generic6dofconstraint.cpp

// © Copyright 2010 - 2016 BlackTopp Studios Inc.
/* This file is part of The Mezzanine Engine.

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    GNU General Public License for more details.

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    along with The Mezzanine Engine.  If not, see <http://www.gnu.org/licenses/>.
*/
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   'Docs' folder. See 'gpl.txt'
*/
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*/
#ifndef _physicsgeneric6dofconstraint_cpp
#define _physicsgeneric6dofconstraint_cpp

#include "Physics/generic6dofconstraint.h"
#include "Physics/rigidproxy.h"

#include "stringtool.h"
#include "serialization.h"

#include <btBulletDynamicsCommon.h>

namespace Mezzanine
{
    namespace Physics
    {
        /// @todo Assess whether or not the array access methods here should be wrapped in bounds checks, as Bullet only does bounds checks for half of them, if that.

        ////////////////////////////////////////////////////////////////////////////////
        // Generic6Dof Constraint Functions

        Generic6DofConstraint::Generic6DofConstraint(const UInt32 ID, RigidProxy* Prox1, PhysicsManager* Creator) :
            DualTransformConstraint(ID,Prox1,Creator)
            {  }

        Generic6DofConstraint::Generic6DofConstraint(const UInt32 ID, RigidProxy* Prox1, RigidProxy* Prox2, PhysicsManager* Creator) :
            DualTransformConstraint(ID,Prox1,Prox2,Creator)
            {  }

        ////////////////////////////////////////////////////////////////////////////////
        // Generic6DofConstraint Construction and Destruction

        Generic6DofConstraint::Generic6DofConstraint(const UInt32 ID, RigidProxy* ProxyA, RigidProxy* ProxyB, const Transform& TransA, const Transform& TransB, PhysicsManager* Creator) :
            DualTransformConstraint(ID,ProxyA,ProxyB,Creator),
            Generic6dof(NULL)
            { this->CreateConstraint(ProxyA,ProxyB,TransA,TransB); }

        Generic6DofConstraint::Generic6DofConstraint(const UInt32 ID, RigidProxy* ProxyB, const Transform& TransB, PhysicsManager* Creator) :
            DualTransformConstraint(ID,ProxyB,Creator),
            Generic6dof(NULL)
            { this->CreateConstraint(ProxyB,NULL,TransB,Transform()); }

        Generic6DofConstraint::Generic6DofConstraint(const XML::Node& SelfRoot, PhysicsManager* Creator) :
            DualTransformConstraint(0,NULL,Creator),
            Generic6dof(NULL)
            { this->ProtoDeSerialize(SelfRoot); }

        Generic6DofConstraint::~Generic6DofConstraint()
            { this->DestroyConstraint(); }

        void Generic6DofConstraint::CreateConstraint(RigidProxy* RigidA, RigidProxy* RigidB, const Transform& TransA, const Transform& TransB)
        {
            if( this->Generic6dof == NULL ) {
                if( RigidA && RigidB ) {
                    this->Generic6dof = new btGeneric6DofConstraint(*(RigidA->_GetPhysicsObject()),*(RigidB->_GetPhysicsObject()),TransA.GetBulletTransform(),TransB.GetBulletTransform(),false);
                }else if( RigidA ) {
                    this->Generic6dof = new btGeneric6DofConstraint(*(RigidA->_GetPhysicsObject()),TransA.GetBulletTransform(),true);
                }
            }
        }

        void Generic6DofConstraint::DestroyConstraint()
        {
            this->EnableConstraint(false);
            if( this->Generic6dof != NULL ) {
                delete this->Generic6dof;
                this->Generic6dof = NULL;
            }
            this->ProxA = NULL;
            this->ProxB = NULL;
        }

        ////////////////////////////////////////////////////////////////////////////////
        // Generic6DofConstraint Location and Rotation

        void Generic6DofConstraint::SetPivotTransforms(const Transform& TransA, const Transform& TransB)
            { this->Generic6dof->setFrames(TransA.GetBulletTransform(),TransB.GetBulletTransform()); }

        void Generic6DofConstraint::SetPivotATransform(const Transform& TransA)
            { this->Generic6dof->setFrames(TransA.GetBulletTransform(),this->Generic6dof->getFrameOffsetB()); }

        void Generic6DofConstraint::SetPivotBTransform(const Transform& TransB)
            { this->Generic6dof->setFrames(this->Generic6dof->getFrameOffsetA(),TransB.GetBulletTransform()); }

        Transform Generic6DofConstraint::GetPivotATransform() const
            { return this->Generic6dof->getFrameOffsetA(); }

        Transform Generic6DofConstraint::GetPivotBTransform() const
            { return this->Generic6dof->getFrameOffsetB(); }

        void Generic6DofConstraint::SetPivotALocation(const Vector3& Location)
            { this->Generic6dof->getFrameOffsetA().setOrigin(Location.GetBulletVector3()); }

        void Generic6DofConstraint::SetPivotBLocation(const Vector3& Location)
            { this->Generic6dof->getFrameOffsetB().setOrigin(Location.GetBulletVector3()); }

        Vector3 Generic6DofConstraint::GetPivotALocation() const
            { return Vector3(this->Generic6dof->getFrameOffsetA().getOrigin()); }

        Vector3 Generic6DofConstraint::GetPivotBLocation() const
            { return Vector3(this->Generic6dof->getFrameOffsetB().getOrigin()); }

        void Generic6DofConstraint::SetPivotARotation(const Quaternion& Rotation)
            { this->Generic6dof->getFrameOffsetA().setRotation(Rotation.GetBulletQuaternion()); }

        void Generic6DofConstraint::SetPivotBRotation(const Quaternion& Rotation)
            { this->Generic6dof->getFrameOffsetA().setRotation(Rotation.GetBulletQuaternion()); }

        Quaternion Generic6DofConstraint::GetPivotARotation() const
            { return Quaternion(this->Generic6dof->getFrameOffsetA().getRotation()); }

        Quaternion Generic6DofConstraint::GetPivotBRotation() const
            { return Quaternion(this->Generic6dof->getFrameOffsetB().getRotation()); }

        ////////////////////////////////////////////////////////////////////////////////
        // Utility

        void Generic6DofConstraint::SetUseFrameOffset(const Boole FrameOffset)
            { this->Generic6dof->setUseFrameOffset(FrameOffset); }

        Boole Generic6DofConstraint::GetUseFrameOffset() const
            { return this->Generic6dof->getUseFrameOffset(); }

        void Generic6DofConstraint::SetUseLinearReferenceFrameA(const Boole UseRefFrameA)
            { this->Generic6dof->setUseLinearReferenceFrameA(UseRefFrameA); }

        Boole Generic6DofConstraint::GetUseLinearReferenceFrameA() const
            { return this->Generic6dof->getUseLinearReferenceFrameA(); }

        Whole Generic6DofConstraint::ConvertFrom6AxisTo3Axis(const Whole Axis) const
            { return ( Axis % 3 ); }

        Whole Generic6DofConstraint::ConvertAngularTo6Axis(const Whole Axis) const
            { return ( Axis > 2 ? Axis : Axis + 3 ); }

        ////////////////////////////////////////////////////////////////////////////////
        // Basic Limit Accessors

        void Generic6DofConstraint::SetLimit(Whole Axis, Real Lower, Real Upper)
            { this->Generic6dof->setLimit(Axis, Lower, Upper); }

        void Generic6DofConstraint::SetLinearLimitLower(const Vector3& Limit)
            { this->Generic6dof->setLinearLowerLimit(Limit.GetBulletVector3()); }

        Vector3 Generic6DofConstraint::GetLinearLimitLower() const
            { return Vector3(this->Generic6dof->getTranslationalLimitMotor()->m_lowerLimit); }

        void Generic6DofConstraint::SetLinearLimitUpper(const Vector3& Limit)
            { this->Generic6dof->setLinearUpperLimit(Limit.GetBulletVector3()); }

        Vector3 Generic6DofConstraint::GetLinearLimitUpper() const
            { return Vector3(this->Generic6dof->getTranslationalLimitMotor()->m_upperLimit); }

        void Generic6DofConstraint::SetLinearLimitLowerOnAxis(const Real Limit, Whole TranslationAxis)
            { this->Generic6dof->getTranslationalLimitMotor()->m_lowerLimit[TranslationAxis] = Limit; }

