the joint shaders with API capture	
const PxConstraintShaderTable* Ext::GetDistanceJointShaderTable() 
{ 
	return &DistanceJoint::getConstraintShaderTable();
}

//~PX_SERIALIZATION
PxConstraintShaderTable Ext::DistanceJoint::sShaders = { Ext::DistanceJointSolverPrep, DistanceJointProject, DistanceJointVisualize, PxConstraintFlag::Enum(0) };