/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 * claim that you wrote the original software. If you use this software
 * in a product, an acknowledgment in the product documentation would be
 * appreciated but is not required.
 *
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 *
 * 3. This notice may not be removed or altered from any source distribution.
 */

#ifndef __NEWTON_H_INCLUDED__
#define __NEWTON_H_INCLUDED__

#include "common/scummsys.h"

#define NEWTON_MAJOR_VERSION 2
#define NEWTON_MINOR_VERSION 36

#define NEWTON_API

#ifdef __USE_DOUBLE_PRECISION__
#define dFloat double
#else
#define dFloat float
#endif

#define dFloat64 double


#ifdef __cplusplus
extern "C" {
#endif

#define NEWTON_PROFILER_WORLD_UPDATE                    0

#define NEWTON_PROFILER_COLLISION_UPDATE                1
#define NEWTON_PROFILER_COLLISION_UPDATE_BROAD_PHASE    2
#define NEWTON_PROFILER_COLLISION_UPDATE_NARROW_PHASE   3

#define NEWTON_PROFILER_DYNAMICS_UPDATE                 4
#define NEWTON_PROFILER_DYNAMICS_CONSTRAINT_GRAPH       5
#define NEWTON_PROFILER_DYNAMICS_SOLVE_CONSTRAINT_GRAPH 6

#define NEWTON_PROFILER_FORCE_CALLBACK_UPDATE           7


class NewtonMesh;
class NewtonBody;
class NewtonWorld;
class NewtonJoint;
class NewtonMaterial;
class NewtonCollision;
class NewtonSceneProxy;
class NewtonbreakableComponentMesh;

//	typedef struct NewtonRagDoll{} NewtonRagDoll;
//	typedef struct NewtonRagDollBone{} NewtonRagDollBone;

#define SERIALIZE_ID_BOX                    0
#define SERIALIZE_ID_CONE                   1
#define SERIALIZE_ID_SPHERE                 2
#define SERIALIZE_ID_CAPSULE                3
#define SERIALIZE_ID_CYLINDER               4
#define SERIALIZE_ID_COMPOUND               5
#define SERIALIZE_ID_CONVEXHULL             6
#define SERIALIZE_ID_CONVEXMODIFIER         7
#define SERIALIZE_ID_CHAMFERCYLINDER        8
#define SERIALIZE_ID_TREE                   9
#define SERIALIZE_ID_NULL                   10
#define SERIALIZE_ID_HEIGHTFIELD            11
#define SERIALIZE_ID_USERMESH               12
#define SERIALIZE_ID_SCENE                  13
#define SERIALIZE_ID_COMPOUND_BREAKABLE     14

typedef struct NewtonBoxParam NewtonBoxParam;
typedef struct NewtonConeParam NewtonConeParam;
typedef struct NewtonSphereParam NewtonSphereParam;
typedef struct NewtonCapsuleParam NewtonCapsuleParam;
typedef struct NewtonCylinderParam NewtonCylinderParam;
typedef struct NewtonConvexHullParam NewtonConvexHullParam;
typedef struct NewtonCollisionTreeParam NewtonCollisionTreeParam;
typedef struct NewtonSceneCollisionParam NewtonSceneCollisionParam;
typedef struct NewtonChamferCylinderParam NewtonChamferCylinderParam;
typedef struct NewtonCompoundCollisionParam NewtonCompoundCollisionParam;
typedef struct NewtonConvexHullModifierParam NewtonConvexHullModifierParam;
typedef struct NewtonHeightFieldCollisionParam NewtonHeightFieldCollisionParam;

typedef struct NewtonCollisionInfoRecord NewtonCollisionInfoRecord;

struct NewtonBoxParam {
	dFloat m_x;
	dFloat m_y;
	dFloat m_z;
};

struct NewtonSphereParam {
	dFloat m_r0;
	dFloat m_r1;
	dFloat m_r2;
};

struct NewtonCylinderParam {
	dFloat m_r0;
	dFloat m_r1;
	dFloat m_height;
};

struct NewtonCapsuleParam {
	dFloat m_r0;
	dFloat m_r1;
	dFloat m_height;
};

struct NewtonConeParam {
	dFloat m_r;
	dFloat m_height;
};

struct NewtonChamferCylinderParam {
	dFloat m_r;
	dFloat m_height;
};

struct NewtonConvexHullParam {
	int m_vertexCount;
	int m_vertexStrideInBytes;
	int m_faceCount;
	dFloat *m_vertex;
};

struct NewtonConvexHullModifierParam {
	NewtonCollision *m_chidren;
};


struct NewtonCompoundCollisionParam {
	int m_chidrenCount;
	NewtonCollision **m_chidren;
};

struct NewtonCollisionTreeParam {
	int m_vertexCount;
	int m_indexCount;
};

struct NewtonHeightFieldCollisionParam {
	int m_width;
	int m_height;
	int m_gridsDiagonals;
	dFloat m_horizonalScale;
	dFloat m_verticalScale;
	unsigned short *m_elevation;
	char *m_atributes;
};

struct NewtonSceneCollisionParam {
	int m_childrenProxyCount;
};

struct NewtonCollisionInfoRecord {
	dFloat m_offsetMatrix[4][4];
	int m_collisionType;              // tag id to identify the collision primitive
	int m_referenceCount;             // the current reference count for this collision
	int m_collisionUserID;

	union {
		NewtonBoxParam m_box;
		NewtonConeParam m_cone;
		NewtonSphereParam m_sphere;
		NewtonCapsuleParam m_capsule;
		NewtonCylinderParam m_cylinder;
		NewtonChamferCylinderParam m_chamferCylinder;
		NewtonConvexHullParam m_convexHull;
		NewtonCompoundCollisionParam m_compoundCollision;
		NewtonConvexHullModifierParam m_convexHullModifier;
		NewtonCollisionTreeParam m_collisionTree;
		NewtonHeightFieldCollisionParam m_heightField;
		NewtonSceneCollisionParam m_sceneCollision;
		dFloat m_paramArray[64];            // user define collision can use this to store information
	};
};


typedef struct NewtonJointRecord NewtonJointRecord;
typedef struct NewtonHingeSliderUpdateDesc NewtonHingeSliderUpdateDesc;
typedef struct NewtonUserMeshCollisionRayHitDesc NewtonUserMeshCollisionRayHitDesc;
typedef struct NewtonUserMeshCollisionCollideDesc NewtonUserMeshCollisionCollideDesc;
typedef struct NewtonWorldConvexCastReturnInfo NewtonWorldConvexCastReturnInfo;


struct NewtonJointRecord {
	dFloat m_attachmenMatrix_0[4][4];
	dFloat m_attachmenMatrix_1[4][4];
	dFloat m_minLinearDof[3];
	dFloat m_maxLinearDof[3];
	dFloat m_minAngularDof[3];
	dFloat m_maxAngularDof[3];
	const NewtonBody *m_attachBody_0;
	const NewtonBody *m_attachBody_1;
	dFloat m_extraParameters[16];
	int   m_bodiesCollisionOn;
	char m_descriptionType[32];
} ;



struct NewtonUserMeshCollisionCollideDesc {
	dFloat m_boxP0[4];                        // lower bounding box of intersection query in local space
	dFloat m_boxP1[4];                        // upper bounding box of intersection query in local space
	int m_threadNumber;                       // current thread executing this query
	int   m_faceCount;                        // the application should set here how many polygons intersect the query box
	int m_vertexStrideInBytes;              // the application should set here the size of each vertex
	void *m_userData;                       // user data passed to the collision geometry at creation time
	dFloat *m_vertex;                       // the application should the pointer to the vertex array.
	int *m_userAttribute;                   // the application should set here the pointer to the user data, one for each face
	int *m_faceIndexCount;                  // the application should set here the pointer to the vertex count of each face.
	int *m_faceVertexIndex;                 // the application should set here the pointer index array for each vertex on a face.
	NewtonBody *m_objBody;                  // pointer to the colliding body
	NewtonBody *m_polySoupBody;             // pointer to the rigid body owner of this collision tree
};

struct NewtonWorldConvexCastReturnInfo {
	dFloat m_point[4];                        // collision point in global space
	dFloat m_normal[4];                       // surface normal at collision point in global space
	dFloat m_normalOnHitPoint[4];           // surface normal at the surface of the hit body,
	// is the same as the normal calculated by a ray cast hitting the body at the hit point
	dFloat m_penetration;                   // contact penetration at collision point
	int    m_contactID;                       // collision ID at contact point
	const  NewtonBody *m_hitBody;         // body hit at contact point
};

struct NewtonUserMeshCollisionRayHitDesc {
	dFloat m_p0[4];                           // ray origin in collision local space
	dFloat m_p1[4];                         // ray destination in collision local space
	dFloat m_normalOut[4];                    // copy here the normal at the ray intersection
	int m_userIdOut;                        // copy here a user defined id for further feedback
	void *m_userData;                       // user data passed to the collision geometry at creation time
};

struct NewtonHingeSliderUpdateDesc {
	dFloat m_accel;
	dFloat m_minFriction;
	dFloat m_maxFriction;
	dFloat m_timestep;
} ;