        Real Generic6DofConstraint::GetLinearLimitLowerOnAxis(Whole TranslationAxis) const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_lowerLimit[TranslationAxis]; }

        void Generic6DofConstraint::SetLinearLimitUpperOnAxis(const Real Limit, Whole TranslationAxis)
            { this->Generic6dof->getTranslationalLimitMotor()->m_upperLimit[TranslationAxis] = Limit; }

        Real Generic6DofConstraint::GetLinearLimitUpperOnAxis(Whole TranslationAxis) const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_upperLimit[TranslationAxis]; }

        void Generic6DofConstraint::SetAngularLimitUpper(const Vector3& Limit)
            { this->Generic6dof->setAngularUpperLimit(Limit.GetBulletVector3()); }

        Vector3 Generic6DofConstraint::GetAngularLimitUpper() const
            { return Vector3(this->GetAngularLimitUpperOnAxis(0),this->GetAngularLimitUpperOnAxis(1),this->GetAngularLimitUpperOnAxis(2)); }

        void Generic6DofConstraint::SetAngularLimitLower(const Vector3& Limit)
            { this->Generic6dof->setAngularLowerLimit(Limit.GetBulletVector3()); }

        Vector3 Generic6DofConstraint::GetAngularLimitLower() const
            { return Vector3(this->GetAngularLimitLowerOnAxis(0),this->GetAngularLimitLowerOnAxis(1),this->GetAngularLimitLowerOnAxis(2)); }

        void Generic6DofConstraint::SetAngularLimitLowerOnAxis(const Real Limit, Whole RotationAxis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(RotationAxis))->m_loLimit = Limit; }

        Real Generic6DofConstraint::GetAngularLimitLowerOnAxis(Whole RotationAxis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(RotationAxis))->m_loLimit; }

        void Generic6DofConstraint::SetAngularLimitUpperOnAxis(const Real Limit, Whole RotationAxis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(RotationAxis))->m_hiLimit = Limit; }

        Real Generic6DofConstraint::GetAngularLimitUpperOnAxis(Whole RotationAxis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(RotationAxis))->m_hiLimit; }

        ////////////////////////////////////////////////////////////////////////////////
        // Angular Limit and Motor Details

        void Generic6DofConstraint::SetAngularLimitMaxForce(const Vector3& MaxLimitForces)
            { this->SetAngularLimitMaxForceOnAxis(MaxLimitForces.X,AngularXAsRotationAxis);  this->SetAngularLimitMaxForceOnAxis(MaxLimitForces.Y,AngularYAsRotationAxis);  this->SetAngularLimitMaxForceOnAxis(MaxLimitForces.Z,AngularZAsRotationAxis); }

        Vector3 Generic6DofConstraint::GetAngularLimitMaxForce() const
            { return Vector3(this->GetAngularLimitMaxForceOnAxis(AngularXAsRotationAxis), this->GetAngularLimitMaxForceOnAxis(AngularYAsRotationAxis), this->GetAngularLimitMaxForceOnAxis(AngularZAsRotationAxis)); }

        void Generic6DofConstraint::SetAngularLimitMaxForceOnAxis(const Real MaxLimitForce, Whole Axis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_maxLimitForce = MaxLimitForce; }

        Real Generic6DofConstraint::GetAngularLimitMaxForceOnAxis(Whole Axis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_maxLimitForce; }

        void Generic6DofConstraint::SetAngularMotorTargetVelocity(const Vector3& Velocities)
            { this->SetAngularMotorTargetVelocityOnAxis(Velocities.X,AngularXAsRotationAxis);  this->SetAngularMotorTargetVelocityOnAxis(Velocities.Y,AngularYAsRotationAxis);  this->SetAngularMotorTargetVelocityOnAxis(Velocities.Z,AngularZAsRotationAxis); }

        Vector3 Generic6DofConstraint::GetAngularMotorTargetVelocity() const
            { return Vector3(this->GetAngularMotorTargetVelocityOnAxis(AngularXAsRotationAxis), this->GetAngularMotorTargetVelocityOnAxis(AngularYAsRotationAxis), this->GetAngularMotorTargetVelocityOnAxis(AngularZAsRotationAxis)); }

        void Generic6DofConstraint::SetAngularMotorTargetVelocityOnAxis(const Real Velocity, Whole Axis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_targetVelocity = Velocity; }

        Real Generic6DofConstraint::GetAngularMotorTargetVelocityOnAxis(Whole Axis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_targetVelocity; }

