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#ifndef NP_CONSTRAINT_HELPER_H
#define NP_CONSTRAINT_HELPER_H

#include "foundation/PxAssert.h"
#include "foundation/PxTransform.h"
#include "foundation/PxMat33.h"
#include "extensions/PxD6Joint.h"
#include "ExtJointData.h"

namespace physx
{
namespace Ext
{
	namespace joint
	{
		PX_INLINE void computeJointFrames(PxTransform& cA2w, PxTransform& cB2w, const JointData& data, const PxTransform& bA2w, const PxTransform& bB2w)
		{
			PX_ASSERT(bA2w.isValid() && bB2w.isValid());

			cA2w = bA2w.transform(data.c2b[0]);
			cB2w = bB2w.transform(data.c2b[1]);

			PX_ASSERT(cA2w.isValid() && cB2w.isValid());
		}

		PX_INLINE void computeDerived(const JointData& data, 
									  const PxTransform& bA2w, const PxTransform& bB2w,
									  PxTransform& cA2w, PxTransform& cB2w, PxTransform& cB2cA,
									  bool useShortestPath=true)
		{
			computeJointFrames(cA2w, cB2w, data, bA2w, bB2w);

			if(useShortestPath)
			{
				if(cA2w.q.dot(cB2w.q)<0.0f)	// minimum error quat
					cB2w.q = -cB2w.q;
			}

			cB2cA = cA2w.transformInv(cB2w);
			PX_ASSERT(cB2cA.isValid());
		}

		PX_INLINE PxVec3 truncateLinear(const PxVec3& in, PxReal tolerance, bool& truncated)
		{		
			const PxReal m = in.magnitudeSquared();
			truncated = m>tolerance * tolerance;
			return truncated ? in * PxRecipSqrt(m) * tolerance : in;
		}

		PX_INLINE PxQuat truncateAngular(const PxQuat& in, PxReal sinHalfTol, PxReal cosHalfTol, bool& truncated)
		{
			truncated = false;

			if(sinHalfTol > 0.9999f)	// fixes numerical tolerance issue of projecting because quat is not exactly normalized
				return in;

			const PxQuat q = in.w>=0.0f ? in : -in;
					
			const PxVec3 im = q.getImaginaryPart();
			const PxReal m = im.magnitudeSquared();
			truncated = m>sinHalfTol*sinHalfTol;
			if(!truncated)
				return in;

			const PxVec3 outV = im * sinHalfTol * PxRecipSqrt(m);			
			return PxQuat(outV.x, outV.y, outV.z, cosHalfTol);
		}

		PX_FORCE_INLINE void projectTransforms(PxTransform& bA2w, PxTransform& bB2w, 
											   const PxTransform& cA2w, const PxTransform& cB2w, 
											   const PxTransform& cB2cA, const JointData& data, bool projectToA)
		{
			PX_ASSERT(cB2cA.isValid());

			// normalization here is unfortunate: long chains of projected constraints can result in
			// accumulation of error in the quaternion which eventually leaves the quaternion
			// magnitude outside the validation range. The approach here is slightly overconservative
			// in that we could just normalize the quaternions which are out of range, but since we
			// regard projection as an occasional edge case it shouldn't be perf-sensitive, and
			// this way we maintain the invariant (also maintained by the dynamics integrator) that
			// body quats are properly normalized up to FP error.

			if(projectToA)
			{
				bB2w = cA2w.transform(cB2cA.transform(data.c2b[1].getInverse()));
				bB2w.q.normalize();
			}
			else
			{
				bA2w = cB2w.transform(cB2cA.transformInv(data.c2b[0].getInverse()));
				bA2w.q.normalize();
			}

			PX_ASSERT(bA2w.isValid());
			PX_ASSERT(bB2w.isValid());
		}

		PX_INLINE void computeJacobianAxes(PxVec3 row[3], const PxQuat& qa, const PxQuat& qb)
		{
			// Compute jacobian matrix for (qa* qb)  [[* means conjugate in this expr]]
			// d/dt (qa* qb) = 1/2 L(qa*) R(qb) (omega_b - omega_a)
			// result is L(qa*) R(qb), where L(q) and R(q) are left/right q multiply matrix

			const PxReal wa = qa.w, wb = qb.w;
			const PxVec3 va(qa.x,qa.y,qa.z), vb(qb.x,qb.y,qb.z);

			const PxVec3 c = vb*wa + va*wb;
			const PxReal d0 = wa*wb;
			const PxReal d1 = va.dot(vb);
			const PxReal d = d0 - d1;

			row[0] = (va * vb.x + vb * va.x + PxVec3(d,     c.z, -c.y)) * 0.5f;
			row[1] = (va * vb.y + vb * va.y + PxVec3(-c.z,  d,    c.x)) * 0.5f;
			row[2] = (va * vb.z + vb * va.z + PxVec3(c.y,   -c.x,   d)) * 0.5f;

			if((d0 + d1) != 0.0f)  // check if relative rotation is 180 degrees which can lead to singular matrix
				return;
			else
			{
				row[0].x += PX_EPS_F32;
				row[1].y += PX_EPS_F32;
				row[2].z += PX_EPS_F32;
			}
		}

