/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010 Daniel Chappuis                                            *
*********************************************************************************
*                                                                               *
* 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 CONSTRAINT_H
#define CONSTRAINT_H

// Libraries
#include "../body/Body.h"
#include "../mathematics/mathematics.h"

// ReactPhysics3D namespace
namespace reactphysics3d {

/*  -------------------------------------------------------------------
    Class Constraint :
        This abstract class represents a constraint in the physics engine.
        A constraint can be a collision contact or a joint for
        instance. Each constraint can be made of several "mathematical
        constraints" needed to represent the main constraint.
    -------------------------------------------------------------------
*/
class Constraint {
    protected :
        Body* const body1;          // Pointer to the first body of the constraint
        Body* const body2;          // Pointer to the second body of the constraint
        bool active;                // True if the constraint is active
        uint nbConstraints;         // Number mathematical constraints associated with this Constraint

    public :
        Constraint(Body* const body1, Body* const body2, uint nbConstraints, bool active);  // Constructor                                                                                                   // Constructor
        virtual ~Constraint();                                                              // Destructor
        Body* const getBody1() const;                                                       // Return the reference to the body 1
        Body* const getBody2() const;                                                       // Return the reference to the body 2                                                                        // Evaluate the constraint
        bool isActive() const;                                                              // Return true if the constraint is active                                                             // Return the jacobian matrix of body 2
        virtual void computeJacobian(int noConstraint, Matrix1x6**& J_sp) const=0;          // Compute the jacobian matrix for all mathematical constraints
        virtual void computeLowerBound(int noConstraint, Vector& lowerBounds) const=0;      // Compute the lowerbounds values for all the mathematical constraints
        virtual void computeUpperBound(int noConstraint, Vector& upperBounds) const=0;      // Compute the upperbounds values for all the mathematical constraints
        virtual void computeErrorValue(int noConstraint, Vector& errorValues) const=0;      // Compute the error values for all the mathematical constraints
        unsigned int getNbConstraints() const;                                              // Return the number of mathematical constraints                                                                                                         // Return the number of auxiliary constraints
};

// Return the reference to the body 1
inline Body* const Constraint::getBody1() const {
    return body1;
}

// Return the reference to the body 2
inline Body* const Constraint::getBody2() const {
    return body2;
}

// Return true if the constraint is active
inline bool Constraint::isActive() const {
    return active;
}

// Return the number auxiliary constraints
inline uint Constraint::getNbConstraints() const {
    return nbConstraints;
}

} // End of the ReactPhysics3D namespace

#endif