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#include "ExtFixedJoint.h"
#include "ExtConstraintHelper.h"
#include "CmVisualization.h"

#include "common/PxSerialFramework.h"

using namespace physx;
using namespace Ext;

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

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

	FixedJoint* j;
	PX_NEW_SERIALIZED(j,FixedJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);

	if(j->attach(physics, actor0, actor1))
		return j;

	PX_DELETE(j);
	return NULL;
}

PxReal FixedJoint::getProjectionLinearTolerance() const
{ 
	return data().projectionLinearTolerance; 
}

void FixedJoint::setProjectionLinearTolerance(PxReal tolerance)
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxFixedJoint::setProjectionLinearTolerance: invalid parameter");
	data().projectionLinearTolerance = tolerance; 
	markDirty(); 
}

PxReal FixedJoint::getProjectionAngularTolerance() const
{ 
	return data().projectionAngularTolerance; 
}

void FixedJoint::setProjectionAngularTolerance(PxReal tolerance)	
{ 
	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0 && tolerance <= PxPi, "PxFixedJoint::setProjectionAngularTolerance: invalid parameter");
	data().projectionAngularTolerance = tolerance; markDirty(); 
}


namespace
{
void FixedJointVisualize(PxConstraintVisualizer& viz,
						 const void* constantBlock,
						 const PxTransform& body0Transform,
						 const PxTransform& body1Transform,
						 PxU32 /*flags*/)
{
	const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);

	const PxTransform& t0 = body0Transform * data.c2b[0];
	const PxTransform& t1 = body1Transform * data.c2b[1];

	viz.visualizeJointFrames(t0, t1);
}



void FixedJointProject(const void* constantBlock,
					   PxTransform& bodyAToWorld,
					   PxTransform& bodyBToWorld,
					   bool projectToA)
{

	using namespace joint;
	const FixedJointData &data = *reinterpret_cast<const FixedJointData*>(constantBlock);

	PxTransform cA2w, cB2w, cB2cA, projected;
	computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);

	bool linearTrunc, angularTrunc;
	projected.p = truncateLinear(cB2cA.p, data.projectionLinearTolerance, linearTrunc);
	projected.q = truncateAngular(cB2cA.q, PxSin(data.projectionAngularTolerance/2), PxCos(data.projectionAngularTolerance/2), angularTrunc);
	
	if(linearTrunc || angularTrunc)
		projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
}
}

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

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

void FixedJoint::importExtraData(PxDeserializationContext& context)
{
	if(mData)
		mData = context.readExtraData<FixedJointData, PX_SERIAL_ALIGN>();
	context.readName(mName);
}

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

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

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

//~PX_SERIALIZATION
PxConstraintShaderTable Ext::FixedJoint::sShaders = { Ext::FixedJointSolverPrep, FixedJointProject, FixedJointVisualize, PxConstraintFlag::Enum(0) };