$#include "Constraint.h"

/// Supported constraint types.
enum ConstraintType
{
    CONSTRAINT_POINT = 0,
    CONSTRAINT_HINGE,
    CONSTRAINT_SLIDER,
    CONSTRAINT_CONETWIST
};

/// Physics constraint component. Connects two rigid bodies together, or one rigid body to a static point.
class Constraint : public Component
{
public:
    /// Set constraint type and recreate the constraint.
    void SetConstraintType(ConstraintType type);
    /// Set other body to connect to. Set to null to connect to the static world.
    void SetOtherBody(RigidBody* body);
    /// Set constraint position relative to own body.
    void SetPosition(const Vector3& position);
    /// Set constraint rotation relative to own body.
    void SetRotation(const Quaternion& rotation);
    /// Set constraint rotation relative to own body by specifying the axis.
    void SetAxis(const Vector3& axis);
    /// Set constraint position relative to the other body. If connected to the static world, is a world-space position.
    void SetOtherPosition(const Vector3& position);
    /// Set constraint rotation relative to the other body. If connected to the static world, is a world-space rotation.
    void SetOtherRotation(const Quaternion& rotation);
    /// Set constraint rotation relative to the other body by specifying the axis.
    void SetOtherAxis(const Vector3& axis);
    /// Set constraint world-space position. Resets both own and other body relative position, ie. zeroes the constraint error.
    void SetWorldPosition(const Vector3& position);
    /// Set high limit. Interpretation is constraint type specific.
    void SetHighLimit(const Vector2& limit);
    /// Set low limit. Interpretation is constraint type specific.
    void SetLowLimit(const Vector2& limit);
    /// Set constraint error reduction parameter. Zero = leave to default.
    void SetERP(float erp);
    /// Set constraint force mixing parameter. Zero = leave to default.
    void SetCFM(float cfm);
    /// Set whether to disable collisions between connected bodies.
    void SetDisableCollision(bool disable);
    
    /// Return physics world.
    PhysicsWorld* GetPhysicsWorld() const { return physicsWorld_; }
    /// Return constraint type.
    ConstraintType GetConstraintType() const { return constraintType_; }
    /// Return rigid body in own scene node.
    RigidBody* GetOwnBody() const { return ownBody_; }
    /// Return the other rigid body. May be null if connected to the static world.
    RigidBody* GetOtherBody() const { return otherBody_; }
    /// Return constraint position relative to own body.
    const Vector3& GetPosition() const { return position_; }
    /// Return constraint rotation relative to own body.
    const Quaternion& GetRotation() const { return rotation_; }
    /// Return constraint position relative to other body.
    const Vector3& GetOtherPosition() const { return otherPosition_; }
    /// Return constraint rotation relative to other body.
    const Quaternion& GetOtherRotation() const { return otherRotation_; }
    /// Return constraint world position, calculated from own body.
    Vector3 GetWorldPosition() const;
    /// Return high limit.
    const Vector2& GetHighLimit() const { return highLimit_; }
    /// Return low limit.
    const Vector2& GetLowLimit() const { return lowLimit_; }
    /// Return constraint error reduction parameter.
    float GetERP() const { return erp_; }
    /// Return constraint force mixing parameter.
    float GetCFM() const { return cfm_; }
    /// Return whether collisions between connected bodies are disabled.
    bool GetDisableCollision() const { return disableCollision_; }
    
    /// Release the constraint.
    void ReleaseConstraint();
    /// Apply constraint frames.
    void ApplyFrames();    
    
    // Properties:
    tolua_property__get_set ConstraintType constraintType;
    tolua_property__get_set const Vector3& position;
    tolua_property__get_set const Quaternion& rotation;
    tolua_property__get_set const Vector3& otherPosition;
    tolua_property__get_set const Quaternion& otherRotation;
    tolua_property__get_set Vector3 worldPosition;
    tolua_property__get_set const Vector2& highLimit;
    tolua_property__get_set const Vector2& lowLimit;
    tolua_property__get_set float ERP;
    tolua_property__get_set float CFM;
    tolua_property__get_set bool disableCollision;
    tolua_readonly tolua_property__get_set RigidBody* ownBody;
    tolua_property__get_set RigidBody* otherBody;
};

${

#define TOLUA_DISABLE_tolua_get_Constraint_worldPosition
#define tolua_get_Constraint_worldPosition tolua_PhysicsLuaAPI_Constraint_GetWorldPosition00

$}