/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
* 
* 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.
*/

#include "dgPhysicsStdafx.h"
#include "dgBody.h"

#include "dgBilateralConstraint.h"


//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

#define DG_JOINT_STIFFNESS_RANGE (dgFloat32 (5.0f)) 

#define DG_VEL_DAMP				 (dgFloat32(100.0f))
#define DG_POS_DAMP				 (dgFloat32(1500.0f))


dgBilateralConstraint::dgBilateralConstraint ()
	:dgConstraint () 
{
	_ASSERTE ((sizeof (dgBilateralConstraint) & 15) == 0);
	_ASSERTE ((((dgUnsigned64) &m_localMatrix0) & 15) == 0);

//	dgConstraint::Init ();

	m_maxDOF = 6;
	m_destructor = NULL;
	m_localMatrix0 = dgGetIdentityMatrix();
	m_localMatrix1 = dgGetIdentityMatrix();

	//SetStiffness (90.0f/99.0f);
	SetStiffness (dgFloat32 (0.9f));

	memset (m_jointForce, 0, sizeof (m_jointForce));
	memset (m_rowIsMotor, 0, sizeof (m_rowIsMotor));
	memset (m_motorAcceleration, 0, sizeof (m_motorAcceleration));
}

dgBilateralConstraint::~dgBilateralConstraint ()
{
	if (m_destructor) {
		m_destructor(*this);
	}
}



bool dgBilateralConstraint::IsBilateral () const
{
	return true;
}



dgFloat32 dgBilateralConstraint::GetStiffness() const
{
	return (DG_JOINT_STIFFNESS_RANGE - m_stiffness) / (DG_JOINT_STIFFNESS_RANGE - dgFloat32 (1.0f));
}


void dgBilateralConstraint::SetStiffness(dgFloat32 stiffness)
{
	stiffness = ClampValue (stiffness, dgFloat32(0.0f), dgFloat32(1.0f));
	m_stiffness = DG_JOINT_STIFFNESS_RANGE - stiffness * (DG_JOINT_STIFFNESS_RANGE - dgFloat32 (1.0f)); 
}


void dgBilateralConstraint::SetDestructorCallback (OnConstraintDestroy destructor)
{
	m_destructor = destructor;
}

void dgBilateralConstraint::CalculateMatrixOffset (const dgVector& pivot, const dgVector& dir, dgMatrix& matrix0, dgMatrix& matrix1)
{
	dgFloat32 length; 
	_ASSERTE (m_body0);
	_ASSERTE (m_body1);

	const dgMatrix& body0_Matrix = m_body0->GetMatrix();

	length = dir % dir;
	length = dgSqrt (length);
	_ASSERTE (length > dgFloat32 (0.0f));
//	matrix0.m_front = body0_Matrix.UnrotateVector (dir.Scale (dgFloat32 (1.0f) / length));
//	Create__Basis (matrix0.m_front, matrix0.m_up, matrix0.m_right);
	matrix0 = dgMatrix (body0_Matrix.UnrotateVector (dir.Scale (dgFloat32 (1.0f) / length)));
	matrix0.m_posit = body0_Matrix.UntransformVector (pivot);

	matrix0.m_front.m_w = dgFloat32 (0.0f);
	matrix0.m_up.m_w    = dgFloat32 (0.0f);
	matrix0.m_right.m_w = dgFloat32 (0.0f);
	matrix0.m_posit.m_w = dgFloat32 (1.0f);

 
//	dgMatrix body1_Matrix (dgGetIdentityMatrix());
//	if (m_body1) {
//		body1_Matrix = m_body1->GetMatrix();
//	}
	const dgMatrix& body1_Matrix = m_body1->GetMatrix();

	matrix1 = matrix0 * body0_Matrix * body1_Matrix.Inverse(); 

}



void dgBilateralConstraint::SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection)
{
	CalculateMatrixOffset (pivot, pinDirection, m_localMatrix0, m_localMatrix1);
}

void dgBilateralConstraint::SetPivotAndPinDir (const dgVector& pivot, const dgVector& pinDirection0, const dgVector& pinDirection1)
{
	_ASSERTE (m_body0);
	_ASSERTE (m_body1);

	const dgMatrix& body0_Matrix = m_body0->GetMatrix();