        Vector3 Generic6DofConstraint::GetAngularMotorMaxForce() const
            { return Vector3(this->GetAngularMotorMaxForceOnAxis(AngularXAsRotationAxis), this->GetAngularMotorMaxForceOnAxis(AngularYAsRotationAxis), this->GetAngularMotorMaxForceOnAxis(AngularZAsRotationAxis)); }

        void Generic6DofConstraint::SetAngularMotorMaxForce(const Vector3& Forces)
            { this->SetAngularMotorMaxForceOnAxis(Forces.X,AngularXAsRotationAxis);  this->SetAngularMotorMaxForceOnAxis(Forces.Y,AngularYAsRotationAxis);  this->SetAngularMotorMaxForceOnAxis(Forces.Z,AngularZAsRotationAxis); }

        void Generic6DofConstraint::SetAngularMotorMaxForceOnAxis(const Real Force, Whole Axis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_maxMotorForce = Force; }

        Real Generic6DofConstraint::GetAngularMotorMaxForceOnAxis(Whole Axis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_maxMotorForce; }

        void Generic6DofConstraint::SetAngularMotorDamping(const Vector3& Dampings)
            { this->SetAngularMotorDampingOnAxis(Dampings.X,AngularXAsRotationAxis);  this->SetAngularMotorDampingOnAxis(Dampings.Y,AngularYAsRotationAxis);  this->SetAngularMotorDampingOnAxis(Dampings.Z,AngularZAsRotationAxis); }

        Vector3 Generic6DofConstraint::GetAngularMotorDamping() const
            { return Vector3(this->GetAngularMotorDampingOnAxis(AngularXAsRotationAxis), this->GetAngularMotorDampingOnAxis(AngularYAsRotationAxis), this->GetAngularMotorDampingOnAxis(AngularZAsRotationAxis)); }

        void Generic6DofConstraint::SetAngularMotorDampingOnAxis(const Real Damping, Whole Axis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_damping = Damping; }

        Real Generic6DofConstraint::GetAngularMotorDampingOnAxis(Whole Axis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_damping; }

        void Generic6DofConstraint::SetAngularMotorRestitution(const Vector3& Restitutions)
            { this->SetAngularMotorRestitutionOnAxis(Restitutions.X,AngularXAsRotationAxis);  this->SetAngularMotorRestitutionOnAxis(Restitutions.Y,AngularYAsRotationAxis);  this->SetAngularMotorRestitutionOnAxis(Restitutions.Z,AngularZAsRotationAxis); }

        Vector3 Generic6DofConstraint::GetAngularMotorRestitution() const
            { return Vector3(this->GetAngularMotorRestitutionOnAxis(AngularXAsRotationAxis), this->GetAngularMotorRestitutionOnAxis(AngularYAsRotationAxis), this->GetAngularMotorRestitutionOnAxis(AngularZAsRotationAxis)); }

        void Generic6DofConstraint::SetAngularMotorRestitutionOnAxis(const Real Restitution, Whole Axis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_bounce = Restitution; }

        Real Generic6DofConstraint::GetAngularMotorRestitutionOnAxis(Whole Axis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_bounce; }

        void Generic6DofConstraint::SetAngularMotorEnabled(const Vector3& Enableds)
            { SetAngularMotorEnabledOnAxis(Enableds.X,AngularXAsRotationAxis);  SetAngularMotorEnabledOnAxis(Enableds.Y,AngularYAsRotationAxis);  SetAngularMotorEnabledOnAxis(Enableds.Z,AngularZAsRotationAxis); }

        Vector3 Generic6DofConstraint::GetAngularMotorEnabled() const
            { return Vector3(GetAngularMotorEnabledOnAxis(AngularXAsRotationAxis), GetAngularMotorEnabledOnAxis(AngularYAsRotationAxis), GetAngularMotorEnabledOnAxis(AngularZAsRotationAxis)); }

        void Generic6DofConstraint::SetAngularMotorEnabledOnAxis(const Boole Enabled, Whole Axis)
            { this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_enableMotor = Enabled; }

        Boole Generic6DofConstraint::GetAngularMotorEnabledOnAxis(Whole Axis) const
            { return this->Generic6dof->getRotationalLimitMotor(ConvertFrom6AxisTo3Axis(Axis))->m_enableMotor; }

        ////////////////////////////////////////////////////////////////////////////////
        // Linear Limit and Motor Details

        void Generic6DofConstraint::SetLinearLimitSoftness(const Real Softness)
            { this->Generic6dof->getTranslationalLimitMotor()->m_limitSoftness = Softness; }

        Real Generic6DofConstraint::GetLinearLimitSoftness() const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_limitSoftness; }

        void Generic6DofConstraint::SetLinearLimitDamping(const Real Damping)
            { this->Generic6dof->getTranslationalLimitMotor()->m_damping = Damping; }

        Real Generic6DofConstraint::GetLinearLimitDamping() const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_damping; }

        void Generic6DofConstraint::SetLinearLimitRestitution(const Real Restitution)
            { this->Generic6dof->getTranslationalLimitMotor()->m_restitution = Restitution; }

        Real Generic6DofConstraint::GetLinearLimitRestitution() const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_restitution; }

        void Generic6DofConstraint::SetLinearMotorMaxForce(const Vector3& Forces)
            { this->SetLinearMotorMaxForceOnAxis(Forces.X,LinearX);  this->SetLinearMotorMaxForceOnAxis(Forces.Y,LinearY);  this->SetLinearMotorMaxForceOnAxis(Forces.Z,LinearZ); }

        void Generic6DofConstraint::SetLinearMotorMaxForceOnAxis(const Real Force, Whole Axis)
            { this->Generic6dof->getTranslationalLimitMotor()->m_maxMotorForce[Axis] = Force; }

        Vector3 Generic6DofConstraint::GetLinearMotorMaxForce() const
            { return Vector3(this->GetLinearMotorMaxForceOnAxis(LinearX), this->GetLinearMotorMaxForceOnAxis(LinearY), this->GetLinearMotorMaxForceOnAxis(LinearZ)); }

        Real Generic6DofConstraint::GetLinearMotorMaxForceOnAxis(Whole Axis) const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_maxMotorForce[Axis]; }

        void Generic6DofConstraint::SetLinearMotorTargetVelocity(const Vector3& Velocities)
            { this->SetLinearMotorTargetVelocityOnAxis(Velocities.X,LinearX);  this->SetLinearMotorTargetVelocityOnAxis(Velocities.Y,LinearY);  this->SetLinearMotorTargetVelocityOnAxis(Velocities.Z,LinearZ); }

        void Generic6DofConstraint::SetLinearMotorTargetVelocityOnAxis(const Real Velocity, Whole Axis)
            { this->Generic6dof->getTranslationalLimitMotor()->m_targetVelocity[Axis] = Velocity; }

        Vector3 Generic6DofConstraint::GetLinearMotorTargetVelocity() const
            { return Vector3(this->GetLinearMotorTargetVelocityOnAxis(LinearX), this->GetLinearMotorTargetVelocityOnAxis(LinearY), this->GetLinearMotorTargetVelocityOnAxis(LinearZ)); }

        Real Generic6DofConstraint::GetLinearMotorTargetVelocityOnAxis(Whole Axis) const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_targetVelocity[Axis]; }

        void Generic6DofConstraint::SetLinearMotorEnabled(const Vector3& Enableds)
            { this->SetLinearMotorEnabledOnAxis(Enableds.X,LinearX);  this->SetLinearMotorEnabledOnAxis(Enableds.Y,LinearY);  this->SetLinearMotorEnabledOnAxis(Enableds.Z,LinearZ); }

        void Generic6DofConstraint::SetLinearMotorEnabledOnAxis(const Boole Enabled, Whole Axis)
            { this->Generic6dof->getTranslationalLimitMotor()->m_enableMotor[Axis] = Enabled; }

        Vector3 Generic6DofConstraint::GetLinearMotorEnabled() const
            { return Vector3(this->GetLinearMotorEnabledOnAxis(LinearX), this->GetLinearMotorEnabledOnAxis(LinearY), this->GetLinearMotorEnabledOnAxis(LinearZ)); }

        Boole Generic6DofConstraint::GetLinearMotorEnabledOnAxis(Whole Axis) const
            { return this->Generic6dof->getTranslationalLimitMotor()->m_enableMotor[Axis]; }

        ////////////////////////////////////////////////////////////////////////////////
        // Axis and Params

