/*
 * Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
 *
 * Bullet Continuous Collision Detection and Physics Library
 * Copyright (c) 2003-2008 Erwin Coumans  http://www.bulletphysics.com/
 *
 * This software is provided 'as-is', without any express or implied warranty.
 * In no event will the authors be held liable for any damages arising from
 * the use of this software.
 * 
 * Permission is granted to anyone to use this software for any purpose, 
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 * 
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */

package com.bulletphysics.dynamics.constraintsolver;

import com.bulletphysics.dynamics.RigidBody;
import javax.vecmath.Vector3f;

/**
 * TypedConstraint is the base class for Bullet constraints and vehicles.
 * 
 * @author jezek2
 */
public abstract class TypedConstraint {
	
	//protected final BulletStack stack = BulletStack.get();
	
	// TODO: stack allocation
	private static /*final*/ RigidBody s_fixed;// = new RigidBody(0, null, null);
	
	private static synchronized RigidBody getFixed() {
		if (s_fixed == null) {
			s_fixed = new RigidBody(0, null, null);
		}
		return s_fixed;
	}

	private int userConstraintType = -1;
	private int userConstraintId = -1;

	private TypedConstraintType constraintType;
	
	protected RigidBody rbA;
	protected RigidBody rbB;
	protected float appliedImpulse = 0f;

	public TypedConstraint(TypedConstraintType type) {
		this(type, getFixed(), getFixed());
	}
	
	public TypedConstraint(TypedConstraintType type, RigidBody rbA) {
		this(type, rbA, getFixed());
	}
	
	public TypedConstraint(TypedConstraintType type, RigidBody rbA, RigidBody rbB) {
		this.constraintType = type;
		this.rbA = rbA;
		this.rbB = rbB;
		getFixed().setMassProps(0f, new Vector3f(0f, 0f, 0f));
	}
	
	public abstract void buildJacobian();

	public abstract void solveConstraint(float timeStep);
	
	public RigidBody getRigidBodyA() {
		return rbA;
	}

	public RigidBody getRigidBodyB() {
		return rbB;
	}

	public int getUserConstraintType() {
		return userConstraintType;
	}
	
	public void setUserConstraintType(int userConstraintType) {
		this.userConstraintType = userConstraintType;
	}

	public int getUserConstraintId() {
		return userConstraintId;
	}

	public int getUid() {
		return userConstraintId;
	}

	public void setUserConstraintId(int userConstraintId) {
		this.userConstraintId = userConstraintId;
	}

	public float getAppliedImpulse() {
		return appliedImpulse;
	}

	public TypedConstraintType getConstraintType() {
		return constraintType;
	}
	
}