	
	_ASSERTE ((pinDirection0 % pinDirection0) > dgFloat32 (0.0f));
	m_localMatrix0.m_front = pinDirection0.Scale (dgFloat32 (1.0f) / dgSqrt (pinDirection0 % pinDirection0));
	m_localMatrix0.m_right = m_localMatrix0.m_front * pinDirection1;
	m_localMatrix0.m_right = m_localMatrix0.m_right.Scale (dgFloat32 (1.0f) / dgSqrt (m_localMatrix0.m_right % m_localMatrix0.m_right));
	m_localMatrix0.m_up = m_localMatrix0.m_right * m_localMatrix0.m_front; 
	m_localMatrix0.m_posit = pivot;

	m_localMatrix0.m_front.m_w = dgFloat32 (0.0f);
	m_localMatrix0.m_up.m_w    = dgFloat32 (0.0f);
	m_localMatrix0.m_right.m_w = dgFloat32 (0.0f);
	m_localMatrix0.m_posit.m_w = dgFloat32 (1.0f);

	 
//	dgMatrix body1_Matrix (dgGetIdentityMatrix());
//	if (m_body1) {
//		body1_Matrix = m_body1->GetMatrix();
//	}
	const dgMatrix& body1_Matrix = m_body1->GetMatrix();

	m_localMatrix1 = m_localMatrix0 * body1_Matrix.Inverse(); 
	m_localMatrix0 = m_localMatrix0 * body0_Matrix.Inverse();

}

dgVector dgBilateralConstraint::CalculateGlobalMatrixAndAngle (dgMatrix& globalMatrix0, dgMatrix& globalMatrix1) const
{
	_ASSERTE (m_body0);
	_ASSERTE (m_body1);
	const dgMatrix& body0Matrix = m_body0->GetMatrix();
	const dgMatrix& body1Matrix = m_body1->GetMatrix();
//	dgMatrix body1Matrix (dgGetIdentityMatrix());
//	if (m_body1) {
//		body1Matrix = m_body1->GetMatrix();
//	}

	globalMatrix0 = m_localMatrix0 * body0Matrix;
	globalMatrix1 = m_localMatrix1 * body1Matrix;

	dgMatrix relMatrix (globalMatrix1 * globalMatrix0.Inverse());

	_ASSERTE (dgAbsf (dgFloat32 (1.0f) - (relMatrix.m_front % relMatrix.m_front)) < 1.0e-5f); 
	_ASSERTE (dgAbsf (dgFloat32 (1.0f) - (relMatrix.m_up % relMatrix.m_up)) < 1.0e-5f); 
	_ASSERTE (dgAbsf (dgFloat32 (1.0f) - (relMatrix.m_right % relMatrix.m_right)) < 1.0e-5f); 
//	_ASSERTE ((relMatrix.m_posit % relMatrix.m_posit) < 1.0e-3f);

	return relMatrix.CalcPitchYawRoll ();
}

void dgBilateralConstraint::SetMotorAcceleration (dgInt32 index, dgFloat32 acceleration, dgContraintDescritor& desc)
{
	m_rowIsMotor[index] = -1;
	m_motorAcceleration[index] = acceleration;
	desc.m_isMotor[index] = 1;
	desc.m_jointAccel[index] = acceleration;
}


void dgBilateralConstraint::SetJacobianDerivative (
	dgInt32 index, 
	dgContraintDescritor& desc, 
	const dgFloat32* jacobianA, 
	const dgFloat32* jacobianB, 
	dgFloat32* jointForce)
{
	dgJacobian &jacobian0 = desc.m_jacobian[index].m_jacobian_IM0; 
	dgJacobian &jacobian1 = desc.m_jacobian[index].m_jacobian_IM1; 

	jacobian0.m_linear[0] = jacobianA[0];
	jacobian0.m_linear[1] = jacobianA[1];
	jacobian0.m_linear[2] = jacobianA[2];
	jacobian0.m_linear[3] = dgFloat32 (0.0f);
	jacobian0.m_angular[0] = jacobianA[3];
	jacobian0.m_angular[1] = jacobianA[4];
	jacobian0.m_angular[2] = jacobianA[5];
	jacobian0.m_angular[3] = dgFloat32 (0.0f);