		PX_FORCE_INLINE Px1DConstraint* _linear(const PxVec3& axis, const PxVec3& ra, const PxVec3& rb, PxReal posErr, PxConstraintSolveHint::Enum hint, Px1DConstraint* c)
		{
			c->solveHint		= PxU16(hint);
			c->linear0			= axis;
			c->angular0			= ra.cross(axis);
			c->linear1			= axis;
			c->angular1			= rb.cross(axis);
			c->geometricError	= posErr;		
			PX_ASSERT(c->linear0.isFinite());
			PX_ASSERT(c->linear1.isFinite());
			PX_ASSERT(c->angular0.isFinite());
			PX_ASSERT(c->angular1.isFinite());
			return c;
		}

		PX_FORCE_INLINE Px1DConstraint* _angular(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint, Px1DConstraint* c)
		{
			c->solveHint		= PxU16(hint);
			c->linear0			= PxVec3(0.0f);
			c->angular0			= axis;
			c->linear1			= PxVec3(0.0f);
			c->angular1			= axis;
			c->geometricError	= posErr;
			c->flags			|= Px1DConstraintFlag::eANGULAR_CONSTRAINT;
			return c;
		}

		class ConstraintHelper
		{
			Px1DConstraint* mConstraints;
			Px1DConstraint* mCurrent;
			PxVec3 mRa, mRb;
			PxVec3 mCA2w, mCB2w;

		public:
			ConstraintHelper(Px1DConstraint* c, const PxVec3& ra, const PxVec3& rb)
				: mConstraints(c), mCurrent(c), mRa(ra), mRb(rb)	{}

			ConstraintHelper(Px1DConstraint* c, PxConstraintInvMassScale& invMassScale,
					PxTransform& cA2w, PxTransform& cB2w, PxVec3& body0WorldOffset,
					const JointData& data, const PxTransform& bA2w, const PxTransform& bB2w)
				: mConstraints(c), mCurrent(c)
			{
				invMassScale = data.invMassScale;

				computeJointFrames(cA2w, cB2w, data, bA2w, bB2w);

				body0WorldOffset = cB2w.p - bA2w.p;

				mRa = cB2w.p - bA2w.p;
				mRb = cB2w.p - bB2w.p;

				mCA2w = cA2w.p;
				mCB2w = cB2w.p;
			}

			PX_FORCE_INLINE const PxVec3& getRa()	const	{ return mRa; }
			PX_FORCE_INLINE const PxVec3& getRb()	const	{ return mRb; }

			// hard linear & angular
			PX_FORCE_INLINE void linearHard(const PxVec3& axis, PxReal posErr)
			{
				Px1DConstraint* c = linear(axis, posErr, PxConstraintSolveHint::eEQUALITY);
				c->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
			}

			PX_FORCE_INLINE void angularHard(const PxVec3& axis, PxReal posErr)
			{
				Px1DConstraint* c = angular(axis, posErr, PxConstraintSolveHint::eEQUALITY);
				c->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
			}

			// limited linear & angular
			PX_FORCE_INLINE void linearLimit(const PxVec3& axis, PxReal ordinate, PxReal limitValue, const PxJointLimitParameters& limit)
			{
				const PxReal pad = limit.isSoft() ? 0.0f : limit.contactDistance;

				if(ordinate + pad > limitValue)
					addLimit(linear(axis, limitValue - ordinate, PxConstraintSolveHint::eNONE), limit);
			}

			PX_FORCE_INLINE void angularLimit(const PxVec3& axis, PxReal ordinate, PxReal limitValue, PxReal pad, const PxJointLimitParameters& limit)
			{
				if(limit.isSoft())
					pad = 0.0f;

				if(ordinate + pad > limitValue)
					addLimit(angular(axis, limitValue - ordinate, PxConstraintSolveHint::eNONE), limit);
			}

			PX_FORCE_INLINE void angularLimit(const PxVec3& axis, PxReal error, const PxJointLimitParameters& limit)
			{
				addLimit(angular(axis, error, PxConstraintSolveHint::eNONE), limit);
			}

			PX_FORCE_INLINE void anglePair(PxReal angle, PxReal lower, PxReal upper, PxReal pad, const PxVec3& axis, const PxJointLimitParameters& limit)
			{
				PX_ASSERT(lower<upper);
				if(limit.isSoft())
					pad = 0;

				if(angle < lower+pad)
					angularLimit(-axis, -(lower - angle), limit);
				if(angle > upper-pad)
					angularLimit(axis, (upper - angle), limit);
			}

