/* 
 * 
 * Confidential Information of Telekinesys Research Limited (t/a Havok). Not for disclosure or distribution without Havok's
 * prior written consent. This software contains code, techniques and know-how which is confidential and proprietary to Havok.
 * Level 2 and Level 3 source code contains trade secrets of Havok. Havok Software (C) Copyright 1999-2009 Telekinesys Research Limited t/a Havok. All Rights Reserved. Use of this software is subject to the terms of an end user license agreement.
 * 
 */

////////////////////////////////////////////////////////////////////////

/// \param pivotA			bodyA's pivot point, specified in world space.
/// \param pivotB			bodyB's pivot point, specified in world space.
inline void hkpPulleyConstraintData::setInWorldSpace(const hkTransform& bodyATransform,
													 const hkTransform& bodyBTransform,
													 const hkVector4& pivotAW,
													 const hkVector4& pivotBW,
													 const hkVector4& pulleyPivotAW, 
													 const hkVector4& pulleyPivotBW,
													 hkReal leverageOnBodyB )
{
	m_atoms.m_translations.m_translationA.setTransformedInversePos(bodyATransform,pivotAW);
	m_atoms.m_translations.m_translationB.setTransformedInversePos(bodyBTransform,pivotBW);
	m_atoms.m_pulley.m_fixedPivotAinWorld = pulleyPivotAW;
	m_atoms.m_pulley.m_fixedPivotBinWorld = pulleyPivotBW;

	hkVector4 sepDist;
	sepDist.setSub4( pivotAW, pulleyPivotAW );
	m_atoms.m_pulley.m_ropeLength = sepDist.length3();
	sepDist.setSub4( pivotBW, pulleyPivotBW ); 
	m_atoms.m_pulley.m_ropeLength += hkReal(sepDist.length3()) * leverageOnBodyB;

	m_atoms.m_pulley.m_leverageOnBodyB = leverageOnBodyB;


}

//////////////////////////////////////////////////////////////////////////

/// \param pivotA			bodyA's pivot point, specified in bodyA's space.
/// \param pivotB			bodyB's pivot point, specified in bodyB's space.
inline void hkpPulleyConstraintData::setInBodySpace( const hkTransform& bodyATransform,
													 const hkTransform& bodyBTransform,
													 const hkVector4& pivotA,
													 const hkVector4& pivotB,
													 const hkVector4& pulleyPivotAW, 
													 const hkVector4& pulleyPivotBW,
													 hkReal leverageOnBodyB )

{
	m_atoms.m_translations.m_translationA = pivotA;
	m_atoms.m_translations.m_translationB = pivotB;	
	m_atoms.m_pulley.m_fixedPivotAinWorld = pulleyPivotAW;
	m_atoms.m_pulley.m_fixedPivotBinWorld = pulleyPivotBW;

	hkVector4 pivotAW, pivotBW; 
	pivotAW.setTransformedPos(bodyATransform,pivotA); 
	pivotBW.setTransformedPos(bodyBTransform,pivotB); 

	hkVector4 sepDist; 
	sepDist.setSub4( pivotAW, pulleyPivotAW ); 
	m_atoms.m_pulley.m_ropeLength = sepDist.length3();
	sepDist.setSub4( pivotBW, pulleyPivotBW ); 
	m_atoms.m_pulley.m_ropeLength += hkReal(sepDist.length3()) * leverageOnBodyB;

	m_atoms.m_pulley.m_leverageOnBodyB = leverageOnBodyB;
}


hkReal hkpPulleyConstraintData::getRopeLength(hkReal length) 
{ 
	return m_atoms.m_pulley.m_ropeLength; 
}

hkReal hkpPulleyConstraintData::getLeverageOnBodyB() 
{ 
	return m_atoms.m_pulley.m_leverageOnBodyB; 
}

void hkpPulleyConstraintData::setRopeLength(hkReal length)
{
	m_atoms.m_pulley.m_ropeLength = length;
}

void hkpPulleyConstraintData::setLeverageOnBodyB(hkReal leverageOnBodyB)
{
	m_atoms.m_pulley.m_leverageOnBodyB = leverageOnBodyB;
}



/*
* Havok SDK - NO SOURCE PC DOWNLOAD, BUILD(#20090216)
* 
* Confidential Information of Havok.  (C) Copyright 1999-2009
* Telekinesys Research Limited t/a Havok. All Rights Reserved. The Havok
* Logo, and the Havok buzzsaw logo are trademarks of Havok.  Title, ownership
* rights, and intellectual property rights in the Havok software remain in
* Havok and/or its suppliers.
* 
* Use of this software for evaluation purposes is subject to and indicates
* acceptance of the End User licence Agreement for this product. A copy of
* the license is included with this software and is also available at www.havok.com/tryhavok.
* 
*/