	jacobian1.m_linear[0] = jacobianB[0];
	jacobian1.m_linear[1] = jacobianB[1];
	jacobian1.m_linear[2] = jacobianB[2];
	jacobian1.m_linear[3] = dgFloat32 (0.0f);
	jacobian1.m_angular[0] = jacobianB[3];
	jacobian1.m_angular[1] = jacobianB[4];
	jacobian1.m_angular[2] = jacobianB[5];
	jacobian1.m_angular[3] = dgFloat32 (0.0f);

	m_rowIsMotor[index] = -1;
	m_motorAcceleration[index] = dgFloat32 (0.0f);

	desc.m_restitution[index] = dgFloat32 (0.0f);
	desc.m_jointAccel[index] = dgFloat32 (0.0f);
	desc.m_penetration[index] = dgFloat32 (0.0f);
	desc.m_penetrationStiffness[index] = dgFloat32 (0.0f);
	desc.m_jointStiffness[index] = dgFloat32 (1.0f);
	desc.m_forceBounds[index].m_jointForce = jointForce;
}


dgFloat32 dgBilateralConstraint::CalculateSpringDamperAcceleration (
	dgInt32 index, 
	const dgContraintDescritor& desc, 
	dgFloat32 jointAngle,
	const dgVector& p0Global, 
	const dgVector& p1Global,
	dgFloat32 springK, 
	dgFloat32 springD)
{
	dgFloat32 relPosit;
	dgFloat32 relVeloc;

	const dgJacobian &jacobian0 = desc.m_jacobian[index].m_jacobian_IM0; 
	const dgJacobian &jacobian1 = desc.m_jacobian[index].m_jacobian_IM1; 

	dgVector veloc0 (m_body0->m_veloc);
	dgVector omega0 (m_body0->m_omega);

	dgVector veloc1 (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
	dgVector omega1 (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));;
	if (m_body1) {
	veloc1 = m_body1->m_veloc;
	omega1 = m_body1->m_omega;
	}
	relPosit = (p1Global - p0Global) % jacobian0.m_linear + jointAngle;
	relVeloc = - (veloc0 % jacobian0.m_linear + veloc1 % jacobian1.m_linear +
	omega0 % jacobian0.m_angular + omega1 % jacobian1.m_angular);

	//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
	dgFloat32 dt = desc.m_timestep;
	dgFloat32 ks = springK;
	dgFloat32 kd = springD;
	dgFloat32 ksd = dt * ks;
	dgFloat32 num = ks * relPosit + kd * relVeloc + ksd * relVeloc;
	dgFloat32 den = dgFloat32 (1.0f) + dt * kd + dt * ksd;

	return num / den;
}


void dgBilateralConstraint::CalculateAngularDerivative (
	dgInt32 index,
	dgContraintDescritor& desc, 
	const dgVector& dir,	
	dgFloat32 stiffness,
	dgFloat32 jointAngle,
	dgFloat32* jointForce)
{
	dgFloat32 alphaError;
	dgFloat32 omegaError;

	_ASSERTE (jointForce);

	dgVector omega1;
	_ASSERTE (m_body0);
	dgVector omega0 (m_body0->GetOmega());
	dgJacobian &jacobian0 = desc.m_jacobian[index].m_jacobian_IM0; 
	jacobian0.m_linear[0] = dgFloat32 (0.0f);
	jacobian0.m_linear[1] = dgFloat32 (0.0f);
	jacobian0.m_linear[2] = dgFloat32 (0.0f);
	jacobian0.m_linear[3] = dgFloat32 (0.0f);
	jacobian0.m_angular[0] = dir.m_x;
	jacobian0.m_angular[1] = dir.m_y;
	jacobian0.m_angular[2] = dir.m_z;
	jacobian0.m_angular[3] = dgFloat32 (0.0f);

	dgJacobian &jacobian1 = desc.m_jacobian[index].m_jacobian_IM1; 
	_ASSERTE (m_body1);
	omega1 = m_body1->GetOmega();
	jacobian1.m_linear[0] = dgFloat32 (0.0f);
	jacobian1.m_linear[1] = dgFloat32 (0.0f);
	jacobian1.m_linear[2] = dgFloat32 (0.0f);
	jacobian1.m_linear[3] = dgFloat32 (0.0f);
	jacobian1.m_angular[0] = -dir.m_x;
	jacobian1.m_angular[1] = -dir.m_y;
	jacobian1.m_angular[2] = -dir.m_z;
	jacobian1.m_angular[3] = dgFloat32 (0.0f);

	omegaError = (omega1 - omega0) % dir;

