/**************************************************************************/
/*  pin_joint_bullet.cpp                                                  */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
/*                                                                        */
/* Permission is hereby granted, free of charge, to any person obtaining  */
/* a copy of this software and associated documentation files (the        */
/* "Software"), to deal in the Software without restriction, including    */
/* without limitation the rights to use, copy, modify, merge, publish,    */
/* distribute, sublicense, and/or sell copies of the Software, and to     */
/* permit persons to whom the Software is furnished to do so, subject to  */
/* the following conditions:                                              */
/*                                                                        */
/* The above copyright notice and this permission notice shall be         */
/* included in all copies or substantial portions of the Software.        */
/*                                                                        */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
/**************************************************************************/

#include "pin_joint_bullet.h"

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

#include <BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h>

/**
	@author AndreaCatania
*/

PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) :
		JointBullet() {
	if (p_body_b) {
		btVector3 btPivotA;
		btVector3 btPivotB;
		G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA);
		G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB);
		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
				*p_body_b->get_bt_rigid_body(),
				btPivotA,
				btPivotB));
	} else {
		btVector3 btPivotA;
		G_TO_B(p_pos_a, btPivotA);
		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA));
	}

	setup(p2pConstraint);
}

PinJointBullet::~PinJointBullet() {}

void PinJointBullet::set_param(PhysicsServer::PinJointParam p_param, real_t p_value) {
	switch (p_param) {
		case PhysicsServer::PIN_JOINT_BIAS:
			p2pConstraint->m_setting.m_tau = p_value;
			break;
		case PhysicsServer::PIN_JOINT_DAMPING:
			p2pConstraint->m_setting.m_damping = p_value;
			break;
		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
			p2pConstraint->m_setting.m_impulseClamp = p_value;
			break;
	}
}

real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
	switch (p_param) {
		case PhysicsServer::PIN_JOINT_BIAS:
			return p2pConstraint->m_setting.m_tau;
		case PhysicsServer::PIN_JOINT_DAMPING:
			return p2pConstraint->m_setting.m_damping;
		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
			return p2pConstraint->m_setting.m_impulseClamp;
		default:
			WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
			return 0;
	}
}

void PinJointBullet::setPivotInA(const Vector3 &p_pos) {
	btVector3 btVec;
	G_TO_B(p_pos, btVec);
	p2pConstraint->setPivotA(btVec);
}

void PinJointBullet::setPivotInB(const Vector3 &p_pos) {
	btVector3 btVec;
	G_TO_B(p_pos, btVec);
	p2pConstraint->setPivotB(btVec);
}

Vector3 PinJointBullet::getPivotInA() {
	btVector3 vec = p2pConstraint->getPivotInA();
	Vector3 gVec;
	B_TO_G(vec, gVec);
	return gVec;
}

Vector3 PinJointBullet::getPivotInB() {
	btVector3 vec = p2pConstraint->getPivotInB();
	Vector3 gVec;
	B_TO_G(vec, gVec);
	return gVec;
}