#ifndef C_BOX2D_JOINT_H
#define C_BOX2D_JOINT_H

#include "c_math.h"
#include "box2d-object.h"


extern "C"
{

  struct Joint;
  struct Space;


  /////////
  /// Forge
  //

  Joint *b2d_new_hinge_Joint_with_local_anchors (Space *in_Space,
                                                 Object *Object_A,
                                                 Object *Object_B,
                                                 Vector_3 *Anchor_in_A,
                                                 Vector_3 *Anchor_in_B,
                                                 float low_Limit,
                                                 float high_Limit,
                                                 bool collide_Connected);

  Joint*     b2d_new_hinge_Joint         (Space*        in_Space,
				                              	  Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B,
					                                float         low_Limit,
				                              	  float         high_Limit,
					                                bool          collide_Connected);

  void       b2d_free_hinge_Joint        (Joint*        Self);

  Joint*     b2d_new_space_hinge_Joint   (Space*        in_Space,
                                          Object*       Object_A,
                                          Matrix_4x4*   Frame_A);


  Joint*     b2d_new_DoF6_Joint          (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b2d_new_cone_twist_Joint    (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b2d_new_slider_Joint        (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b2d_new_ball_Joint          (Object*       Object_A,
                                          Object*       Object_B,
                                          Vector_3*     Pivot_in_A,
                                          Vector_3*     Pivot_in_B);


  //////////////
  /// Attributes
  //

  void*             b2d_Joint_user_Data        (Joint*   Self);
//  void              b2d_Joint_user_Data_is     (Joint*   Self,   void*         Now);

  Object*           b2d_Joint_Object_A         (Joint*   Self);
  Object*           b2d_Joint_Object_B         (Joint*   Self);

  Matrix_4x4        b2d_Joint_Frame_A          (Joint*   Self);
  Matrix_4x4        b2d_Joint_Frame_B          (Joint*   Self);

  void              b2d_Joint_Frame_A_is       (Joint*   Self,   Matrix_4x4*   Now);
  void              b2d_Joint_Frame_B_is       (Joint*   Self,   Matrix_4x4*   Now);

  void              b2d_Joint_set_local_Anchor (Joint*   Self,   bool          is_Anchor_A,
						                 Vector_3*     local_Anchor);


  bool              b2d_Joint_is_Limited       (Joint*   Self,   int           DoF);
  bool              b2d_Joint_Extent           (Joint*   Self,   int           DoF);

  void              b2d_Joint_Velocity_is      (Joint*   Self,   int           DoF,
                                                                 Real          Now);

  Vector_3          b2d_Joint_reaction_Force   (Joint*   Self);
  Real              b2d_Joint_reaction_Torque  (Joint*   Self);



  /// Hinge
  //

  void              b2d_Joint_hinge_Limits_are (Joint*   Self,   Real          Low,
                                                                 Real          High);


} // extern "C"


#endif