#ifndef C_BULLET_JOINT_H
#define C_BULLET_JOINT_H

#include "bullet.h"
#include "bullet-object.h"


extern "C"
{
  struct Joint;

  Joint*     b3d_new_hinge_Joint         (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b3d_new_space_hinge_Joint   (Object*       Object_A,
                                          Matrix_4x4*   Frame_A);


  Joint*     b3d_new_DoF6_Joint          (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b3d_new_cone_twist_Joint    (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b3d_new_slider_Joint        (Object*       Object_A,
                                          Object*       Object_B,
                                          Matrix_4x4*   Frame_A,
                                          Matrix_4x4*   Frame_B);

  Joint*     b3d_new_ball_Joint          (Object*       Object_A,
                                          Object*       Object_B,
                                          Vector_3*     Pivot_in_A,
                                          Vector_3*     Pivot_in_B);

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

  void*             b3d_Joint_user_Data      (Joint*   Self);
  void              b3d_Joint_user_Data_is   (Joint*   Self,   void*   Now);

  Object*           b3d_Joint_Object_A       (Joint*   Self);
  Object*           b3d_Joint_Object_B       (Joint*   Self);

  Matrix_4x4        b3d_Joint_Frame_A        (Joint*   Self);
  Matrix_4x4        b3d_Joint_Frame_B        (Joint*   Self);

  void              b3d_Joint_Frame_A_is     (Joint*   Self,   Matrix_4x4*   Now);
  void              b3d_Joint_Frame_B_is     (Joint*   Self,   Matrix_4x4*   Now);

  bool              b3d_Joint_is_Limited     (Joint*   Self,   int           DoF);
  bool              b3d_Joint_Extent         (Joint*   Self,   int           DoF);

  void              b3d_Joint_Velocity_is    (Joint*   Self,   int           DoF,
                                                               Real         Now);

  // Hinge Joint
  //
  
  void             b3d_Joint_hinge_Limits_are (Joint*   Self,   Real           Lower,
                                                                Real           Upper,
                                                                Real           Softeness,
                                                                Real           bias_Factor,
                                                                Real           relaxation_Factor);
  
  // 6 Degrees of Freedom Joint (6DoF)
  //							       
  
  void              b3d_Joint_6DoF_lower_Limit_is (Joint*   Self,   int           DoF,
                                                                    Real          Now);
  void              b3d_Joint_6DoF_upper_Limit_is (Joint*   Self,   int           DoF,
                                                                    Real          Now);
								    
  Real              b3d_Joint_6DoF_lower_Limit    (Joint*   Self,   int           DoF);
  Real              b3d_Joint_6DoF_upper_Limit    (Joint*   Self,   int           DoF);
								    
} // extern "C"


#endif