// Newton callback functions
typedef void *(*NewtonAllocMemory)(int sizeInBytes);
typedef void (*NewtonFreeMemory)(void *const ptr, int sizeInBytes);
typedef void (*NewtonDestroyWorld)(const NewtonWorld *const newtonWorld);

typedef unsigned(*NewtonGetTicksCountCallback)();

typedef void (*NewtonSerialize)(void *const serializeHandle, const void *buffer, size_t size);
typedef void (*NewtonDeserialize)(void *const serializeHandle, void *buffer, size_t size);

// user collision callbacks
typedef void (*NewtonUserMeshCollisionDestroyCallback)(void *const userData);
typedef void (*NewtonUserMeshCollisionCollideCallback)(NewtonUserMeshCollisionCollideDesc *const collideDescData);
typedef dFloat(*NewtonUserMeshCollisionRayHitCallback)(NewtonUserMeshCollisionRayHitDesc *const lineDescData);
typedef void (*NewtonUserMeshCollisionGetCollisionInfo)(void *const userData, NewtonCollisionInfoRecord *const infoRecord);
typedef void (*NewtonUserMeshCollisionGetFacesInAABB)(void *const userData, const dFloat *const p0, const dFloat *const p1,
													  const dFloat *const *const vertexArray, int32 *const vertexCount, int32 *const vertexStrideInBytes,
													  const int32 *const indexList, int32 maxIndexCount, const int32 *const userDataList);

typedef dFloat(*NewtonCollisionTreeRayCastCallback)(const NewtonBody *const body, const NewtonCollision *const treeCollision, dFloat interception, dFloat *normal, int faceId, void *usedData);
typedef dFloat(*NewtonHeightFieldRayCastCallback)(const NewtonBody *const body, const NewtonCollision *const heightFieldCollision, dFloat interception, int row, int col, dFloat *normal, int faceId, void *usedData);


// collision tree call back (obsoleted no recommended)
typedef void (*NewtonTreeCollisionCallback)(const NewtonBody *const bodyWithTreeCollision, const NewtonBody *const body, int faceID,
        int vertexCount, const dFloat *const vertex, int vertexStrideInBytes);

typedef void (*NewtonBodyDestructor)(const NewtonBody *const body);
typedef void (*NewtonApplyForceAndTorque)(NewtonBody *const body, dFloat timestep, int32 threadIndex);
typedef void (*NewtonSetTransform)(const NewtonBody *const body, const dFloat *const matrix, int32 threadIndex);

typedef int (*NewtonIslandUpdate)(const NewtonWorld *const newtonWorld, const void *islandHandle, int bodyCount);
typedef void (*NewtonBodyLeaveWorld)(const NewtonBody *const body, int threadIndex);
typedef void (*NewtonDestroyBodyByExeciveForce)(const NewtonBody *const body, const NewtonJoint *const contact);
typedef void (*NewtonCollisionDestructor)(const NewtonWorld *const newtonWorld, const NewtonCollision *const collision);

typedef int (*NewtonCollisionCompoundBreakableCallback)(NewtonMesh *const mesh, void *const userData, dFloat *const planeMatrixOut);

typedef int (*NewtonGetBuoyancyPlane)(const int32 collisionID, void *const context, const dFloat *const globalSpaceMatrix, dFloat *const globalSpacePlane);
typedef unsigned(*NewtonWorldRayPrefilterCallback)(const NewtonBody *const body, const NewtonCollision *const collision, void *const userData);
typedef dFloat(*NewtonWorldRayFilterCallback)(const NewtonBody *const body, const dFloat *const hitNormal, int collisionID, void *const userData, dFloat intersectParam);


typedef int (*NewtonOnAABBOverlap)(const NewtonMaterial *const material, const NewtonBody *const body0, const NewtonBody *const body1, int32 threadIndex);
typedef void (*NewtonContactsProcess)(const NewtonJoint *const contact, dFloat timestep, int32 threadIndex);

typedef void (*NewtonBodyIterator)(const NewtonBody *const body, void *const userData);
typedef void (*NewtonJointIterator)(const NewtonJoint *const joint, void *const userData);
typedef void (*NewtonCollisionIterator)(void *const userData, int vertexCount, const dFloat *const faceArray, int faceId);

typedef void (*NewtonBallCallBack)(const NewtonJoint *const ball, dFloat timestep);
typedef unsigned(*NewtonHingeCallBack)(const NewtonJoint *const hinge, NewtonHingeSliderUpdateDesc *const desc);
typedef unsigned(*NewtonSliderCallBack)(const NewtonJoint *const slider, NewtonHingeSliderUpdateDesc *const desc);
typedef unsigned(*NewtonUniversalCallBack)(const NewtonJoint *const universal, NewtonHingeSliderUpdateDesc *const desc);
typedef unsigned(*NewtonCorkscrewCallBack)(const NewtonJoint *const corkscrew, NewtonHingeSliderUpdateDesc *const desc);

typedef void (*NewtonUserBilateralCallBack)(const NewtonJoint *const userJoint, dFloat timestep, int threadIndex);
typedef void (*NewtonUserBilateralGetInfoCallBack)(const NewtonJoint *const userJoint, NewtonJointRecord *const info);

typedef void (*NewtonConstraintDestructor)(const NewtonJoint *const  me);

//	typedef void (*NewtonSetRagDollTransform) (const NewtonRagDollBone* const bone);
//	typedef void (*NewtonBodyActivationState) (const NewtonBody* const body, unsigned state);
//	typedef void (*NewtonVehicleTireUpdate) (const NewtonJoint* const vehicle, dFloat timestep);


void NewtonInitGlobals();

void NewtonDestroyGlobals();

// **********************************************************************************************
//
// world control functions
//
// **********************************************************************************************
NEWTON_API int NewtonWorldGetVersion();
NEWTON_API int NewtonWorldFloatSize();

NEWTON_API int NewtonGetMemoryUsed();
NEWTON_API void NewtonSetMemorySystem(NewtonAllocMemory malloc, NewtonFreeMemory mfree);

NEWTON_API NewtonWorld *NewtonCreate();
NEWTON_API void NewtonDestroy(const NewtonWorld *const newtonWorld);
NEWTON_API void NewtonDestroyAllBodies(const NewtonWorld *const newtonWorld);

NEWTON_API void NewtonUpdate(NewtonWorld *const newtonWorld, dFloat timestep);
NEWTON_API void NewtonInvalidateCache(NewtonWorld *const newtonWorld);
NEWTON_API void NewtonCollisionUpdate(NewtonWorld *const newtonWorld);

NEWTON_API void NewtonSetSolverModel(NewtonWorld *const newtonWorld, int model);
NEWTON_API void NewtonSetPlatformArchitecture(NewtonWorld *const newtonWorld, int mode);
NEWTON_API int NewtonGetPlatformArchitecture(const NewtonWorld *const newtonWorld, char *description);
NEWTON_API void NewtonSetMultiThreadSolverOnSingleIsland(NewtonWorld *const newtonWorld, int mode);
NEWTON_API int NewtonGetMultiThreadSolverOnSingleIsland(const NewtonWorld *const newtonWorld);

NEWTON_API void NewtonSetPerformanceClock(NewtonWorld *const newtonWorld, NewtonGetTicksCountCallback callback);
NEWTON_API unsigned NewtonReadPerformanceTicks(const NewtonWorld *const newtonWorld, unsigned performanceEntry);
NEWTON_API unsigned NewtonReadThreadPerformanceTicks(const NewtonWorld *newtonWorld, unsigned threadIndex);

NEWTON_API void NewtonWorldCriticalSectionLock(NewtonWorld *const newtonWorld);
NEWTON_API void NewtonWorldCriticalSectionUnlock(NewtonWorld *const newtonWorld);
NEWTON_API void NewtonSetThreadsCount(NewtonWorld *const newtonWorld, int threads);
NEWTON_API int NewtonGetThreadsCount(const NewtonWorld *const newtonWorld);
NEWTON_API int NewtonGetMaxThreadsCount(const NewtonWorld *const newtonWorld);

NEWTON_API void NewtonSetFrictionModel(NewtonWorld *const newtonWorld, int model);
NEWTON_API void NewtonSetMinimumFrameRate(NewtonWorld *const newtonWorld, dFloat frameRate);
NEWTON_API void NewtonSetBodyLeaveWorldEvent(NewtonWorld *const newtonWorld, NewtonBodyLeaveWorld callback);
NEWTON_API void NewtonSetWorldSize(NewtonWorld *const newtonWorld, const dFloat *const minPoint, const dFloat *const maxPoint);
NEWTON_API void NewtonSetIslandUpdateEvent(NewtonWorld *const newtonWorld, NewtonIslandUpdate islandUpdate);
NEWTON_API void NewtonSetCollisionDestructor(NewtonWorld *const newtonWorld, NewtonCollisionDestructor callback);
NEWTON_API void NewtonSetDestroyBodyByExeciveForce(NewtonWorld *const newtonWorld, NewtonDestroyBodyByExeciveForce callback);


//	NEWTON_API void NewtonWorldForEachBodyDo (const NewtonWorld* const newtonWorld, NewtonBodyIterator callback);
NEWTON_API void NewtonWorldForEachJointDo(const NewtonWorld *const newtonWorld, NewtonJointIterator callback, void *const userData);
NEWTON_API void NewtonWorldForEachBodyInAABBDo(const NewtonWorld *const newtonWorld, const dFloat *const p0, const dFloat *const p1, NewtonBodyIterator callback, void *const userData);


NEWTON_API void NewtonWorldSetUserData(NewtonWorld *const newtonWorld, void *const userData);
NEWTON_API void *NewtonWorldGetUserData(const NewtonWorld *const newtonWorld);
NEWTON_API void NewtonWorldSetDestructorCallBack(NewtonWorld *const newtonWorld, NewtonDestroyWorld destructor);
NEWTON_API NewtonDestroyWorld NewtonWorldGetDestructorCallBack(const NewtonWorld *const newtonWorld);

NEWTON_API void NewtonWorldRayCast(NewtonWorld *const newtonWorld, const dFloat *const p0, const dFloat *const p1, NewtonWorldRayFilterCallback filter, void *const userData,
                                   NewtonWorldRayPrefilterCallback prefilter);
NEWTON_API int NewtonWorldConvexCast(NewtonWorld *const newtonWorld, const dFloat *const matrix, const dFloat *const target, NewtonCollision *shape, dFloat *const hitParam, void *const userData,
                                     NewtonWorldRayPrefilterCallback prefilter, NewtonWorldConvexCastReturnInfo *info, int maxContactsCount, int threadIndex);


// world utility functions
NEWTON_API int NewtonWorldGetBodyCount(const NewtonWorld *const newtonWorld);
NEWTON_API int NewtonWorldGetConstraintCount(const NewtonWorld *const newtonWorld);

// NEWTON_API int NewtonGetActiveBodiesCount();
// NEWTON_API int NewtonGetActiveConstraintsCount();
// NEWTON_API dFloat NewtonGetGlobalScale (const NewtonWorld* const newtonWorld);



// **********************************************************************************************
//
// Simulation islands
//
// **********************************************************************************************
NEWTON_API NewtonBody *NewtonIslandGetBody(const void *const island, int bodyIndex);
NEWTON_API void NewtonIslandGetBodyAABB(const void *const island, int bodyIndex, dFloat *const p0, dFloat *const p1);

// **********************************************************************************************
//
// Physics Material Section
//
// **********************************************************************************************
NEWTON_API int NewtonMaterialCreateGroupID(NewtonWorld *const newtonWorld);
NEWTON_API int NewtonMaterialGetDefaultGroupID(const NewtonWorld *const newtonWorld);
NEWTON_API void NewtonMaterialDestroyAllGroupID(NewtonWorld *const newtonWorld);

// material definitions that can not be overwritten in function callback
NEWTON_API void *NewtonMaterialGetUserData(const NewtonWorld *const newtonWorld, int id0, int id1);
NEWTON_API void NewtonMaterialSetSurfaceThickness(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat thickness);
NEWTON_API void NewtonMaterialSetContinuousCollisionMode(const NewtonWorld *const newtonWorld, int id0, int id1, int state);
NEWTON_API void NewtonMaterialSetCollisionCallback(const NewtonWorld *const newtonWorld, int id0, int id1, void *const userData,
        NewtonOnAABBOverlap aabbOverlap, NewtonContactsProcess process);

NEWTON_API void NewtonMaterialSetDefaultSoftness(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat value);
NEWTON_API void NewtonMaterialSetDefaultElasticity(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat elasticCoef);
NEWTON_API void NewtonMaterialSetDefaultCollidable(const NewtonWorld *const newtonWorld, int id0, int id1, int state);
NEWTON_API void NewtonMaterialSetDefaultFriction(const NewtonWorld *const newtonWorld, int id0, int id1, dFloat staticFriction, dFloat kineticFriction);

NEWTON_API NewtonMaterial *NewtonWorldGetFirstMaterial(const NewtonWorld *const newtonWorld);
NEWTON_API NewtonMaterial *NewtonWorldGetNextMaterial(const NewtonWorld *const newtonWorld, NewtonMaterial *const material);

NEWTON_API NewtonBody *NewtonWorldGetFirstBody(const NewtonWorld *const newtonWorld);
NEWTON_API NewtonBody *NewtonWorldGetNextBody(const NewtonWorld *const newtonWorld, const NewtonBody *const curBody);


// **********************************************************************************************
//
// Physics Contact control functions
//
// **********************************************************************************************
NEWTON_API void *NewtonMaterialGetMaterialPairUserData(const NewtonMaterial *const material);
NEWTON_API unsigned NewtonMaterialGetContactFaceAttribute(const NewtonMaterial *const material);
NEWTON_API NewtonCollision *NewtonMaterialGetBodyCollidingShape(const NewtonMaterial *const material, const NewtonBody *const body);
//NEWTON_API unsigned NewtonMaterialGetBodyCollisionID (const NewtonMaterial* const material, const NewtonBody* const body);
NEWTON_API dFloat NewtonMaterialGetContactNormalSpeed(const NewtonMaterial *const material);
NEWTON_API void NewtonMaterialGetContactForce(const NewtonMaterial *const material, NewtonBody *const body, dFloat *const force);
NEWTON_API void NewtonMaterialGetContactPositionAndNormal(const NewtonMaterial *const material, NewtonBody *const body, dFloat *const posit, dFloat *const normal);
NEWTON_API void NewtonMaterialGetContactTangentDirections(const NewtonMaterial *const material, NewtonBody *const body, dFloat *const dir0, dFloat *const dir1);
NEWTON_API dFloat NewtonMaterialGetContactTangentSpeed(const NewtonMaterial *const material, int index);

NEWTON_API void NewtonMaterialSetContactSoftness(NewtonMaterial *const material, dFloat softness);
NEWTON_API void NewtonMaterialSetContactElasticity(NewtonMaterial *const material, dFloat restitution);
NEWTON_API void NewtonMaterialSetContactFrictionState(NewtonMaterial *const material, int state, int index);
NEWTON_API void NewtonMaterialSetContactFrictionCoef(NewtonMaterial *const material, dFloat staticFrictionCoef, dFloat kineticFrictionCoef, int index);

NEWTON_API void NewtonMaterialSetContactNormalAcceleration(NewtonMaterial *const material, dFloat accel);
NEWTON_API void NewtonMaterialSetContactNormalDirection(NewtonMaterial *const material, const dFloat *const directionVector);

NEWTON_API void NewtonMaterialSetContactTangentAcceleration(NewtonMaterial *const material, dFloat accel, int index);
NEWTON_API void NewtonMaterialContactRotateTangentDirections(NewtonMaterial *const material, const dFloat *const directionVector);



// **********************************************************************************************
//
// convex collision primitives creation functions
//
// **********************************************************************************************
NEWTON_API NewtonCollision *NewtonCreateNull(NewtonWorld *const newtonWorld);
NEWTON_API NewtonCollision *NewtonCreateSphere(NewtonWorld *const newtonWorld, dFloat radiusX, dFloat radiusY, dFloat radiusZ, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateBox(NewtonWorld *const newtonWorld, dFloat dx, dFloat dy, dFloat dz, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateCone(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateCapsule(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateCylinder(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateChamferCylinder(NewtonWorld *const newtonWorld, dFloat radius, dFloat height, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateConvexHull(NewtonWorld *const newtonWorld, int count, const dFloat *const vertexCloud, int strideInBytes, dFloat tolerance, int shapeID, const dFloat *const offsetMatrix);
NEWTON_API NewtonCollision *NewtonCreateConvexHullFromMesh(const NewtonWorld *const newtonWorld, const NewtonMesh *const mesh, dFloat tolerance, int shapeID);

NEWTON_API NewtonCollision *NewtonCreateConvexHullModifier(NewtonWorld *const newtonWorld, NewtonCollision *const convexHullCollision, int shapeID);
NEWTON_API void NewtonConvexHullModifierGetMatrix(const NewtonCollision *const convexHullCollision, dFloat *const matrix);
NEWTON_API void NewtonConvexHullModifierSetMatrix(NewtonCollision *const convexHullCollision, const dFloat *const matrix);

NEWTON_API int NewtonCollisionIsTriggerVolume(const NewtonCollision *const convexCollision);
NEWTON_API void NewtonCollisionSetAsTriggerVolume(NewtonCollision *convexCollision, int trigger);

NEWTON_API void NewtonCollisionSetMaxBreakImpactImpulse(NewtonCollision *const convexHullCollision, dFloat maxImpactImpulse);
NEWTON_API dFloat NewtonCollisionGetMaxBreakImpactImpulse(const NewtonCollision *const convexHullCollision);

NEWTON_API void NewtonCollisionSetUserID(NewtonCollision *convexCollision, unsigned id);
NEWTON_API unsigned NewtonCollisionGetUserID(NewtonCollision *const convexCollision);

NEWTON_API int NewtonConvexHullGetFaceIndices(const NewtonCollision *const convexHullCollision, int face, int32 *const faceIndices);
NEWTON_API dFloat NewtonConvexCollisionCalculateVolume(const NewtonCollision *const convexCollision);
NEWTON_API void NewtonConvexCollisionCalculateInertialMatrix(const NewtonCollision *convexCollision, dFloat *const inertia, dFloat *const origin);


NEWTON_API void NewtonCollisionMakeUnique(NewtonWorld *const newtonWorld, NewtonCollision *const collision);
NEWTON_API void NewtonReleaseCollision(NewtonWorld *const newtonWorld, NewtonCollision *const collision);
NEWTON_API int NewtonAddCollisionReference(NewtonCollision *const collision);


// **********************************************************************************************
//
// mass/spring/damper collision shape
//
// **********************************************************************************************
//	NEWTON_API NewtonCollision* NewtonCreateSoftShape (const NewtonWorld* const newtonWorld);
//	NEWTON_API void NewtonSoftBodySetMassCount (const NewtonCollision* convexCollision, int count);
//	NEWTON_API void NewtonSoftBodySetSpringCount (const NewtonCollision* convexCollision, int count);

//	NEWTON_API void NewtonSoftBodySetMass (const NewtonCollision* convexCollision, int index, dFloat mass, dFloat* position);
//	NEWTON_API int NewtonSoftBodySetSpring (const NewtonCollision* convexCollision, int index, int mass0, int mass1, dFloat stiffness, dFloat damper);
//	NEWTON_API int NewtonSoftBodyGetMassArray (const NewtonCollision* convexCollision, dFloat* masses, dFloat** positions);


// **********************************************************************************************
//
// complex collision primitives creation functions
//
// **********************************************************************************************
NEWTON_API NewtonCollision *NewtonCreateCompoundCollision(NewtonWorld *const newtonWorld, int count, NewtonCollision *const collisionPrimitiveArray[], int shapeID);
NEWTON_API NewtonCollision *NewtonCreateCompoundCollisionFromMesh(NewtonWorld *const newtonWorld, const NewtonMesh *const mesh, dFloat hullTolerance, int shapeID, int subShapeID);
//NEWTON_API NewtonCollision* NewtonCreateCompoundCollisionFromMesh(const NewtonWorld* const newtonWorld, const NewtonMesh* const mesh, int maxSubShapesCount, int shapeID, int subShapeID);

// **********************************************************************************************
//
// complex breakable collision primitives interface
//
// **********************************************************************************************
//	NEWTON_API NewtonCollision* NewtonCreateCompoundBreakable (const NewtonWorld* const newtonWorld, int meshCount,
//															   NewtonMesh* const solids[], NewtonMesh* const splitePlanes[],
//															   dFloat* const matrixPallete, int32* const shapeIDArray, dFloat* const densities,
//															   int shapeID, int debriID, NewtonCollisionCompoundBreakableCallback callback, void* buildUsedData);

NEWTON_API NewtonCollision *NewtonCreateCompoundBreakable(NewtonWorld *const newtonWorld, int meshCount,
        NewtonMesh **const solids, const int32 *const shapeIDArray,
        const dFloat *const densities, const int32 *const internalFaceMaterial,
        int shapeID, int debriID, dFloat debriSeparationGap);


NEWTON_API void NewtonCompoundBreakableResetAnchoredPieces(NewtonCollision *const compoundBreakable);
NEWTON_API void NewtonCompoundBreakableSetAnchoredPieces(NewtonCollision *const compoundBreakable, int fixShapesCount, dFloat *const matrixPallete, NewtonCollision **const fixedShapesArray);

NEWTON_API int NewtonCompoundBreakableGetVertexCount(const NewtonCollision *const compoundBreakable);
NEWTON_API void NewtonCompoundBreakableGetVertexStreams(const NewtonCollision *const compoundBreakable, int vertexStrideInByte, dFloat *const vertex,
        int normalStrideInByte, dFloat *const normal,  int uvStrideInByte, dFloat *const uv);


NEWTON_API NewtonbreakableComponentMesh *NewtonBreakableGetMainMesh(const NewtonCollision *const compoundBreakable);
NEWTON_API NewtonbreakableComponentMesh *NewtonBreakableGetFirstComponent(const NewtonCollision *const compoundBreakable);
NEWTON_API const NewtonbreakableComponentMesh *NewtonBreakableGetNextComponent(const NewtonbreakableComponentMesh *const component);

NEWTON_API void NewtonBreakableBeginDelete(NewtonCollision *const compoundBreakable);
NEWTON_API NewtonBody *NewtonBreakableCreateDebrieBody(NewtonCollision *const compoundBreakable, NewtonbreakableComponentMesh *const component);
NEWTON_API void NewtonBreakableDeleteComponent(NewtonCollision *const compoundBreakable, NewtonbreakableComponentMesh *const component);
NEWTON_API void NewtonBreakableEndDelete(NewtonCollision *const compoundBreakable);


NEWTON_API int NewtonBreakableGetComponentsInRadius(const NewtonCollision *const compoundBreakable, const dFloat *position, dFloat radius, NewtonbreakableComponentMesh **const segments, int maxCount);

NEWTON_API void *NewtonBreakableGetFirstSegment(NewtonbreakableComponentMesh *const breakableComponent);
NEWTON_API void *NewtonBreakableGetNextSegment(const void *const segment);

NEWTON_API int NewtonBreakableSegmentGetMaterial(void *const segment);
NEWTON_API int NewtonBreakableSegmentGetIndexCount(void *const segment);
NEWTON_API int NewtonBreakableSegmentGetIndexStream(const NewtonCollision *const compoundBreakable, NewtonbreakableComponentMesh *const meshOwner, void *const segment, int32 *const index);
NEWTON_API int NewtonBreakableSegmentGetIndexStreamShort(const NewtonCollision *const compoundBreakable, const NewtonbreakableComponentMesh *const meshOwner, void *const segment, short int *const index);


NEWTON_API NewtonCollision *NewtonCreateUserMeshCollision(NewtonWorld *const newtonWorld, const dFloat *const minBox,
        const dFloat *const maxBox, void *const userData, NewtonUserMeshCollisionCollideCallback collideCallback,
        NewtonUserMeshCollisionRayHitCallback rayHitCallback, NewtonUserMeshCollisionDestroyCallback destroyCallback,
        NewtonUserMeshCollisionGetCollisionInfo getInfoCallback, NewtonUserMeshCollisionGetFacesInAABB facesInAABBCallback, int shapeID);


NEWTON_API NewtonCollision *NewtonCreateSceneCollision(NewtonWorld *const newtonWorld, int shapeID);
NEWTON_API NewtonSceneProxy *NewtonSceneCollisionCreateProxy(NewtonCollision *const scene, NewtonCollision *const collision, dFloat *const matrix);

NEWTON_API void NewtonSceneCollisionDestroyProxy(NewtonCollision *const scene, NewtonSceneProxy *Proxy);
NEWTON_API void NewtonSceneProxySetMatrix(NewtonSceneProxy *const proxy, const dFloat *matrix);
NEWTON_API void NewtonSceneProxyGetMatrix(NewtonSceneProxy *const proxy, dFloat *matrix);
NEWTON_API void NewtonSceneSetProxyUserData(NewtonSceneProxy *const proxy, void *userData);
NEWTON_API void *NewtonSceneGetProxyUserData(NewtonSceneProxy *const proxy);

NEWTON_API NewtonSceneProxy *NewtonSceneGetFirstProxy(NewtonCollision *const scene);
NEWTON_API NewtonSceneProxy *NewtonSceneGetNextProxy(NewtonCollision *const scene, NewtonSceneProxy *const proxy);

NEWTON_API void NewtonSceneCollisionOptimize(NewtonCollision *scene);

//  ***********************************************************************************************************
//
//	Collision serialization functions
//
// ***********************************************************************************************************
NEWTON_API NewtonCollision *NewtonCreateCollisionFromSerialization(NewtonWorld *const newtonWorld, NewtonDeserialize deserializeFunction, void *const serializeHandle);
NEWTON_API void NewtonCollisionSerialize(const NewtonWorld *const newtonWorld, const NewtonCollision *const collision, NewtonSerialize serializeFunction, void *const serializeHandle);
NEWTON_API void NewtonCollisionGetInfo(const NewtonCollision *const collision, NewtonCollisionInfoRecord *const collisionInfo);

// **********************************************************************************************
//
// Static collision shapes functions
//
// **********************************************************************************************
NEWTON_API NewtonCollision *NewtonCreateHeightFieldCollision(NewtonWorld *const newtonWorld, int width, int height, int gridsDiagonals,
        const unsigned short *const elevationMap, const int8 *const attributeMap,
        dFloat horizontalScale, dFloat verticalScale, int shapeID);
NEWTON_API void NewtonHeightFieldSetUserRayCastCallback(NewtonCollision *const treeCollision, NewtonHeightFieldRayCastCallback rayHitCallback);


NEWTON_API NewtonCollision *NewtonCreateTreeCollision(NewtonWorld *const newtonWorld, int shapeID);
NEWTON_API NewtonCollision *NewtonCreateTreeCollisionFromMesh(const NewtonWorld *const newtonWorld, const NewtonMesh *const mesh, int shapeID);

NEWTON_API void NewtonTreeCollisionSetUserRayCastCallback(const NewtonCollision *const treeCollision, NewtonCollisionTreeRayCastCallback rayHitCallback);

NEWTON_API void NewtonTreeCollisionBeginBuild(NewtonCollision *treeCollision);
NEWTON_API void NewtonTreeCollisionAddFace(NewtonCollision *const treeCollision, int vertexCount, const dFloat *const vertexPtr, int strideInBytes, int faceAttribute);
NEWTON_API void NewtonTreeCollisionEndBuild(NewtonCollision *const treeCollision, int optimize);

NEWTON_API int NewtonTreeCollisionGetFaceAtribute(const NewtonCollision *const treeCollision, const int32 *const faceIndexArray);
NEWTON_API void NewtonTreeCollisionSetFaceAtribute(NewtonCollision *const treeCollision, const int32 *const faceIndexArray, int attribute);
NEWTON_API int NewtonTreeCollisionGetVertexListIndexListInAABB(const NewtonCollision *const treeCollision, const dFloat *const p0, const dFloat *const p1, const dFloat **const vertexArray, int32 *const vertexCount, int32 *const vertexStrideInBytes, int32 *const indexList, int maxIndexCount, int32 *const faceAttribute);


NEWTON_API void NewtonStaticCollisionSetDebugCallback(NewtonCollision *const staticCollision, NewtonTreeCollisionCallback userCallback);

// **********************************************************************************************
//
// General purpose collision library functions
//
// **********************************************************************************************
NEWTON_API int NewtonCollisionPointDistance(NewtonWorld *const newtonWorld, const dFloat *const point,
        NewtonCollision *const collision, const dFloat *const matrix, dFloat *const contact, dFloat *const normal, int threadIndex);

NEWTON_API int NewtonCollisionClosestPoint(NewtonWorld *const newtonWorld,
        NewtonCollision *const collisionA, const dFloat *const matrixA, NewtonCollision *const collisionB, const dFloat *const matrixB,
        dFloat *const contactA, dFloat *const contactB, dFloat *const normalAB, int threadIndex);

NEWTON_API int NewtonCollisionCollide(NewtonWorld *const newtonWorld, int maxSize,
                                      NewtonCollision *const collisionA, const dFloat *const matrixA,
                                      NewtonCollision *const collisionB, const dFloat *const matrixB,
                                      dFloat *const contacts, dFloat *const normals, dFloat *const penetration, int threadIndex);

NEWTON_API int NewtonCollisionCollideContinue(NewtonWorld *const newtonWorld, int maxSize, const dFloat timestep,
        NewtonCollision *const collisionA, const dFloat *const matrixA, const dFloat *const velocA, const dFloat *omegaA,
        NewtonCollision *const collisionB, const dFloat *const matrixB, const dFloat *const velocB, const dFloat *const omegaB,
        dFloat *const timeOfImpact, dFloat *const contacts, dFloat *const normals, dFloat *const penetration, int threadIndex);

NEWTON_API void NewtonCollisionSupportVertex(const NewtonCollision *const collision, const dFloat *const dir, dFloat *const vertex);
NEWTON_API dFloat NewtonCollisionRayCast(const NewtonCollision *const collision, const dFloat *const p0, const dFloat *const p1, dFloat *const normal, int *const attribute);
NEWTON_API void NewtonCollisionCalculateAABB(const NewtonCollision *const collision, const dFloat *const matrix, dFloat *const p0, dFloat *const p1);
NEWTON_API void NewtonCollisionForEachPolygonDo(const NewtonCollision *const collision, const dFloat *const matrix, NewtonCollisionIterator callback, void *const userData);


// **********************************************************************************************
//
// transforms utility functions
//
// **********************************************************************************************
NEWTON_API void NewtonGetEulerAngle(const dFloat *const matrix, dFloat *const eulersAngles);
NEWTON_API void NewtonSetEulerAngle(const dFloat *const eulersAngles, dFloat *const matrix);
NEWTON_API dFloat NewtonCalculateSpringDamperAcceleration(dFloat dt, dFloat ks, dFloat x, dFloat kd, dFloat s);

// **********************************************************************************************
//
// body manipulation functions
//
// **********************************************************************************************
NEWTON_API NewtonBody *NewtonCreateBody(NewtonWorld *const newtonWorld, NewtonCollision *const collision, const dFloat *const matrix);
NEWTON_API void  NewtonDestroyBody(NewtonWorld *const newtonWorld, NewtonBody *const body);

NEWTON_API void  NewtonBodyAddForce(NewtonBody *const body, const dFloat *const force);
NEWTON_API void  NewtonBodyAddTorque(NewtonBody *const body, const dFloat *const torque);
NEWTON_API void  NewtonBodyCalculateInverseDynamicsForce(const NewtonBody *const body, dFloat timestep, const dFloat *const desiredVeloc, dFloat *const forceOut);

NEWTON_API void  NewtonBodySetMatrix(NewtonBody *const body, dFloat *const matrix);
NEWTON_API void  NewtonBodySetMatrixRecursive(NewtonBody *const body, const dFloat *const matrix);
NEWTON_API void  NewtonBodySetMassMatrix(NewtonBody *const body, dFloat mass, dFloat Ixx, dFloat Iyy, dFloat Izz);
NEWTON_API void  NewtonBodySetMaterialGroupID(NewtonBody *body, int id);
NEWTON_API void  NewtonBodySetContinuousCollisionMode(NewtonBody *body, unsigned state);
NEWTON_API void  NewtonBodySetJointRecursiveCollision(NewtonBody *body, unsigned state);
NEWTON_API void  NewtonBodySetOmega(NewtonBody *body, const dFloat *const omega);
NEWTON_API void  NewtonBodySetVelocity(NewtonBody *body, const dFloat *const velocity);
NEWTON_API void  NewtonBodySetForce(NewtonBody *const body, const dFloat *const force);
NEWTON_API void  NewtonBodySetTorque(NewtonBody *body, const dFloat *const torque);

NEWTON_API void  NewtonBodySetCentreOfMass(NewtonBody *body, const dFloat *const com);
NEWTON_API void  NewtonBodySetLinearDamping(NewtonBody *body, dFloat linearDamp);
NEWTON_API void  NewtonBodySetAngularDamping(NewtonBody *body, const dFloat *const angularDamp);
NEWTON_API void  NewtonBodySetUserData(NewtonBody *const body, void *const userData);
NEWTON_API void  NewtonBodySetCollision(NewtonBody *body, NewtonCollision *collision);



NEWTON_API int  NewtonBodyGetSleepState(const NewtonBody *const body);
NEWTON_API int  NewtonBodyGetAutoSleep(const NewtonBody *const body);
NEWTON_API void NewtonBodySetAutoSleep(NewtonBody *body, int state);

NEWTON_API int  NewtonBodyGetFreezeState(const NewtonBody *const body);
NEWTON_API void NewtonBodySetFreezeState(NewtonBody *body, int state);


//	NEWTON_API void NewtonBodySetAutoFreeze(const NewtonBody* const body, int state);
//	NEWTON_API void NewtonBodyCoriolisForcesMode (const NewtonBody* const body, int mode);
//	NEWTON_API void NewtonBodySetGyroscopicForcesMode (const NewtonBody* const body, int mode);
//	NEWTON_API int  NewtonBodyGetGyroscopicForcesMode (const NewtonBody* const body);
//	NEWTON_API int  NewtonBodyGetFreezeState (const NewtonBody* const body);
//	NEWTON_API void NewtonBodySetFreezeState  (const NewtonBody* const body, int state);
//	NEWTON_API void NewtonBodyGetFreezeTreshold (const NewtonBody* const body, dFloat* freezeSpeed2, dFloat* freezeOmega2);
//	NEWTON_API void NewtonBodySetFreezeTreshold (const NewtonBody* const body, dFloat freezeSpeed2, dFloat freezeOmega2, int framesCount);
//	NEWTON_API void NewtonBodySetAutoactiveCallback (const NewtonBody* const body, NewtonBodyActivationState callback);


NEWTON_API void  NewtonBodySetDestructorCallback(NewtonBody *const body, NewtonBodyDestructor callback);

NEWTON_API void  NewtonBodySetTransformCallback(NewtonBody *const body, NewtonSetTransform callback);
NEWTON_API NewtonSetTransform NewtonBodyGetTransformCallback(const NewtonBody *const body);

NEWTON_API void  NewtonBodySetForceAndTorqueCallback(NewtonBody *const body, NewtonApplyForceAndTorque callback);
NEWTON_API NewtonApplyForceAndTorque NewtonBodyGetForceAndTorqueCallback(const NewtonBody *const body);
NEWTON_API void *NewtonBodyGetUserData(const NewtonBody *const body);
NEWTON_API NewtonWorld *NewtonBodyGetWorld(const NewtonBody *const body);
NEWTON_API NewtonCollision *NewtonBodyGetCollision(const NewtonBody *const body);
NEWTON_API int   NewtonBodyGetMaterialGroupID(const NewtonBody *const body);

NEWTON_API int   NewtonBodyGetContinuousCollisionMode(const NewtonBody *const body);
NEWTON_API int   NewtonBodyGetJointRecursiveCollision(const NewtonBody *const body);

NEWTON_API void  NewtonBodyGetMatrix(const NewtonBody *const body, dFloat *const matrix);
NEWTON_API void  NewtonBodyGetRotation(const NewtonBody *const body, dFloat *const rotation);
NEWTON_API void  NewtonBodyGetMassMatrix(const NewtonBody *const body, dFloat *mass, dFloat *const Ixx, dFloat *const Iyy, dFloat *const Izz);
NEWTON_API void  NewtonBodyGetInvMass(const NewtonBody *const body, dFloat *const invMass, dFloat *const invIxx, dFloat *const invIyy, dFloat *const invIzz);
NEWTON_API void  NewtonBodyGetOmega(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetVelocity(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetForce(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetTorque(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetForceAcc(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetTorqueAcc(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetCentreOfMass(const NewtonBody *const body, dFloat *const com);

NEWTON_API dFloat NewtonBodyGetLinearDamping(const NewtonBody *const body);
NEWTON_API void  NewtonBodyGetAngularDamping(const NewtonBody *const body, dFloat *const vector);
NEWTON_API void  NewtonBodyGetAABB(const NewtonBody *const body, dFloat *const p0, dFloat *const p1);
NEWTON_API NewtonJoint *NewtonBodyGetFirstJoint(const NewtonBody *const body);
NEWTON_API NewtonJoint *NewtonBodyGetNextJoint(const NewtonBody *const body, const NewtonJoint *const joint);
NEWTON_API NewtonJoint *NewtonBodyGetFirstContactJoint(const NewtonBody *const body);
NEWTON_API NewtonJoint *NewtonBodyGetNextContactJoint(const NewtonBody *const body, const NewtonJoint *const contactJoint);

NEWTON_API void *NewtonContactJointGetFirstContact(const NewtonJoint *const contactJoint);
NEWTON_API void *NewtonContactJointGetNextContact(const NewtonJoint *const contactJoint, void *const contact);

NEWTON_API int NewtonContactJointGetContactCount(const NewtonJoint *const contactJoint);
NEWTON_API void NewtonContactJointRemoveContact(NewtonJoint *contactJoint, void *const contact);

NEWTON_API NewtonMaterial *NewtonContactGetMaterial(void *const contact);


NEWTON_API void  NewtonBodyAddBuoyancyForce(NewtonBody *const body, dFloat fluidDensity,
        dFloat fluidLinearViscosity, dFloat fluidAngularViscosity,
        const dFloat *const gravityVector, NewtonGetBuoyancyPlane buoyancyPlane, void *const context);

//	NEWTON_API void NewtonBodyForEachPolygonDo (const NewtonBody* const body, NewtonCollisionIterator callback);
NEWTON_API void NewtonBodyAddImpulse(NewtonBody *body, const dFloat *const pointDeltaVeloc, const dFloat *const pointPosit);


NEWTON_API void NewtonBodyApplyImpulseArray(NewtonBody *body, int impuleCount, int strideInByte, const dFloat *const impulseArray, const dFloat *const pointArray);


// **********************************************************************************************
//
// Common joint functions
//
// **********************************************************************************************
NEWTON_API void *NewtonJointGetUserData(const NewtonJoint *const joint);
NEWTON_API void NewtonJointSetUserData(NewtonJoint *joint, void *const userData);

NEWTON_API NewtonBody *NewtonJointGetBody0(const NewtonJoint *const joint);
NEWTON_API NewtonBody *NewtonJointGetBody1(const NewtonJoint *const joint);

NEWTON_API void NewtonJointGetInfo(const NewtonJoint *const joint, NewtonJointRecord *const info);
NEWTON_API int NewtonJointGetCollisionState(const NewtonJoint *const joint);
NEWTON_API void NewtonJointSetCollisionState(NewtonJoint *joint, int state);

NEWTON_API dFloat NewtonJointGetStiffness(const NewtonJoint *const joint);
NEWTON_API void NewtonJointSetStiffness(NewtonJoint *joint, dFloat state);

NEWTON_API void NewtonDestroyJoint(NewtonWorld *newtonWorld, NewtonJoint *joint);
NEWTON_API void NewtonJointSetDestructor(const NewtonJoint *const joint, NewtonConstraintDestructor destructor);




// **********************************************************************************************
//
// Ball and Socket joint functions
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateBall(NewtonWorld *newtonWorld, const dFloat *pivotPoint,
        NewtonBody *childBody, NewtonBody *parentBody);
NEWTON_API void NewtonBallSetUserCallback(NewtonJoint *ball, NewtonBallCallBack callback);
NEWTON_API void NewtonBallGetJointAngle(const NewtonJoint *const ball, dFloat *angle);
NEWTON_API void NewtonBallGetJointOmega(const NewtonJoint *const ball, dFloat *omega);
NEWTON_API void NewtonBallGetJointForce(const NewtonJoint *const ball, dFloat *const force);
NEWTON_API void NewtonBallSetConeLimits(NewtonJoint *ball, const dFloat *pin, dFloat maxConeAngle, dFloat maxTwistAngle);

// **********************************************************************************************
//
// Hinge joint functions
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateHinge(NewtonWorld *newtonWorld,
        const dFloat *pivotPoint, const dFloat *pinDir,
        NewtonBody *childBody, NewtonBody *parentBody);

NEWTON_API void NewtonHingeSetUserCallback(NewtonJoint *hinge, NewtonHingeCallBack callback);
NEWTON_API dFloat NewtonHingeGetJointAngle(const NewtonJoint *const hinge);
NEWTON_API dFloat NewtonHingeGetJointOmega(const NewtonJoint *const hinge);
NEWTON_API void NewtonHingeGetJointForce(const NewtonJoint *const hinge, dFloat *const force);
NEWTON_API dFloat NewtonHingeCalculateStopAlpha(const NewtonJoint *const hinge, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle);

// **********************************************************************************************
//
// Slider joint functions
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateSlider(NewtonWorld *newtonWorld,
        const dFloat *pivotPoint, const dFloat *pinDir,
        NewtonBody *childBody, NewtonBody *parentBody);
NEWTON_API void NewtonSliderSetUserCallback(NewtonJoint *slider, NewtonSliderCallBack callback);
NEWTON_API dFloat NewtonSliderGetJointPosit(const NewtonJoint *slider);
NEWTON_API dFloat NewtonSliderGetJointVeloc(const NewtonJoint *slider);
NEWTON_API void NewtonSliderGetJointForce(const NewtonJoint *const slider, dFloat *const force);
NEWTON_API dFloat NewtonSliderCalculateStopAccel(const NewtonJoint *const slider, const NewtonHingeSliderUpdateDesc *const desc, dFloat position);


// **********************************************************************************************
//
// Corkscrew joint functions
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateCorkscrew(NewtonWorld *newtonWorld,
        const dFloat *pivotPoint, const dFloat *pinDir,
        NewtonBody *childBody, NewtonBody *parentBody);
NEWTON_API void NewtonCorkscrewSetUserCallback(NewtonJoint *corkscrew, NewtonCorkscrewCallBack callback);
NEWTON_API dFloat NewtonCorkscrewGetJointPosit(const NewtonJoint *const corkscrew);
NEWTON_API dFloat NewtonCorkscrewGetJointAngle(const NewtonJoint *const corkscrew);
NEWTON_API dFloat NewtonCorkscrewGetJointVeloc(const NewtonJoint *const corkscrew);
NEWTON_API dFloat NewtonCorkscrewGetJointOmega(const NewtonJoint *const corkscrew);
NEWTON_API void NewtonCorkscrewGetJointForce(const NewtonJoint *const corkscrew, dFloat *const force);
NEWTON_API dFloat NewtonCorkscrewCalculateStopAlpha(const NewtonJoint *const corkscrew, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle);
NEWTON_API dFloat NewtonCorkscrewCalculateStopAccel(const NewtonJoint *const corkscrew, const NewtonHingeSliderUpdateDesc *const desc, dFloat position);


// **********************************************************************************************
//
// Universal joint functions
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateUniversal(const NewtonWorld *const newtonWorld,
        const dFloat *pivotPoint, const dFloat *pinDir0, const dFloat *pinDir1,
        const NewtonBody *const childBody, const NewtonBody *const parentBody);
NEWTON_API void NewtonUniversalSetUserCallback(const NewtonJoint *const universal, NewtonUniversalCallBack callback);
NEWTON_API dFloat NewtonUniversalGetJointAngle0(const NewtonJoint *const universal);
NEWTON_API dFloat NewtonUniversalGetJointAngle1(const NewtonJoint *const universal);
NEWTON_API dFloat NewtonUniversalGetJointOmega0(const NewtonJoint *const universal);
NEWTON_API dFloat NewtonUniversalGetJointOmega1(const NewtonJoint *const universal);
NEWTON_API void NewtonUniversalGetJointForce(const NewtonJoint *const universal, dFloat *const force);
NEWTON_API dFloat NewtonUniversalCalculateStopAlpha0(const NewtonJoint *const universal, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle);
NEWTON_API dFloat NewtonUniversalCalculateStopAlpha1(const NewtonJoint *const universal, const NewtonHingeSliderUpdateDesc *const desc, dFloat angle);


// **********************************************************************************************
//
// Up vector joint functions
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateUpVector(const NewtonWorld *const newtonWorld, const dFloat *pinDir, const NewtonBody *const body);
NEWTON_API void NewtonUpVectorGetPin(const NewtonJoint *const upVector, dFloat *pin);
NEWTON_API void NewtonUpVectorSetPin(const NewtonJoint *const upVector, const dFloat *pin);


// **********************************************************************************************
//
// User defined bilateral Joint
//
// **********************************************************************************************
NEWTON_API NewtonJoint *NewtonConstraintCreateUserJoint(const NewtonWorld *const newtonWorld, int maxDOF,
        NewtonUserBilateralCallBack callback,
        NewtonUserBilateralGetInfoCallBack getInfo,
        const NewtonBody *const childBody, const NewtonBody *const parentBody) ;
NEWTON_API void NewtonUserJointSetFeedbackCollectorCallback(const NewtonJoint *const joint, NewtonUserBilateralCallBack getFeedback);
NEWTON_API void NewtonUserJointAddLinearRow(const NewtonJoint *const joint, const dFloat *const pivot0, const dFloat *const pivot1, const dFloat *const dir);
NEWTON_API void NewtonUserJointAddAngularRow(const NewtonJoint *const joint, dFloat relativeAngle, const dFloat *const dir);
NEWTON_API void NewtonUserJointAddGeneralRow(const NewtonJoint *const joint, const dFloat *const jacobian0, const dFloat *const jacobian1);
NEWTON_API void NewtonUserJointSetRowMinimumFriction(const NewtonJoint *const joint, dFloat friction);
NEWTON_API void NewtonUserJointSetRowMaximumFriction(const NewtonJoint *const joint, dFloat friction);
NEWTON_API void NewtonUserJointSetRowAcceleration(const NewtonJoint *const joint, dFloat acceleration);
NEWTON_API void NewtonUserJointSetRowSpringDamperAcceleration(const NewtonJoint *const joint, dFloat springK, dFloat springD);
NEWTON_API void NewtonUserJointSetRowStiffness(const NewtonJoint *const joint, dFloat stiffness);
NEWTON_API dFloat NewtonUserJointGetRowForce(const NewtonJoint *const joint, int row);


// **********************************************************************************************
//
// Mesh joint functions
//
// **********************************************************************************************
NEWTON_API NewtonMesh *NewtonMeshCreate(const NewtonWorld *const newtonWorld);
NEWTON_API NewtonMesh *NewtonMeshCreateFromMesh(const NewtonMesh *const mesh);
NEWTON_API NewtonMesh *NewtonMeshCreateFromCollision(const NewtonCollision *const collision);
NEWTON_API NewtonMesh *NewtonMeshConvexHull(const NewtonWorld *const newtonWorld, int count, const dFloat *const vertexCloud, int strideInBytes, dFloat tolerance);
NEWTON_API NewtonMesh *NewtonMeshCreatePlane(const NewtonWorld *const newtonWorld, const dFloat *const locationMatrix, dFloat witdth, dFloat breadth, int material, const dFloat *const textureMatrix0, const dFloat *const textureMatrix1);

NEWTON_API void NewtonMeshDestroy(const NewtonMesh *const mesh);

NEWTON_API void NewtonMesApplyTransform(const NewtonMesh *const mesh, const dFloat *const matrix);
NEWTON_API void NewtonMeshCalculateOOBB(const NewtonMesh *const mesh, dFloat *const matrix, dFloat *const x, dFloat *const y, dFloat *const z);

NEWTON_API void NewtonMeshCalculateVertexNormals(const NewtonMesh *const mesh, dFloat angleInRadians);
NEWTON_API void NewtonMeshApplySphericalMapping(const NewtonMesh *const mesh, int material);
NEWTON_API void NewtonMeshApplyBoxMapping(const NewtonMesh *const mesh, int front, int side, int top);
NEWTON_API void NewtonMeshApplyCylindricalMapping(const NewtonMesh *const mesh, int cylinderMaterial, int capMaterial);

NEWTON_API int NewtonMeshIsOpenMesh(const NewtonMesh *const mesh);
NEWTON_API void NewtonMeshFixTJoints(const NewtonMesh *const mesh);


NEWTON_API void NewtonMeshPolygonize(const NewtonMesh *const mesh);
NEWTON_API void NewtonMeshTriangulate(const NewtonMesh *const mesh);
NEWTON_API NewtonMesh *NewtonMeshUnion(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix);
NEWTON_API NewtonMesh *NewtonMeshDifference(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix);
NEWTON_API NewtonMesh *NewtonMeshIntersection(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix);
NEWTON_API void NewtonMeshClip(const NewtonMesh *const mesh, const NewtonMesh *const clipper, const dFloat *const clipperMatrix, NewtonMesh **const topMesh, NewtonMesh **const bottomMesh);
NEWTON_API void NewtonMeshPlaneClip(const NewtonMesh *const mesh, dFloat *const planeMatrix, const dFloat *const planeTextureMatrix, int planeMaterial, NewtonMesh **const topMesh, NewtonMesh **const bottomMesh);

NEWTON_API NewtonMesh *NewtonMeshApproximateConvexDecomposition(const NewtonMesh *const mesh, dFloat maxConcavity, int maxCount);
NEWTON_API NewtonMesh *NewtonMeshTetrahedralization(const NewtonMesh *const mesh, int internalMaterial, const dFloat *const textureMatrix);
NEWTON_API NewtonMesh *NewtonMeshVoronoiDecomposition(const NewtonMesh *const mesh, int pointCount, int pointStrideInBytes, const dFloat *const pointCloud, int internalMaterial, const dFloat *const textureMatrix);


NEWTON_API void NewtonRemoveUnusedVertices(const NewtonMesh *const mesh, int32 *const vertexRemapTable);

NEWTON_API void NewtonMeshBeginFace(const NewtonMesh *const mesh);
NEWTON_API void NewtonMeshAddFace(const NewtonMesh *const mesh, int vertexCount, const dFloat *const vertex, int strideInBytes, int materialIndex);
NEWTON_API void NewtonMeshEndFace(const NewtonMesh *const mesh);

NEWTON_API void NewtonMeshBuildFromVertexListIndexList(const NewtonMesh *const mesh,
        int faceCount, const int32 *const faceIndexCount, const int32 *const faceMaterialIndex,
        const dFloat *const vertex, int vertexStrideInBytes, const int32 *const vertexIndex,
        const dFloat *const normal, int normalStrideInBytes, const int32 *const normalIndex,
        const dFloat *const uv0, int uv0StrideInBytes, const int32 *const uv0Index,
        const dFloat *const uv1, int uv1StrideInBytes, const int32 *const uv1Index);



NEWTON_API void NewtonMeshGetVertexStreams(const NewtonMesh *const mesh,
        int vertexStrideInByte, dFloat *const vertex,
        int normalStrideInByte, dFloat *const normal,
        int uvStrideInByte0, dFloat *const uv0,
        int uvStrideInByte1, dFloat *const uv1);
NEWTON_API void NewtonMeshGetIndirectVertexStreams(const NewtonMesh *const mesh,
        int vertexStrideInByte, dFloat *const vertex, int *const vertexIndices, int *const vertexCount,
        int normalStrideInByte, dFloat *const normal, int *const normalIndices, int *const normalCount,
        int uvStrideInByte0, dFloat *const uv0, int *const uvIndices0, int *const uvCount0,
        int uvStrideInByte1, dFloat *const uv1, int *const uvIndices1, int *const uvCount1);
NEWTON_API void *NewtonMeshBeginHandle(const NewtonMesh *const mesh);
NEWTON_API void NewtonMeshEndHandle(const NewtonMesh *const mesh, void *const handle);
NEWTON_API int NewtonMeshFirstMaterial(const NewtonMesh *const mesh, void *const handle);
NEWTON_API int NewtonMeshNextMaterial(const NewtonMesh *const mesh, void *const handle, int materialId);
NEWTON_API int NewtonMeshMaterialGetMaterial(const NewtonMesh *const mesh, void *const handle, int materialId);
NEWTON_API int NewtonMeshMaterialGetIndexCount(const NewtonMesh *const mesh, void *const handle, int materialId);
NEWTON_API void NewtonMeshMaterialGetIndexStream(const NewtonMesh *const mesh, void *const handle, int materialId, int32 *const index);
NEWTON_API void NewtonMeshMaterialGetIndexStreamShort(const NewtonMesh *const mesh, void *const handle, int materialId, short int *const index);

NEWTON_API NewtonMesh *NewtonMeshCreateFirstSingleSegment(const NewtonMesh *const mesh);
NEWTON_API NewtonMesh *NewtonMeshCreateNextSingleSegment(const NewtonMesh *const mesh, const NewtonMesh *const segment);

NEWTON_API NewtonMesh *NewtonMeshCreateFirstLayer(const NewtonMesh *const mesh);
NEWTON_API NewtonMesh *NewtonMeshCreateNextLayer(const NewtonMesh *const mesh, const NewtonMesh *const segment);


NEWTON_API int NewtonMeshGetTotalFaceCount(const NewtonMesh *const mesh);
NEWTON_API int NewtonMeshGetTotalIndexCount(const NewtonMesh *const mesh);
NEWTON_API void NewtonMeshGetFaces(const NewtonMesh *const mesh, int32 *const faceIndexCount, int32 *const faceMaterial, void **const faceIndices);


NEWTON_API int NewtonMeshGetPointCount(const NewtonMesh *const mesh);
NEWTON_API int NewtonMeshGetPointStrideInByte(const NewtonMesh *const mesh);
NEWTON_API dFloat64 *NewtonMeshGetPointArray(const NewtonMesh *const mesh);
NEWTON_API dFloat64 *NewtonMeshGetNormalArray(const NewtonMesh *const mesh);
NEWTON_API dFloat64 *NewtonMeshGetUV0Array(const NewtonMesh *const mesh);
NEWTON_API dFloat64 *NewtonMeshGetUV1Array(const NewtonMesh *const mesh);

NEWTON_API int NewtonMeshGetVertexCount(const NewtonMesh *const mesh);
NEWTON_API int NewtonMeshGetVertexStrideInByte(const NewtonMesh *const mesh);
NEWTON_API dFloat64 *NewtonMeshGetVertexArray(const NewtonMesh *const mesh);


NEWTON_API void *NewtonMeshGetFirstVertex(const NewtonMesh *const mesh);
NEWTON_API void *NewtonMeshGetNextVertex(const NewtonMesh *const mesh, void *const vertex);
NEWTON_API int NewtonMeshGetVertexIndex(const NewtonMesh *const mesh, void *const vertex);

NEWTON_API void *NewtonMeshGetFirstPoint(const NewtonMesh *const mesh);
NEWTON_API void *NewtonMeshGetNextPoint(const NewtonMesh *const mesh, void *const point);
NEWTON_API int NewtonMeshGetPointIndex(const NewtonMesh *const mesh, const void *const point);
NEWTON_API int NewtonMeshGetVertexIndexFromPoint(const NewtonMesh *const mesh, void *const point);


NEWTON_API void *NewtonMeshGetFirstEdge(const NewtonMesh *const mesh);
NEWTON_API void *NewtonMeshGetNextEdge(const NewtonMesh *const mesh, void *const edge);
NEWTON_API void NewtonMeshGetEdgeIndices(const NewtonMesh *const mesh, const void *const edge, int32 *const v0, int32 *const v1);
//NEWTON_API void NewtonMeshGetEdgePointIndices (const NewtonMesh* const mesh, const void* const edge, int* const v0, int* const v1);

NEWTON_API void *NewtonMeshGetFirstFace(const NewtonMesh *const mesh);
NEWTON_API void *NewtonMeshGetNextFace(const NewtonMesh *const mesh, void *const face);
NEWTON_API int NewtonMeshIsFaceOpen(const NewtonMesh *const mesh, const void *const face);
NEWTON_API int NewtonMeshGetFaceMaterial(const NewtonMesh *const mesh, const void *const face);
NEWTON_API int NewtonMeshGetFaceIndexCount(const NewtonMesh *const mesh, const void *const face);
NEWTON_API void NewtonMeshGetFaceIndices(const NewtonMesh *const mesh, const void *const face, int *const indices);
NEWTON_API void NewtonMeshGetFacePointIndices(const NewtonMesh *const mesh, const void *const face, int *const indices);


#ifdef __cplusplus
}
#endif

#endif