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#ifndef PX_PHYSICS_NP_ARTICULATION_LINK
#define PX_PHYSICS_NP_ARTICULATION_LINK

#include "NpRigidBodyTemplate.h"
#include "PxArticulationLink.h"

#if PX_ENABLE_DEBUG_VISUALIZATION
#include "CmRenderOutput.h"
#endif

namespace physx
{

class NpArticulation;
class NpArticulationLink;
class NpArticulationJoint;
class PxConstraintVisualizer;

typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;

class NpArticulationLinkArray : public Ps::InlineArray<NpArticulationLink*, 4>  //!!!AL TODO: check if default of 4 elements makes sense
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
	NpArticulationLinkArray(const PxEMPTY) : Ps::InlineArray<NpArticulationLink*, 4> (PxEmpty) {}
	static	void	getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
	NpArticulationLinkArray() : Ps::InlineArray<NpArticulationLink*, 4>(PX_DEBUG_EXP("articulationLinkArray")) {}
};



class NpArticulationLink : public NpArticulationLinkT
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
									NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty)	{}
	virtual		void				exportExtraData(PxSerializationContext& stream);
				void				importExtraData(PxDeserializationContext& context);
				void				registerReferences(PxSerializationContext& stream);
				void				resolveReferences(PxDeserializationContext& context);
	virtual		void				requiresObjects(PxProcessPxBaseCallback& c);
	virtual		bool			    isSubordinate()  const	 { return true; } 
	static		NpArticulationLink*	createObject(PxU8*& address, PxDeserializationContext& context);
	static		void				getBinaryMetaData(PxOutputStream& stream);		
//~PX_SERIALIZATION
	virtual							~NpArticulationLink();

	//---------------------------------------------------------------------------------
	// PxArticulationLink implementation
	//---------------------------------------------------------------------------------
	virtual		void				release();


	virtual		PxActorType::Enum	getType() const { return PxActorType::eARTICULATION_LINK; }

	// Pose
	virtual		void				setGlobalPose(const PxTransform& pose);
	virtual		void 				setGlobalPose(const PxTransform& pose, bool autowake);
	virtual		PxTransform			getGlobalPose() const;

	//damping
	virtual		void				setLinearDamping(PxReal linDamp);
	virtual		PxReal				getLinearDamping() const;

	virtual		void				setAngularDamping(PxReal angDamp);
	virtual		PxReal				getAngularDamping() const;
	
	// Velocity
	virtual		void				setLinearVelocity(const PxVec3&, bool autowake = true);
	virtual		void				setAngularVelocity(const PxVec3&, bool autowake = true);
	virtual		void				setMaxAngularVelocity(PxReal);
	virtual		PxReal				getMaxAngularVelocity() const;
	virtual		void				setMaxLinearVelocity(PxReal);
	virtual		PxReal				getMaxLinearVelocity() const;

	virtual		PxArticulationBase&						getArticulation() const;

	virtual		PxArticulationReducedCoordinate&		getArticulationReducedCoordinate() const;
	
	virtual		PxArticulationJointBase*				getInboundJoint() const;
	virtual		PxU32									getInboundJointDof() const;

	virtual		PxU32				getNbChildren() const;
	virtual		PxU32				getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
	virtual		PxU32				getLinkIndex() const;
	virtual		void				setCMassLocalPose(const PxTransform& pose);

	virtual		void				addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
	virtual		void				addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
	virtual		void				setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
	virtual		void				clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
	virtual		void				clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);

	//---------------------------------------------------------------------------------
	// Miscellaneous
	//---------------------------------------------------------------------------------
										NpArticulationLink(const PxTransform& bodyPose, PxArticulationBase& root, NpArticulationLink* parent);

				void					releaseInternal();

	PX_INLINE	PxArticulationBase&		getRoot()	{ return *mRoot; }
	PX_INLINE	NpArticulationLink*		getParent()	{ return mParent; }

	PX_INLINE	void					setInboundJoint(PxArticulationJointBase& joint) { mInboundJoint = &joint; }

	void 								setGlobalPoseInternal(const PxTransform& pose, bool autowake);
	void								setLLIndex(const PxU32 index) { mLLIndex = index; }
	void								setInboundJointDof(const PxU32 index) { mInboundJointDof = index; }
private:
	PX_INLINE	void					addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(&link); }
	PX_INLINE	void					removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(&link); }

public:
	PX_INLINE	NpArticulationLink* const*	getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }

#if PX_ENABLE_DEBUG_VISUALIZATION
public:
				void					visualize(Cm::RenderOutput& out, NpScene* scene);
				void					visualizeJoint(PxConstraintVisualizer& jointViz);
#endif


private:
				PxArticulationBase*				mRoot;  //!!!AL TODO: Revisit: Could probably be avoided if registration and deregistration in root is handled differently
				PxArticulationJointBase*		mInboundJoint;
				NpArticulationLink*				mParent;  //!!!AL TODO: Revisit: Some memory waste but makes things faster
				NpArticulationLinkArray			mChildLinks;
				PxU32							mLLIndex;
				PxU32							mInboundJointDof;
};

}

#endif
