/* 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 "dgPointToCurveConstraint.h"


/*


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

dgPointToCurveConstraint::dgPointToCurveConstraint()
{

}

dgPointToCurveConstraint::~dgPointToCurveConstraint()
{
}


dgPointToCurveConstraint* dgPointToCurveConstraint::Create(dgWorld* world)
{
	dgPointToCurveConstraint*	constraint;

	constraint = dgPointToCurveConstraintArray::GetPool().GetElement();

	constraint->Init();
	constraint->m_maxDOF = 2;
	constraint->m_destructor = NULL;
	constraint->m_constId = dgPointToCurveConstraintId;
	return constraint;
}

void dgPointToCurveConstraint::Remove(dgWorld* world)
{
	dgBallConstraintArray& array = *world;
	dgBilateralConstraint::Remove ();
//	dgBallConstraintArray::GetPool().RemoveElement (this);
	array.RemoveElement (this);

}

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


//dgUnsigned32 dgPointToCurveConstraint::CalcRestrictedDOF()
//{
//	_ASSERTE (0);
//	return 0;
//}


void dgPointToCurveConstraint::SetPivotPoint(
	const dgVector &pivot,
	OnPointToCurveCallback curve, 
	void *curveContext)
{
	_ASSERTE (0);

//	_ASSERTE (m_dynamic0);

//	m_curve = curve;
//	m_context = curveContext;
//	m_pivot = m_dynamic0->GetBody()->GetMatrix().UntransformVector (pivot);

}


dgUnsigned32 dgPointToCurveConstraint::JacobianDerivative (dgContraintDescritor& params)
{
	_ASSERTE (0);
	return 0;
//	dgBody* body0;
//	dgFloat32 kPosit;
//	
//	_ASSERTE (m_dynamic0);
//	
//	body0 = m_dynamic0->GetBody();
//	_ASSERTE (body0);
//	
//	_ASSERTE (body0->GetDynamic() == m_dynamic0);
//	
//	const dgMatrix& mat0 = body0->GetMatrix();
//
//	dgVector front;
//	dgVector up;
//	dgVector right;
//	dgVector tangent;
//  dgVector pivet1;
//	dgVector pivet0 (mat0.RotateVector (m_pivot));
//
//	dgVector	point (pivet0 + mat0.posit);
//	m_curve (m_context, pivet0, pivet1, front);

//	front = front.Scale (dgRsqrt (front % front)); 
//	Create__Basis(front, up, right);

//	dgVector pivetUp (pivet0 * up);
//	dgVector pivetRight (pivet0 * right);

//	dgJacobian* jacobian01 = params.m_jacobian_01; 

//	jacobian01[0].derivative[0] = up.m_x;
//	jacobian01[0].derivative[1] = up.m_y;
//	jacobian01[0].derivative[2] = up.m_z;
//	jacobian01[0].derivative[3] = pivetUp.m_x;
//	jacobian01[0].derivative[4] = pivetUp.m_y;
//	jacobian01[0].derivative[5] = pivetUp.m_z;
	
//	jacobian01[1].derivative[0] = right.m_x;
//	jacobian01[1].derivative[1] = right.m_y;
//	jacobian01[1].derivative[2] = right.m_z;
//	jacobian01[1].derivative[3] = pivetRight.m_x;
//	jacobian01[1].derivative[4] = pivetRight.m_y;
//	jacobian01[1].derivative[5] = pivetRight.m_z;

//	kPosit = 0.7f * params.m_invTimestep * params.m_invTimestep;
//	dgVector positError (pivet1 - point);

//	params.m_jointAccel[0] = (positError % up) * kPosit;
//	params.m_jointAccel[1] = (positError % right) * kPosit;
}
*/