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#ifndef PX_RACK_AND_PINION_JOINT_H
#define PX_RACK_AND_PINION_JOINT_H

#include "extensions/PxJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

	class PxRackAndPinionJoint;

	/**
	\brief Create a rack & pinion Joint.

	\param[in] physics		The physics SDK
	\param[in] actor0		An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
	\param[in] localFrame0	The position and orientation of the joint relative to actor0
	\param[in] actor1		An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
	\param[in] localFrame1	The position and orientation of the joint relative to actor1

	\see PxRackAndPinionJoint
	*/
	PxRackAndPinionJoint*	PxRackAndPinionJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);

	/**
	\brief A joint that connects an existing revolute joint to an existing prismatic joint,
	and constrains their relative angular/linear velocity and position with respect to each other.

	\see PxRackAndPinionJointCreate PxJoint
	*/
	class PxRackAndPinionJoint : public PxJoint
	{
	public:

		/**
		\brief Set the hinge & prismatic joints connected by the rack & pinion joint.

		The passed hinge joint can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate.
		The passed prismatic joint can be either PxPrismaticJoint or PxD6Joint.

		Note that these joints are only used to compute the positional error correction term,
		used to adjust potential drift between jointed actors. The rack & pinion joint can run without
		calling this function, but in that case some visible overlap may develop over time between
		the teeth of the rack & pinion meshes.

		\note	Calling this function resets the internal positional error correction term.

		\param[in]	hinge		The hinge joint (pinion)
		\param[in]	prismatic	The prismatic joint (rack)
		\return		true if success
		*/
		virtual	bool		setJoints(const PxBase* hinge, const PxBase* prismatic)	= 0;

		/**
		\brief Get the hinge & prismatic joints connected by the rack & pinion joint.

		\param[out]	hinge		The hinge joint (pinion)
		\param[out]	prismatic	The prismatic joint (rack)
		*/
		virtual	void		getJoints(const PxBase*& hinge, const PxBase*& prismatic)	const	= 0;

		/**
		\brief Set the desired ratio directly.

		\note	You may need to use a negative gear ratio if the joint frames of involved actors are not oriented in the same direction.

		\note	Calling this function resets the internal positional error correction term.

		\param[in]	ratio	Desired ratio between the hinge and the prismatic.
		*/
		virtual	void		setRatio(float ratio)	= 0;

		/**
		\brief Get the ratio.

		\return		Current ratio
		*/
		virtual	float		getRatio()	const		= 0;

		/**
		\brief Set the desired ratio indirectly.

		This is a simple helper function that computes the ratio from passed data:

		ratio = (PI*2*nbRackTeeth)/(rackLength*nbPinionTeeth)

		\note	Calling this function resets the internal positional error correction term.

		\param[in]	nbRackTeeth		Number of teeth on the rack (cannot be zero)
		\param[in]	nbPinionTeeth	Number of teeth on the pinion (cannot be zero)
		\param[in]	rackLength		Length of the rack
		\return		true if success
		*/
		virtual	bool		setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength)	= 0;

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

	protected:

		PX_INLINE			PxRackAndPinionJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

		PX_INLINE			PxRackAndPinionJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags)	{}

		virtual	bool		isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxRackAndPinionJoint", PxJoint);	}
	};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif
