/*************************************************************************/
/*  cone_twist_joint_bullet.cpp                                          */
/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
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#include "cone_twist_joint_bullet.h"

#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "rigid_body_bullet.h"

#include <BulletDynamics/ConstraintSolver/btConeTwistConstraint.h>

/**
	@author AndreaCatania
*/

ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
		JointBullet() {
	Transform3D scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);

	btTransform btFrameA;
	G_TO_B(scaled_AFrame, btFrameA);

	if (rbB) {
		Transform3D scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);

		btTransform btFrameB;
		G_TO_B(scaled_BFrame, btFrameB);

		coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
	} else {
		coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
	}
	setup(coneConstraint);
}

void ConeTwistJointBullet::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
	switch (p_param) {
		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
			coneConstraint->setLimit(5, p_value);
			coneConstraint->setLimit(4, p_value);
			break;
		case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
			coneConstraint->setLimit(3, p_value);
			break;
		case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
			coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor());
			break;
		case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
			coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor());
			break;
		case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
			coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
			break;
		case PhysicsServer3D::CONE_TWIST_MAX:
			// Internal size value, nothing to do.
			break;
	}
}

real_t ConeTwistJointBullet::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
	switch (p_param) {
		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN:
			return coneConstraint->getSwingSpan1();
		case PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN:
			return coneConstraint->getTwistSpan();
		case PhysicsServer3D::CONE_TWIST_JOINT_BIAS:
			return coneConstraint->getBiasFactor();
		case PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS:
			return coneConstraint->getLimitSoftness();
		case PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION:
			return coneConstraint->getRelaxationFactor();
		case PhysicsServer3D::CONE_TWIST_MAX:
			// Internal size value, nothing to do.
			return 0;
	}
	// Compiler doesn't seem to notice that all code paths are fulfilled...
	return 0;
}