	//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
	dgFloat32 dt = desc.m_timestep;
	dgFloat32 ks = DG_POS_DAMP;
	dgFloat32 kd = DG_VEL_DAMP;
	dgFloat32 ksd = dt * ks;
	dgFloat32 num = ks * jointAngle + kd * omegaError + ksd * omegaError;
	dgFloat32 den = dgFloat32 (1.0f) + dt * kd + dt * ksd;
	alphaError = num / den;

	m_rowIsMotor[index] = 0;
	desc.m_isMotor[index] = 0;
	m_motorAcceleration[index] = dgFloat32 (0.0f);


	//_ASSERTE (dgAbsf (alphaError - CalculateSpringDamperAcceleration (index, desc, jointAngle,  dgVector (0, 0, 0), dgVector (0, 0, 0),	ANGULAR_POS_DAMP, ANGULAR_VEL_DAMP)) < 1.0e-2f);

	desc.m_penetration[index] = jointAngle;
	desc.m_jointAccel[index] = alphaError;
	desc.m_restitution[index] = dgFloat32 (0.0f);
	desc.m_jointStiffness[index] = stiffness;
	desc.m_penetrationStiffness[index] = dgFloat32 (0.0f);
	desc.m_forceBounds[index].m_jointForce = jointForce;
}

void dgBilateralConstraint::CalculatePointDerivative (
	dgInt32 index,
	dgContraintDescritor& desc, 
	const dgVector& dir,	
	const dgPointParam& param,
	dgFloat32* jointForce)
{
	dgFloat32 relPosit;
	dgFloat32 relVeloc;
	dgFloat32 relCentr;
	dgFloat32 accelError;

	_ASSERTE (jointForce);
	_ASSERTE (m_body0);
	_ASSERTE (m_body1);

	dgJacobian &jacobian0 = desc.m_jacobian[index].m_jacobian_IM0; 
	dgVector r0CrossDir (param.m_r0 * dir);
	jacobian0.m_linear[0] = dir.m_x;
	jacobian0.m_linear[1] = dir.m_y;
	jacobian0.m_linear[2] = dir.m_z;
	jacobian0.m_linear[3] = dgFloat32 (0.0f);
	jacobian0.m_angular[0] = r0CrossDir.m_x;
	jacobian0.m_angular[1] = r0CrossDir.m_y;
	jacobian0.m_angular[2] = r0CrossDir.m_z;
	jacobian0.m_angular[3] = dgFloat32 (0.0f);

	dgJacobian &jacobian1 = desc.m_jacobian[index].m_jacobian_IM1; 
	dgVector r1CrossDir (dir * param.m_r1);
	jacobian1.m_linear[0] = -dir.m_x;
	jacobian1.m_linear[1] = -dir.m_y;
	jacobian1.m_linear[2] = -dir.m_z;
	jacobian1.m_linear[3] = dgFloat32 (0.0f);
	jacobian1.m_angular[0] = r1CrossDir.m_x;
	jacobian1.m_angular[1] = r1CrossDir.m_y;
	jacobian1.m_angular[2] = r1CrossDir.m_z;
	jacobian1.m_angular[3] = dgFloat32 (0.0f);

	dgVector velocError (param.m_veloc1 - param.m_veloc0);
	dgVector positError (param.m_posit1 - param.m_posit0);
	dgVector centrError (param.m_centripetal1 - param.m_centripetal0);

	relPosit = positError % dir;
	relVeloc = velocError % dir;
	relCentr = centrError % dir; 
	relCentr = ClampValue (relCentr, dgFloat32(-10000.0f), dgFloat32(10000.0f));
//relCentr = 0.0f;

	//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
	dgFloat32 dt = desc.m_timestep;
	dgFloat32 ks = DG_POS_DAMP;
	dgFloat32 kd = DG_VEL_DAMP;
	dgFloat32 ksd = dt * ks;
	dgFloat32 num = ks * relPosit + kd * relVeloc + ksd * relVeloc;
	dgFloat32 den = dgFloat32 (1.0f) + dt * kd + dt * ksd;
	accelError = num / den;