			// driven linear & angular

			PX_FORCE_INLINE void linear(const PxVec3& axis, PxReal velTarget, PxReal error, const PxD6JointDrive& drive)
			{
				addDrive(linear(axis, error, PxConstraintSolveHint::eNONE), velTarget, drive);
			}

			PX_FORCE_INLINE void angular(const PxVec3& axis, PxReal velTarget, PxReal error, const PxD6JointDrive& drive, PxConstraintSolveHint::Enum hint = PxConstraintSolveHint::eNONE)
			{
				addDrive(angular(axis, error, hint), velTarget, drive);
			}

			PX_FORCE_INLINE PxU32 getCount()	const	{ return PxU32(mCurrent - mConstraints); }

			void prepareLockedAxes(const PxQuat& qA, const PxQuat& qB, const PxVec3& cB2cAp, PxU32 lin, PxU32 ang, PxVec3& raOut, PxVec3& rbOut)
			{
				Px1DConstraint* current = mCurrent;
				
				PxVec3 errorVector(0.f);

				PxVec3 ra = mRa;
				PxVec3 rb = mRb;
				if(lin)
				{
					const PxMat33 axes(qA);
					
					if(lin&1) errorVector -= axes.column0 * cB2cAp.x;
					if(lin&2) errorVector -= axes.column1 * cB2cAp.y;
					if(lin&4) errorVector -= axes.column2 * cB2cAp.z;

					ra += errorVector;

					if(lin&1) _linear(axes.column0, ra, rb, -cB2cAp.x, PxConstraintSolveHint::eEQUALITY, current++);
					if(lin&2) _linear(axes.column1, ra, rb, -cB2cAp.y, PxConstraintSolveHint::eEQUALITY, current++);
					if(lin&4) _linear(axes.column2, ra, rb, -cB2cAp.z, PxConstraintSolveHint::eEQUALITY, current++);
				}

				if (ang)
				{
					const PxQuat qB2qA = qA.getConjugate() * qB;

					PxVec3 row[3];
					computeJacobianAxes(row, qA, qB);
					if (ang & 1) _angular(row[0], -qB2qA.x, PxConstraintSolveHint::eEQUALITY, current++);
					if (ang & 2) _angular(row[1], -qB2qA.y, PxConstraintSolveHint::eEQUALITY, current++);
					if (ang & 4) _angular(row[2], -qB2qA.z, PxConstraintSolveHint::eEQUALITY, current++);
				}

				raOut = ra;
				rbOut = rb;

				for(Px1DConstraint* front = mCurrent; front < current; front++)
					front->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;

				mCurrent = current;
			}

			PX_FORCE_INLINE	Px1DConstraint* getConstraintRow()
			{
				return mCurrent++;
			}

		private:
			PX_FORCE_INLINE Px1DConstraint* linear(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint)
			{
				return _linear(axis, mRa, mRb, posErr, hint, mCurrent++);
			}

			PX_FORCE_INLINE Px1DConstraint* angular(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint)
			{
				return _angular(axis, posErr, hint, mCurrent++);
			}

			void addLimit(Px1DConstraint* c, const PxJointLimitParameters& limit)
			{
				PxU16 flags = PxU16(c->flags | Px1DConstraintFlag::eOUTPUT_FORCE);

				if(limit.isSoft())
				{
					flags |= Px1DConstraintFlag::eSPRING;
					c->mods.spring.stiffness = limit.stiffness;
					c->mods.spring.damping = limit.damping;
				}
				else
				{
					c->solveHint = PxConstraintSolveHint::eINEQUALITY;
					c->mods.bounce.restitution = limit.restitution;
					c->mods.bounce.velocityThreshold = limit.bounceThreshold;
					if(c->geometricError>0.0f)
						flags |= Px1DConstraintFlag::eKEEPBIAS;
					if(limit.restitution>0.0f)
						flags |= Px1DConstraintFlag::eRESTITUTION;
				}

				c->flags = flags;
				c->minImpulse = 0.0f;
			}

			void addDrive(Px1DConstraint* c, PxReal velTarget, const PxD6JointDrive& drive)
			{
				c->velocityTarget = velTarget;

				PxU16 flags = PxU16(c->flags | Px1DConstraintFlag::eSPRING | Px1DConstraintFlag::eHAS_DRIVE_LIMIT);
				if(drive.flags & PxD6JointDriveFlag::eACCELERATION)
					flags |= Px1DConstraintFlag::eACCELERATION_SPRING;
				c->flags = flags;
				c->mods.spring.stiffness = drive.stiffness;
				c->mods.spring.damping = drive.damping;
				
				c->minImpulse = -drive.forceLimit;
				c->maxImpulse = drive.forceLimit;

				PX_ASSERT(c->linear0.isFinite());
				PX_ASSERT(c->angular0.isFinite());
			}
		};
	}
} // namespace

}

#endif