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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#include "ExtPrismaticJoint.h"
#include "ExtConstraintHelper.h"
#include "PxPhysics.h"

using namespace physx;
using namespace Ext;

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

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

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

	PX_DELETE(j);
	return NULL;
}

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

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

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

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

PxPrismaticJointFlags PrismaticJoint::getPrismaticJointFlags(void) const
{ 
	return data().jointFlags;		
}

void PrismaticJoint::setPrismaticJointFlags(PxPrismaticJointFlags flags)
{ 
	data().jointFlags = flags; markDirty();	
}

void PrismaticJoint::setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value)
{
	if(value)
		data().jointFlags |= flag;
	else
		data().jointFlags &= ~flag;
	markDirty();
}

PxJointLinearLimitPair PrismaticJoint::getLimit() const
{ 
	return data().limit;	
}

void PrismaticJoint::setLimit(const PxJointLinearLimitPair& limit)
{ 
	PX_CHECK_AND_RETURN(limit.isValid(), "PxPrismaticJoint::setLimit: invalid parameter");
	data().limit = limit;
	markDirty();
}

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

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

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

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

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

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

//~PX_SERIALIZATION

static void PrismaticJointProject(const void* constantBlock, PxTransform& bodyAToWorld, PxTransform& bodyBToWorld, bool projectToA)
{
	const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);

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

	const PxVec3 v(0.0f, cB2cA.p.y, cB2cA.p.z);
	bool linearTrunc, angularTrunc;
	projected.p = joint::truncateLinear(v, data.projectionLinearTolerance, linearTrunc);
	projected.q = joint::truncateAngular(cB2cA.q, PxSin(data.projectionAngularTolerance/2), PxCos(data.projectionAngularTolerance/2), angularTrunc);
	
	if(linearTrunc || angularTrunc)
	{
		projected.p.x = cB2cA.p.x;
		joint::projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
	}
}

static void PrismaticJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, PxU32 flags)
{
	const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);

	PxTransform cA2w, cB2w;
	joint::computeJointFrames(cA2w, cB2w, data, body0Transform, body1Transform);
	if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
		viz.visualizeJointFrames(cA2w, cB2w);

	if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED))
	{
		const PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
		const PxReal ordinate = bOriginInA.x;

		const PxReal pad = data.limit.isSoft() ? 0.0f : data.limit.contactDistance;
		viz.visualizeLinearLimit(cA2w, cB2w, data.limit.lower, ordinate < data.limit.lower + pad);
		viz.visualizeLinearLimit(cA2w, cB2w, data.limit.upper, ordinate > data.limit.upper - pad);
	}
}

static PxU32 PrismaticJointSolverPrep(Px1DConstraint* constraints,
	PxVec3& body0WorldOffset,
	PxU32 /*maxConstraints*/,
	PxConstraintInvMassScale& invMassScale,
	const void* constantBlock,
	const PxTransform& bA2w,
	const PxTransform& bB2w,
	bool /*useExtendedLimits*/,
	PxVec3& cA2wOut, PxVec3& cB2wOut)
{
	const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);

	PxTransform cA2w, cB2w;
	joint::ConstraintHelper ch(constraints, invMassScale, cA2w, cB2w, body0WorldOffset, data, bA2w, bB2w);

	if (cA2w.q.dot(cB2w.q)<0.0f)	// minimum dist quat (equiv to flipping cB2bB.q, which we don't use anywhere)
		cB2w.q = -cB2w.q;

	const bool limitEnabled = data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED;
	const PxJointLinearLimitPair& limit = data.limit;
	const bool limitIsLocked = limitEnabled && limit.lower >= limit.upper;

	const PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
	PxVec3 ra, rb;
	ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, limitIsLocked ? 7ul : 6ul, 7ul, ra, rb);
	cA2wOut = ra + bA2w.p;
	cB2wOut = rb + bB2w.p;

	if(limitEnabled && !limitIsLocked)
	{
		const PxVec3 axis = cA2w.rotate(PxVec3(1.0f, 0.0f, 0.0f));	// PT: TODO: this has already been computed as part of the quat-to-matrix transform within prepareLockedAxes
		const PxReal ordinate = bOriginInA.x;

		ch.linearLimit(axis, ordinate, limit.upper, limit);
		ch.linearLimit(-axis, -ordinate, -limit.lower, limit);
	}

	return ch.getCount();
}

PxConstraintShaderTable Ext::PrismaticJoint::sShaders = { PrismaticJointSolverPrep, PrismaticJointProject, PrismaticJointVisualize, PxConstraintFlag::Enum(0) };