	//_ASSERTE (dgAbsf (accelError - CalculateSpringDamperAcceleration (index, desc, 0.0f, param.m_posit0, param.m_posit1,	LINEAR_POS_DAMP, LINEAR_VEL_DAMP)) < 1.0e-2f);

	m_rowIsMotor[index] = 0;
	desc.m_isMotor[index] = 0;
	m_motorAcceleration[index] = dgFloat32 (0.0f);


//	dgJacobianPair m_jacobian[DG_CONSTRAINT_MAX_ROWS];
//	dgBilateralBounds m_forceBounds[DG_CONSTRAINT_MAX_ROWS];
//	dgFloat32 m_jointAccel[DG_CONSTRAINT_MAX_ROWS];
//	dgFloat32 m_jointStiffness[DG_CONSTRAINT_MAX_ROWS];
//	dgFloat32 m_restitution[DG_CONSTRAINT_MAX_ROWS];
//	dgFloat32 m_penetration[DG_CONSTRAINT_MAX_ROWS];
//	dgFloat32 m_penetrationStiffness[DG_CONSTRAINT_MAX_ROWS];

	desc.m_penetration[index] = relPosit;
	desc.m_penetrationStiffness[index] = dgFloat32 (0.01f/4.0f);
	desc.m_jointStiffness[index] = param.m_stiffness;
	desc.m_jointAccel[index] = accelError + relCentr;
	// save centripetal acceleration in the restitution member
	desc.m_restitution[index] = relCentr;
	desc.m_forceBounds[index].m_jointForce = jointForce;
}


void dgBilateralConstraint::JointAccelerationsSimd(const dgJointAccelerationDecriptor& params)
{
#ifdef DG_BUILD_SIMD_CODE
	dgFloat32 dt;

	const dgJacobianPair* const Jt = params.m_Jt;
	const dgVector& bodyVeloc0 = m_body0->m_veloc;
	const dgVector& bodyOmega0 = m_body0->m_omega;
	const dgVector& bodyVeloc1 = m_body1->m_veloc;
	const dgVector& bodyOmega1 = m_body1->m_omega;

#if	1	
	dgFloat32 kd = DG_VEL_DAMP * dgFloat32 (4.0f);
	dgFloat32 ks = DG_POS_DAMP * dgFloat32 (0.25f);

	dt = params.m_timeStep;
	for (dgInt32 k = 0; k < params.m_rowsCount; k ++) {
		if (m_rowIsMotor[k]) {
			params.m_coordenateAccel[k] = m_motorAcceleration[k] + params.m_externAccelaration[k];
		} else {
			dgFloat32 num;
			dgFloat32 den;
			dgFloat32 ksd;
			dgFloat32 vRel;
			dgFloat32 aRel;
			dgFloat32 aRelErr;
			dgFloat32 relPosit;

			dgVector relVeloc (Jt[k].m_jacobian_IM0.m_linear.CompProduct(bodyVeloc0));
			relVeloc += Jt[k].m_jacobian_IM0.m_angular.CompProduct(bodyOmega0);
			relVeloc += Jt[k].m_jacobian_IM1.m_linear.CompProduct(bodyVeloc1);
			relVeloc += Jt[k].m_jacobian_IM1.m_angular.CompProduct(bodyOmega1);

			vRel = relVeloc.m_x + relVeloc.m_y + relVeloc.m_z;
			aRel = params.m_externAccelaration[k];
			//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
			//		alphaError = num / den;

			//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
			//		dgFloat32 dt = desc.m_timestep;
			//		dgFloat32 ks = DG_POS_DAMP;
			//		dgFloat32 kd = DG_VEL_DAMP;
			//		dgFloat32 ksd = dt * ks;
			//		dgFloat32 num = ks * relPosit + kd * relVeloc + ksd * relVeloc;
			//		dgFloat32 den = dgFloat32 (1.0f) + dt * kd + dt * ksd;
			//		accelError = num / den;

			ksd = dt * ks;
			//			relPosit = params.m_penetration[k];
			relPosit = params.m_penetration[k] - vRel * dt * params.m_firstPassCoefFlag;

