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#ifndef PX_DISTANCE_JOINT_H
#define PX_DISTANCE_JOINT_H
/** \addtogroup extensions
  @{
*/

#include "extensions/PxJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxDistanceJoint;

/**
\brief Create a distance Joint.

 \param[in] physics		The physics SDK
 \param[in] actor0		An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
 \param[in] localFrame0	The position and orientation of the joint relative to actor0
 \param[in] actor1		An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
 \param[in] localFrame1	The position and orientation of the joint relative to actor1 

@see PxDistanceJoint
*/
PxDistanceJoint*	PxDistanceJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);


/** 
\brief flags for configuring the drive of a PxDistanceJoint

@see PxDistanceJoint
*/
struct PxDistanceJointFlag
{
	enum Enum
	{
		eMAX_DISTANCE_ENABLED	= 1<<1,
		eMIN_DISTANCE_ENABLED	= 1<<2,
		eSPRING_ENABLED			= 1<<3
	};
};

typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags;
PX_FLAGS_OPERATORS(PxDistanceJointFlag::Enum, PxU16)

/**
\brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects

@see PxDistanceJointCreate PxJoint
*/
class PxDistanceJoint : public PxJoint
{
public:

	/**
	\brief Return the current distance of the joint
	*/
	virtual PxReal					getDistance()	const	= 0;
	
	/**
	\brief Set the allowed minimum distance for the joint.

	The minimum	distance must be no more than the maximum distance

	<b>Default</b> 0.0f
	<b>Range</b> [0, PX_MAX_F32)

	\param[in] distance the minimum distance

	@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED getMinDistance()
	*/
	virtual void					setMinDistance(PxReal distance)	= 0;

	/**
	\brief Get the allowed minimum distance for the joint.

	\return the allowed minimum distance

	@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED setMinDistance()
	*/
	virtual PxReal					getMinDistance()	const	= 0;

	/**
	\brief Set the allowed maximum distance for the joint.

	The maximum	distance must be no less than the minimum distance. 

	<b>Default</b> 0.0f
	<b>Range</b> [0, PX_MAX_F32)

	\param[in] distance the maximum distance

	@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED getMinDistance()
	*/
	virtual void					setMaxDistance(PxReal distance)	= 0;

	/**
	\brief Get the allowed maximum distance for the joint.

	\return the allowed maximum distance

	@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED setMaxDistance()
	*/
	virtual PxReal					getMaxDistance()	const	= 0;

	/**
	\brief Set the error tolerance of the joint.

	\param[in] tolerance the distance beyond the allowed range at which the joint becomes active

	@see PxDistanceJoint::tolerance, getTolerance()
	*/
	virtual void					setTolerance(PxReal tolerance)	= 0;

	/**
	\brief Get the error tolerance of the joint.

	the distance beyond the joint's [min, max] range before the joint becomes active.

	<b>Default</b> 0.25f * PxTolerancesScale::length
	<b>Range</b> (0, PX_MAX_F32)

	This value should be used to ensure that if the minimum distance is zero and the 
	spring function is in use, the rest length of the spring is non-zero. 

	@see PxDistanceJoint::tolerance, setTolerance()
	*/
	virtual PxReal					getTolerance()	const	= 0;

	/**
	\brief Set the strength of the joint spring.

	The spring is used if enabled, and the distance exceeds the range [min-error, max+error].

	<b>Default</b> 0.0f
	<b>Range</b> [0, PX_MAX_F32)

	\param[in] stiffness the spring strength of the joint

	@see PxDistanceJointFlag::eSPRING_ENABLED getStiffness()
	*/
	virtual void					setStiffness(PxReal stiffness)	= 0;

	/**
	\brief Get the strength of the joint spring.

	\return stiffness the spring strength of the joint

	@see PxDistanceJointFlag::eSPRING_ENABLED setStiffness()
	*/
	virtual PxReal					getStiffness()	const	= 0;

	/**
	\brief Set the damping of the joint spring.

	The spring is used if enabled, and the distance exceeds the range [min-error, max+error].

	<b>Default</b> 0.0f
	<b>Range</b> [0, PX_MAX_F32)

	\param[in] damping the degree of damping of the joint spring of the joint

	@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
	*/
	virtual void					setDamping(PxReal damping)	= 0;
	
	/**
	\brief Get the damping of the joint spring.

	\return the degree of damping of the joint spring of the joint

	@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
	*/
	virtual PxReal					getDamping()	const	= 0;

	/**
	\brief Set the contact distance for the min & max distance limits.

	This is similar to the PxJointLimitParameters::contactDistance parameter for regular limits.

	The two most common values are 0 and infinite. Infinite means the internal constraints are
	always created, resulting in the best simulation quality but slower performance. Zero means
	the internal constraints are only created when the limits are violated, resulting in best
	performance but worse simulation quality.

	<b>Default</b> 0.0f
	<b>Range</b> [0, PX_MAX_F32)

	\param[in] contactDistance	The contact distance

	@see PxJointLimitParameters::contactDistance getContactDistance()
	*/
	virtual void					setContactDistance(PxReal contactDistance)	= 0;

	/**
	\brief Get the contact distance.

	\return the contact distance

	@see PxJointLimitParameters::contactDistance setContactDistance()
	*/
	virtual PxReal					getContactDistance()	const	= 0;

	/**
	\brief Set the flags specific to the Distance Joint.

	<b>Default</b> PxDistanceJointFlag::eMAX_DISTANCE_ENABLED

	\param[in] flags The joint flags.

	@see PxDistanceJointFlag setFlag() getFlags()
	*/
	virtual void					setDistanceJointFlags(PxDistanceJointFlags flags) = 0;

	/**
	\brief Set a single flag specific to a Distance Joint to true or false.

	\param[in] flag The flag to set or clear.
	\param[in] value the value to which to set the flag

	@see PxDistanceJointFlag, getFlags() setFlags()
	*/
	virtual void					setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value) = 0;

	/**
	\brief Get the flags specific to the Distance Joint.

	\return the joint flags

	@see PxDistanceJoint::flags, PxDistanceJointFlag setFlag() setFlags()
	*/
	virtual PxDistanceJointFlags	getDistanceJointFlags()	const	= 0;

	/**
	\brief Returns string name of PxDistanceJoint, used for serialization
	*/
	virtual	const char*				getConcreteTypeName() const { return "PxDistanceJoint"; }

protected:

	//serialization

	/**
	\brief Constructor
	*/
	PX_INLINE						PxDistanceJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

	/**
	\brief Deserialization constructor
	*/
	PX_INLINE						PxDistanceJoint(PxBaseFlags baseFlags)	: PxJoint(baseFlags) {}

	/**
	\brief Returns whether a given type name matches with the type of this instance
	*/							
	virtual	bool					isKindOf(const char* name)	const { return !::strcmp("PxDistanceJoint", name) || PxJoint::isKindOf(name);	}

	//~serialization
};

#if !PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif
