/***************************************************************************

This source file is part of OGREBULLET
(Object-oriented Graphics Rendering Engine Bullet Wrapper) For the latest info, see http://www.ogre3d.org/phpBB2addons/viewforum.php?f=10

Copyright (c) 2007 tuan.kuranes@gmail.com (Use it Freely, even Statically, but have to contribute any changes)

    file added by rtti (at) elane2k (dot) com

This program is free software; you can redistribute it and/or modify it under the terms of the GPL General Public License with runtime exception as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GPL General Public License with runtime exception for more details.

You should have received a copy of the GPL General Public License with runtime exception along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA, or go to http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
----------------------------------------------------------------------------
-
*/

#include "OgreBulletDynamics.h"

#include "OgreBulletDynamicsWorld.h"
#include "OgreBulletDynamicsRigidBody.h"

#include "OgreBulletDynamicsConstraint.h"
#include "Constraints/OgreBulletDynamicsConeTwistConstraint.h"

using namespace Ogre;

namespace OgreBulletDynamics
{
    // -------------------------------------------------------------------------
    ConeTwistConstraint::ConeTwistConstraint(RigidBody * rbA, RigidBody * rbB,
        const Vector3& FrameInAVector3, const Quaternion& FrameInAOrientation,
        const Vector3& FrameInBVector3, const Quaternion& FrameInBOrientation):
    TypedConstraint(rbA, rbB)
    {
        btTransform frameInA (OgreBulletCollisions::OgreBtConverter::to(FrameInAOrientation),
                              OgreBulletCollisions::OgreBtConverter::to(FrameInAVector3));
        btTransform frameInB (OgreBulletCollisions::OgreBtConverter::to(FrameInBOrientation),
                              OgreBulletCollisions::OgreBtConverter::to(FrameInBVector3));

        mConstraint = new btConeTwistConstraint(
            *rbA->getBulletRigidBody (),
            *rbB->getBulletRigidBody (),
            frameInA,
            frameInB);
    }
    //-------------------------------------------------------------------------
    ConeTwistConstraint::~ConeTwistConstraint()
    {
    }
   
    void ConeTwistConstraint::setLimit(Ogre::Real a, Ogre::Real b, Ogre::Real c)
    {
        dynamic_cast<btConeTwistConstraint*>(mConstraint)->setLimit(a,b,c);
    }
   
}