			//			if (relPosit > dgFloat32 (1.0f) ) {
			//				relPosit = dgFloat32 (1.0f);
			//			} else if (params.m_penetration[k] < dgFloat32 (-1.0f) ) {
			//				relPosit = dgFloat32 (-1.0f);
			//			}
			params.m_penetration[k] = relPosit;


			num = ks * relPosit - kd * vRel - ksd * vRel;
			den = dgFloat32 (1.0f) + dt * kd + dt * ksd;
			aRelErr = num / den;

			//centripetal acceleration is stored restitution member
			params.m_coordenateAccel[k] = aRelErr + params.m_restitution[k] + aRel;

#else
			dgFloat32 vRel;
			dgFloat32 aRel;
			dgFloat32 penetrationVeloc;
			dgFloat32 penetrationCorrection;

			dgVector relVeloc (Jt[k].m_jacobian_IM0.m_linear.CompProduct(bodyVeloc0));
			relVeloc += Jt[k].m_jacobian_IM0.m_angular.CompProduct(bodyOmega0);
			relVeloc += Jt[k].m_jacobian_IM1.m_linear.CompProduct(bodyVeloc1);
			relVeloc += Jt[k].m_jacobian_IM1.m_angular.CompProduct(bodyOmega1);

			vRel = relVeloc.m_x + relVeloc.m_y + relVeloc.m_z ;		

			penetrationCorrection = vRel * params.m_timeStep * params.m_firstPassCoefFlag;
			params.m_penetration[k] = params.m_penetration[k] - penetrationCorrection;
			if (params.m_penetration[k] > dgFloat32 (1.0f) ) {
				params.m_penetration[k] = dgFloat32 (1.0f);
			} else if (params.m_penetration[k] < dgFloat32 (-1.0f) ) {
				params.m_penetration[k] = dgFloat32 (-1.0f);
			}
			penetrationVeloc = -(params.m_penetration[k] * params.m_penetrationStiffness[k] * params.m_invTimeStep);

			vRel += penetrationVeloc;
			//centripetal acceleration is stored restitution member
			aRel = params.m_externAccelaration[k] + params.m_restitution[k];
			params.m_coordenateAccel[k] =  (aRel - vRel * params.m_invTimeStep);
#endif
		}
	}
#endif
}


void dgBilateralConstraint::JointAccelerations(const dgJointAccelerationDecriptor& params)
{
	dgFloat32 dt;

	const dgJacobianPair* const Jt = params.m_Jt;
	const dgVector& bodyVeloc0 = m_body0->m_veloc;
	const dgVector& bodyOmega0 = m_body0->m_omega;
	const dgVector& bodyVeloc1 = m_body1->m_veloc;
	const dgVector& bodyOmega1 = m_body1->m_omega;

#if	1	
	dgFloat32 kd = DG_VEL_DAMP * dgFloat32 (4.0f);
	dgFloat32 ks = DG_POS_DAMP * dgFloat32 (0.25f);

	dt = params.m_timeStep;
	for (dgInt32 k = 0; k < params.m_rowsCount; k ++) {
		if (m_rowIsMotor[k]) {
			params.m_coordenateAccel[k] = m_motorAcceleration[k] + params.m_externAccelaration[k];
		} else {
			dgFloat32 num;
			dgFloat32 den;
			dgFloat32 ksd;
			dgFloat32 vRel;
			dgFloat32 aRel;
			dgFloat32 aRelErr;
			dgFloat32 relPosit;

			dgVector relVeloc (Jt[k].m_jacobian_IM0.m_linear.CompProduct(bodyVeloc0));
			relVeloc += Jt[k].m_jacobian_IM0.m_angular.CompProduct(bodyOmega0);
			relVeloc += Jt[k].m_jacobian_IM1.m_linear.CompProduct(bodyVeloc1);
			relVeloc += Jt[k].m_jacobian_IM1.m_angular.CompProduct(bodyOmega1);

			vRel = relVeloc.m_x + relVeloc.m_y + relVeloc.m_z;
			aRel = params.m_externAccelaration[k];
			//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
			//		alphaError = num / den;

