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#ifndef NP_REVOLUTEJOINTCONSTRAINT_H
#define NP_REVOLUTEJOINTCONSTRAINT_H

#include "ExtJoint.h"
#include "PxRevoluteJoint.h"
#include "PsIntrinsics.h"
#include "CmUtils.h"

namespace physx
{

class PxConstraintSolverPrepKernel;
class PxConstraintProjectionKernel;
struct PxRevoluteJointGeneratedValues;

namespace Ext
{
	struct RevoluteJointData : public JointData
	{
	//= ATTENTION! =====================================================================================
	// Changing the data layout of this class breaks the binary serialization format.  See comments for 
	// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
	// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
	// accordingly.
	//==================================================================================================

							PxReal					driveVelocity;
							PxReal					driveForceLimit;
							PxReal					driveGearRatio;

							PxJointAngularLimitPair	limit;
							
							PxReal					tqHigh;
							PxReal					tqLow;
							PxReal					tqPad;

							PxReal					projectionLinearTolerance;
							PxReal					projectionAngularTolerance;
							
							PxRevoluteJointFlags	jointFlags;
		// forestall compiler complaints about not being able to generate a constructor
	private:
		RevoluteJointData(const PxJointAngularLimitPair &pair):
			limit(pair) {}
	};

    typedef Joint<PxRevoluteJoint, PxRevoluteJointGeneratedValues> RevoluteJointT;
    
	class RevoluteJoint : public RevoluteJointT
	{
	//= ATTENTION! =====================================================================================
	// Changing the data layout of this class breaks the binary serialization format.  See comments for 
	// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
	// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
	// accordingly.
	//==================================================================================================
	public:
// PX_SERIALIZATION
									RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
					void			resolveReferences(PxDeserializationContext& context);
		virtual		void			exportExtraData(PxSerializationContext& context);
					void			importExtraData(PxDeserializationContext& context);
		static		RevoluteJoint*	createObject(PxU8*& address, PxDeserializationContext& context);
		static		void			getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
		virtual						~RevoluteJoint()
		{
			if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY)
				PX_FREE(mData);
		}

		RevoluteJoint(const PxTolerancesScale& /*scale*/,
					  PxRigidActor* actor0, const PxTransform& localFrame0, 
					  PxRigidActor* actor1, const PxTransform& localFrame1)
		: RevoluteJointT(PxJointConcreteType::eREVOLUTE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
		{
			RevoluteJointData* data = reinterpret_cast<RevoluteJointData*>(PX_ALLOC(sizeof(RevoluteJointData), "RevoluteJointData"));
			Cm::markSerializedMem(data, sizeof(RevoluteJointData));
			mData = data;

			initCommonData(*data, actor0, localFrame0, actor1, localFrame1);

			data->projectionLinearTolerance = 1e10f;
			data->projectionAngularTolerance = PxPi;
			data->driveForceLimit = PX_MAX_F32;
			data->driveVelocity = 0;
			data->driveGearRatio = 1.0f;
			data->limit = PxJointAngularLimitPair(-PxPi/2, PxPi/2);
			data->jointFlags = PxRevoluteJointFlags();
		}

		PxReal					getAngle() const;
		PxReal					getVelocity() const;

		PxJointAngularLimitPair	getLimit()	const;
		void					setLimit(const PxJointAngularLimitPair& limit);

		PxReal					getDriveVelocity() const;
		void					setDriveVelocity(PxReal velocity);

		PxReal					getDriveForceLimit() const;
		void					setDriveForceLimit(PxReal forceLimit);

		PxReal					getDriveGearRatio() const;
		void					setDriveGearRatio(PxReal gearRatio);

		void					setProjectionAngularTolerance(PxReal tolerance);
		PxReal					getProjectionAngularTolerance()				const;

		void					setProjectionLinearTolerance(PxReal distance);
		PxReal					getProjectionLinearTolerance()				const;
		
		PxRevoluteJointFlags	getRevoluteJointFlags(void)					const;
		void					setRevoluteJointFlags(PxRevoluteJointFlags flags);
		void					setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value);

		void*					prepareData();
		
		bool					attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
		
		static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }

		virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }

	private:

		static PxConstraintShaderTable sShaders;

		PX_FORCE_INLINE RevoluteJointData& data() const				
		{	
			return *static_cast<RevoluteJointData*>(mData);
		}

	};

} // namespace Ext

namespace Ext
{
	extern "C"  PxU32 RevoluteJointSolverPrep(Px1DConstraint* constraints,
		PxVec3& body0WorldOffset,
		PxU32 maxConstraints,
		PxConstraintInvMassScale& invMassScale,
		const void* constantBlock,
		const PxTransform& bA2w,
		const PxTransform& bB2w);
	
	// global function to share the joint shaders with API capture	
	extern "C" const PxConstraintShaderTable* GetRevoluteJointShaderTable();
}

}

#endif