/* 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 "dgConnectorConstraint.h"

/*
class dgConnectorConstraintArray: public dgPoolContainer<dgConnectorConstraint>
{
	public:

	static dgConnectorConstraintArray& GetPool()
	{
		static dgConnectorConstraintArray pool;
		return pool;
	}
};


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

dgConnectorConstraint::dgConnectorConstraint()
{

}

dgConnectorConstraint::~dgConnectorConstraint()
{

}



dgConnectorConstraint* dgConnectorConstraint::Create()
{
	dgConnectorConstraint*	constraint;

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

	constraint->Init();
	constraint->m_maxDOF = 6;
	constraint->m_constId = dgConectorConstraintId;
	return constraint;
}

void dgConnectorConstraint::Remove()
{
	_ASSERTE (0);
}


void dgConnectorConstraint::Setup ()
{
_ASSERTE (0);

	dgVector p0 (m_dynamic0->GetBody()->GetMatrix().posit);
	dgVector p1 (p0);
	if (m_dynamic1) {
		p1 = m_dynamic1->GetBody()->GetMatrix().posit;
	}

	dgVector pivet (p1 + p0);
	pivet = pivet.Scale (0.5f);
	dgBallConstraint::SetPivotPoint (pivet);

}


dgUnsigned32 dgConnectorConstraint::JacobianDerivative (dgContraintDescritor& params)
{
	_ASSERTE (0);
	return 0;

//	dgFloat32 k;
	dgBody* body0;
 	dgBallConstraint::JacobianDerivative (params);

	body0 = m_dynamic0->GetBody();
	const dgMatrix& mat0 = body0->GetMatrix();
	dgJacobian* jacobian01 = &params.m_jacobian_01[3];

	jacobian01[0].derivative[0] = 0.0f;
	jacobian01[0].derivative[1] = 0.0f;
	jacobian01[0].derivative[2] = 0.0f;
	jacobian01[0].derivative[3] = mat0.front.m_x;
	jacobian01[0].derivative[4] = mat0.front.m_y;
	jacobian01[0].derivative[5] = mat0.front.m_z;

	jacobian01[1].derivative[0] = 0.0f;
	jacobian01[1].derivative[1] = 0.0f;
	jacobian01[1].derivative[2] = 0.0f;
	jacobian01[1].derivative[3] = mat0.up.m_x;
	jacobian01[1].derivative[4] = mat0.up.m_y;
	jacobian01[1].derivative[5] = mat0.up.m_z;

	jacobian01[2].derivative[0] = 0.0f;
	jacobian01[2].derivative[1] = 0.0f;
	jacobian01[2].derivative[2] = 0.0f;
	jacobian01[2].derivative[3] = mat0.right.m_x;
	jacobian01[2].derivative[4] = mat0.right.m_y;
	jacobian01[2].derivative[5] = mat0.right.m_z;

	if (m_dynamic1) {
		dgJacobian* jacobian10 = &params.m_jacobian_10[3];
		jacobian10[0].derivative[0] = 0.0f;
		jacobian10[0].derivative[1] = 0.0f;
		jacobian10[0].derivative[2] = 0.0f;
		jacobian10[0].derivative[3] = -mat0.front.m_x;
		jacobian10[0].derivative[4] = -mat0.front.m_y;
		jacobian10[0].derivative[5] = -mat0.front.m_z;
				
		jacobian10[1].derivative[0] = 0.0f;
		jacobian10[1].derivative[1] = 0.0f;
		jacobian10[1].derivative[2] = 0.0f;
		jacobian10[1].derivative[3] = -mat0.up.m_x;
		jacobian10[1].derivative[4] = -mat0.up.m_y;
		jacobian10[1].derivative[5] = -mat0.up.m_z;
				
		jacobian10[2].derivative[0] = 0.0f;
		jacobian10[2].derivative[1] = 0.0f;
		jacobian10[2].derivative[2] = 0.0f;
		jacobian10[2].derivative[3] = -mat0.right.m_x;
		jacobian10[2].derivative[4] = -mat0.right.m_y;
		jacobian10[2].derivative[5] = -mat0.right.m_z;
  }

//  k = 0.75f * params.m_invTimestep;
//  dgVector angle (front0 * front1);
}
*/


