/*
 * Copyright (c) 2008-2009 Bill Whitacre http://rampancy.g0dsoft.com
 * 
 * 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.
*/

#ifndef RAT_PHYSICS_CONSTRAINT_PIVOT
#define RAT_PHYSICS_CONSTRAINT_PIVOT

#include "common.h"
#include "constraint.h"
#include "transform.h"

typedef struct rat_constraint_pivot
{
	rat_constraint_type type;
	rat_constraint_class *clas;

	int island_marker;

	rat_body *body_a;
	rat_body *body_b;

	vector2 anch_a,anch_b;
	vector2 world_anch_a,world_anch_b;

	vector2 mass0,mass1; // mass matrix
	vector2 norm_acc_j,bias_j,bias;
} rat_constraint_pivot;

#ifdef __cplusplus
extern "C" {
#endif

rat_constraint *rat_constraint_pivot_create(rat_body *body_a,rat_body *body_b,vector2 anch);
void rat_constraint_pivot_destroy(rat_constraint *constraint);

void rat_constraint_pivot_prime(rat_constraint *constraint,rat_real bias_coef);
void rat_constraint_pivot_step(rat_constraint *constraint);

#ifdef __cplusplus
}
#endif

#endif