package org.atriaSoft.ephysics.constraint;

	/**
	 * This structure is used to gather the information needed to create a fixed
	 * joint. This structure will be used to create the actual fixed joint.
	 */
	struct FixedJointInfo extends  JointInfo {
		public :
			Vector3f anchorPointWorldSpace; //!< Anchor point (in world-space coordinates)
			/**
			 * @breif Contructor
			 * @param rigidBody1 The first body of the joint
			 * @param rigidBody2 The second body of the joint
			 * @param initAnchorPointWorldSpace The initial anchor point of the joint in world-space coordinates
			 */
			FixedJointInfo(RigidBody* rigidBody1,
			               RigidBody* rigidBody2,
			                Vector3f initAnchorPointWorldSpace):
			  JointInfo(rigidBody1, rigidBody2, FIXEDJOINT),
			  this.anchorPointWorldSpace(initAnchorPointWorldSpace){
				
			}
	};
	
	/**
	 * @breif It represents a fixed joint that is used to forbid any translation or rotation
	 * between two bodies.
	 */
	class FixedJoint extends  Joint {
		private:
			static  float BETA; //!< Beta value for the bias factor of position correction
			Vector3f localAnchorPointBody1; //!< Anchor point of body 1 (in local-space coordinates of body 1)
			Vector3f localAnchorPointBody2; //!< Anchor point of body 2 (in local-space coordinates of body 2)
			Vector3f r1World; //!< Vector from center of body 2 to anchor point in world-space
			Vector3f r2World; //!< Vector from center of body 2 to anchor point in world-space
			Matrix3f i1; //!< Inertia tensor of body 1 (in world-space coordinates)
			Matrix3f i2; //!< Inertia tensor of body 2 (in world-space coordinates)
			Vector3f impulseTranslation; //!< Accumulated impulse for the 3 translation raints
			Vector3f impulseRotation; //!< Accumulate impulse for the 3 rotation raints
			Matrix3f inverseMassMatrixTranslation; //!< Inverse mass matrix K=JM^-1J^-t of the 3 translation raints (3x3 matrix)
			Matrix3f inverseMassMatrixRotation; //!< Inverse mass matrix K=JM^-1J^-t of the 3 rotation raints (3x3 matrix)
			Vector3f biasTranslation; //!< Bias vector for the 3 translation raints
			Vector3f biasRotation; //!< Bias vector for the 3 rotation raints
			Quaternion initOrientationDifferenceInv; //!< Inverse of the initial orientation difference between the two bodies
			
			long getSizeInBytes()   {
				return sizeof(FixedJoint);
			}
			void initBeforeSolve( ConstraintSolverData raintSolverData) ;
			void warmstart( ConstraintSolverData raintSolverData) ;
			void solveVelocityConstraint( ConstraintSolverData raintSolverData) ;
			void solvePositionConstraint( ConstraintSolverData raintSolverData) ;
		public:
			/// Constructor
			FixedJoint( FixedJointInfo jointInfo);
	};
}