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#ifndef PX_PHYSICS_NP_ARTICULATION
#define PX_PHYSICS_NP_ARTICULATION

#include "CmPhysXCommon.h"
#include "PxArticulation.h"

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

#include "NpArticulationJoint.h"
#include "NpArticulationLink.h"
#include "NpArticulationTemplate.h"
#include "ScbArticulation.h"

namespace physx {

class NpArticulationLink;
class NpScene;
class NpAggregate;
class PxAggregate;

#if PX_VC
#pragma warning(push)
#pragma warning(disable : 4250)
#endif

class NpArticulation : public NpArticulationTemplate<PxArticulation> {
  //= 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:
  virtual ~NpArticulation();

  // PX_SERIALIZATION
  NpArticulation(PxBaseFlags baseFlags) : NpArticulationTemplate(baseFlags) {}
  static NpArticulation *createObject(PxU8 *&address, PxDeserializationContext &context);
  static void getBinaryMetaData(PxOutputStream &stream);
  //~PX_SERIALIZATION

  //---------------------------------------------------------------------------------
  // PxArticulation implementation
  //---------------------------------------------------------------------------------

  virtual PxU32 getInternalDriveIterations() const;
  virtual void setInternalDriveIterations(PxU32 iterations);

  virtual PxU32 getExternalDriveIterations() const;
  virtual void setExternalDriveIterations(PxU32 iterations);

  virtual PxU32 getMaxProjectionIterations() const;
  virtual void setMaxProjectionIterations(PxU32 iterations);

  virtual PxReal getSeparationTolerance() const;
  virtual void setSeparationTolerance(PxReal tolerance);

  virtual PxArticulationDriveCache *createDriveCache(PxReal compliance, PxU32 driveIterations) const;

  virtual void updateDriveCache(PxArticulationDriveCache &cache, PxReal compliance, PxU32 driveIterations) const;

  virtual void releaseDriveCache(PxArticulationDriveCache &) const;

  virtual void applyImpulse(PxArticulationLink *, const PxArticulationDriveCache &driveCache, const PxVec3 &force,
                            const PxVec3 &torque);

  virtual void computeImpulseResponse(PxArticulationLink *, PxVec3 &linearResponse, PxVec3 &angularResponse,
                                      const PxArticulationDriveCache &driveCache, const PxVec3 &force,
                                      const PxVec3 &torque) const;

  virtual const char *getConcreteTypeName() const { return "PxArticulation"; }

  //---------------------------------------------------------------------------------
  // Miscellaneous
  //---------------------------------------------------------------------------------
  NpArticulation();

  virtual bool isKindOf(const char *name) const { return !::strcmp("PxArticulation", name) || PxBase::isKindOf(name); }

  static PX_INLINE size_t getScbArticulationOffset() { return PX_OFFSET_OF_RT(NpArticulation, mImpl.mArticulation); }

private:
  virtual PxArticulationJointBase *createArticulationJoint(PxArticulationLink &parent, const PxTransform &parentFrame,
                                                           PxArticulationLink &child, const PxTransform &childFrame);
  virtual void releaseArticulationJoint(PxArticulationJointBase *joint);
};

#if PX_VC
#pragma warning(pop)
#endif

} // namespace physx

#endif