			//at =  [- ks (x2 - x1) - kd * (v2 - v1) - dt * ks * (v2 - v1)] / [1 + dt * kd + dt * dt * ks] 
			//		dgFloat32 dt = desc.m_timestep;
			//		dgFloat32 ks = DG_POS_DAMP;
			//		dgFloat32 kd = DG_VEL_DAMP;
			//		dgFloat32 ksd = dt * ks;
			//		dgFloat32 num = ks * relPosit + kd * relVeloc + ksd * relVeloc;
			//		dgFloat32 den = dgFloat32 (1.0f) + dt * kd + dt * ksd;
			//		accelError = num / den;

			ksd = dt * ks;
//			relPosit = params.m_penetration[k];
			relPosit = params.m_penetration[k] - vRel * dt * params.m_firstPassCoefFlag;

//			if (relPosit > dgFloat32 (1.0f) ) {
//				relPosit = dgFloat32 (1.0f);
//			} else if (params.m_penetration[k] < dgFloat32 (-1.0f) ) {
//				relPosit = dgFloat32 (-1.0f);
//			}
			params.m_penetration[k] = relPosit;


			num = ks * relPosit - kd * vRel - ksd * vRel;
			den = dgFloat32 (1.0f) + dt * kd + dt * ksd;
			aRelErr = num / den;

			//centripetal acceleration is stored restitution member
			params.m_coordenateAccel[k] = aRelErr + params.m_restitution[k] + aRel;

#else
			dgFloat32 vRel;
			dgFloat32 aRel;
			dgFloat32 penetrationVeloc;
			dgFloat32 penetrationCorrection;

			dgVector relVeloc (Jt[k].m_jacobian_IM0.m_linear.CompProduct(bodyVeloc0));
			relVeloc += Jt[k].m_jacobian_IM0.m_angular.CompProduct(bodyOmega0);
			relVeloc += Jt[k].m_jacobian_IM1.m_linear.CompProduct(bodyVeloc1);
			relVeloc += Jt[k].m_jacobian_IM1.m_angular.CompProduct(bodyOmega1);

			vRel = relVeloc.m_x + relVeloc.m_y + relVeloc.m_z ;		
			
			penetrationCorrection = vRel * params.m_timeStep * params.m_firstPassCoefFlag;
			params.m_penetration[k] = params.m_penetration[k] - penetrationCorrection;
			if (params.m_penetration[k] > dgFloat32 (1.0f) ) {
				params.m_penetration[k] = dgFloat32 (1.0f);
			} else if (params.m_penetration[k] < dgFloat32 (-1.0f) ) {
				params.m_penetration[k] = dgFloat32 (-1.0f);
			}
			penetrationVeloc = -(params.m_penetration[k] * params.m_penetrationStiffness[k] * params.m_invTimeStep);
			
			vRel += penetrationVeloc;
			//centripetal acceleration is stored restitution member
			aRel = params.m_externAccelaration[k] + params.m_restitution[k];
			params.m_coordenateAccel[k] =  (aRel - vRel * params.m_invTimeStep);
#endif
		}
	}
}

void dgBilateralConstraint::JointVelocityCorrection(const dgJointAccelerationDecriptor& params)
{
/*
	const dgJacobianPair* const Jt = params.m_Jt;
	const dgVector& bodyVeloc0 = params.m_body0->m_correctionVeloc;
	const dgVector& bodyOmega0 = params.m_body0->m_correctionOmega;
	const dgVector& bodyVeloc1 = params.m_body1->m_correctionVeloc;
	const dgVector& bodyOmega1 = params.m_body1->m_correctionOmega;

	for (dgInt32 k = 0; k < params.m_rowsCount; k ++) {
		dgFloat32 vRel;
		dgFloat32 penetrationCorrection;

		dgVector relVeloc (Jt[k].m_jacobian_IM0.m_linear.CompProduct(bodyVeloc0));
		relVeloc += Jt[k].m_jacobian_IM0.m_angular.CompProduct(bodyOmega0);
		relVeloc += Jt[k].m_jacobian_IM1.m_linear.CompProduct(bodyVeloc1);
		relVeloc += Jt[k].m_jacobian_IM1.m_angular.CompProduct(bodyOmega1);
		vRel = relVeloc.m_x + relVeloc.m_y + relVeloc.m_z;
		
		penetrationCorrection = vRel * params.m_timeStep;
		params.m_penetration[k] -= penetrationCorrection;
		params.m_coordenateAccel[k] =  - vRel + params.m_penetration[k] * params.m_invTimeStep * 0.25f;
	}
*/
}