/* ScummVM - Graphic Adventure Engine
 *
 * ScummVM is the legal property of its developers, whose names
 * are too numerous to list here. Please refer to the COPYRIGHT
 * file distributed with this source distribution.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

/*
 * Copyright (C) 2006-2010 - Frictional Games
 *
 * This file is part of HPL1 Engine.
 */

#include "hpl1/engine/impl/PhysicsJointScrewNewton.h"

#include "hpl1/engine/impl/PhysicsBodyNewton.h"
#include "hpl1/engine/impl/PhysicsWorldNewton.h"
#include "hpl1/engine/math/Vector3.h"

namespace hpl {

//////////////////////////////////////////////////////////////////////////
// CONSTRUCTORS
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

cPhysicsJointScrewNewton::cPhysicsJointScrewNewton(const tString &asName,
												   iPhysicsBody *apParentBody, iPhysicsBody *apChildBody,
												   iPhysicsWorld *apWorld, const cVector3f &avPivotPoint, const cVector3f avPinDir)
	: iPhysicsJointNewton<iPhysicsJointScrew>(asName, apParentBody, apChildBody, apWorld, avPivotPoint) {
	mvPin = avPinDir;
	mvPin.Normalise();

	VEC3_CONST_ARRAY(pvPoint, avPivotPoint);
	VEC3_CONST_ARRAY(pDir, avPinDir);
	mpNewtonJoint = NewtonConstraintCreateCorkscrew(mpNewtonWorld, pvPoint, pDir, mpNewtonChildBody,
													mpNewtonParentBody);

	NewtonJointSetUserData(mpNewtonJoint, (void *)this);
	NewtonCorkscrewSetUserCallback(mpNewtonJoint, LimitCallback);

	mfMaxDistance = 0;
	mfMinDistance = 0;

	mvPinDir = avPinDir;
	mvPivotPoint = avPivotPoint;
}

//-----------------------------------------------------------------------

cPhysicsJointScrewNewton::~cPhysicsJointScrewNewton() {
}

//-----------------------------------------------------------------------

//////////////////////////////////////////////////////////////////////////
// PUBLIC METHODS
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

void cPhysicsJointScrewNewton::SetMaxDistance(float afX) {
	mfMaxDistance = afX;
}
void cPhysicsJointScrewNewton::SetMinDistance(float afX) {
	mfMinDistance = afX;
}
float cPhysicsJointScrewNewton::GetMaxDistance() {
	return mfMaxDistance;
}
float cPhysicsJointScrewNewton::GetMinDistance() {
	return mfMinDistance;
}

//-----------------------------------------------------------------------

cVector3f cPhysicsJointScrewNewton::GetVelocity() {
	float fSpeed = NewtonCorkscrewGetJointVeloc(mpNewtonJoint);
	return mvPin * fSpeed;
}
cVector3f cPhysicsJointScrewNewton::GetAngularVelocity() {
	return cVector3f(0, 0, 0);
}
cVector3f cPhysicsJointScrewNewton::GetForce() {
	cVector3f vForce;
	NewtonCorkscrewGetJointForce(mpNewtonJoint, &vForce.x);
	return vForce;
}
//-----------------------------------------------------------------------

float cPhysicsJointScrewNewton::GetDistance() {
	return NewtonCorkscrewGetJointPosit(mpNewtonJoint);
}
float cPhysicsJointScrewNewton::GetAngle() {
	return NewtonCorkscrewGetJointAngle(mpNewtonJoint);
}

//-----------------------------------------------------------------------

//////////////////////////////////////////////////////////////////////////
// STATIC CALLBACKS
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

unsigned cPhysicsJointScrewNewton::LimitCallback(const NewtonJoint *pScrew, NewtonHingeSliderUpdateDesc *pDesc) {
	cPhysicsJointScrewNewton *pScrewJoint = (cPhysicsJointScrewNewton *)NewtonJointGetUserData(pScrew);

	// pScrewJoint->OnPhysicsUpdate();

	float fDistance = NewtonCorkscrewGetJointPosit(pScrew);
	// Log("Dist: %f\n",fDistance);

	if (pScrewJoint->mfMinDistance == 0 && pScrewJoint->mfMaxDistance == 0)
		return 0;

	// Avoid oscillation
	CheckLimitAutoSleep(pScrewJoint, pScrewJoint->mfMinDistance, pScrewJoint->mfMaxDistance, fDistance);

	if (fDistance < pScrewJoint->mfMinDistance) {
		pScrewJoint->OnMinLimit();

		pDesc->m_accel = NewtonCorkscrewCalculateStopAccel(pScrew, pDesc, pScrewJoint->mfMinDistance);
		pDesc->m_minFriction = 0;
		return 1;
	} else if (fDistance > pScrewJoint->mfMaxDistance) {
		pScrewJoint->OnMaxLimit();

		pDesc->m_accel = NewtonCorkscrewCalculateStopAccel(pScrew, pDesc, pScrewJoint->mfMaxDistance);
		pDesc->m_maxFriction = 0;
		return 1;
	} else {
		if (pScrewJoint->mpParentBody == NULL || pScrewJoint->mpParentBody->GetMass() == 0) {
			if ((pScrewJoint->mfStickyMaxDistance != 0 &&
				 fabs(fDistance - pScrewJoint->mfMaxDistance) < pScrewJoint->mfStickyMaxDistance) ||
				(pScrewJoint->mfStickyMinDistance != 0 &&
				 fabs(fDistance - pScrewJoint->mfMinDistance) < pScrewJoint->mfStickyMinDistance)) {
				pScrewJoint->mpChildBody->SetAngularVelocity(0);
				pScrewJoint->mpChildBody->SetLinearVelocity(0);
			}
		}

		pScrewJoint->OnNoLimit();
	}

	return 0;
}
//-----------------------------------------------------------------------

} // namespace hpl