        Constraint::ParamList Generic6DofConstraint::GetValidParamsOnAxis(int Axis) const
        {
            Constraint::ParamList Results;
            if( 0 <= Axis && 5 >= Axis ) {
                Results.push_back(Con_Stop_ERP);
                Results.push_back(Con_CFM);
                Results.push_back(Con_Stop_CFM);
            }
            return Results;
        }

        Constraint::AxisList Generic6DofConstraint::GetValidLinearAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(0);
            Results.push_back(1);
            Results.push_back(2);
            return Results;
        }

        Constraint::AxisList Generic6DofConstraint::GetValidAngularAxes() const
        {
            Constraint::AxisList Results;
            Results.push_back(3);
            Results.push_back(4);
            Results.push_back(5);
            return Results;
        }

        Boole Generic6DofConstraint::HasParamBeenSet(ConstraintParam Param, int Axis) const
        {
            // the logic here should match the logic in the source at http://bulletphysics.com/Bullet/BulletFull/btGeneric6DofConstraint_8cpp_source.html#l00964
            if( 0 > Axis || 5 < Axis )
                { return false; }
            return  ( Con_Stop_ERP==Param && this->Generic6dof->getFlags() & (BT_6DOF_FLAGS_ERP_STOP << (Axis * BT_6DOF_FLAGS_AXIS_SHIFT)) )   ||  //if we are checking the stop_erp AND the stop_erp bit is set for the correct axis
                    ( Con_Stop_CFM==Param && this->Generic6dof->getFlags() & (BT_6DOF_FLAGS_CFM_STOP << (Axis * BT_6DOF_FLAGS_AXIS_SHIFT)) )   ||  //if we are checking the stop_cfm AND the stop_cfm bit is set
                    ( Con_CFM==Param      && this->Generic6dof->getFlags() & (BT_6DOF_FLAGS_CFM_NORM << (Axis * BT_6DOF_FLAGS_AXIS_SHIFT)) )   ;   //if we are checking the cfm AND the cfm bit is set
        }

        ///////////////////////////////////////////////////////////////////////////////
        // Serialization

        void Generic6DofConstraint::ProtoSerializeProperties(XML::Node& SelfRoot) const
        {
            this->Constraint::ProtoSerializeProperties(SelfRoot);

            XML::Node PropertiesNode = SelfRoot.AppendChild( Generic6DofConstraint::GetSerializableName() + "Properties" );

            if( PropertiesNode.AppendAttribute("Version").SetValue("1") &&
                PropertiesNode.AppendAttribute("UseFrameOffset").SetValue( this->GetUseFrameOffset() ) &&
                PropertiesNode.AppendAttribute("UseLinearReferenceFrameA").SetValue( this->GetUseLinearReferenceFrameA() ) &&
                PropertiesNode.AppendAttribute("LinearLimitSoftness").SetValue( this->GetLinearLimitSoftness() ) &&
                PropertiesNode.AppendAttribute("LinearLimitDamping").SetValue( this->GetLinearLimitDamping() ) &&
                PropertiesNode.AppendAttribute("LinearLimitRestitution").SetValue( this->GetLinearLimitRestitution() ) )
            {
                XML::Node LinearAxesNode = PropertiesNode.AppendChild("LinearAxes");
                for( Integer LinAxis = Generic6DofConstraint::LinearStart ; LinAxis < Generic6DofConstraint::LinearEnd ; ++LinAxis )
                {
                    XML::Node LinearAxisNode = LinearAxesNode.AppendChild("LinearAxis");
                    if( LinearAxisNode.AppendAttribute("Version").SetValue("1") &&
                        LinearAxisNode.AppendAttribute("Axis").SetValue( LinAxis ) &&
                        LinearAxisNode.AppendAttribute("LimitLower").SetValue( this->GetLinearLimitLowerOnAxis(LinAxis) ) &&
                        LinearAxisNode.AppendAttribute("LimitUpper").SetValue( this->GetLinearLimitUpperOnAxis(LinAxis) ) &&
                        LinearAxisNode.AppendAttribute("MotorMaxForce").SetValue( this->GetLinearMotorMaxForceOnAxis(LinAxis) ) &&
                        LinearAxisNode.AppendAttribute("MotorTargetVelocity").SetValue( this->GetLinearMotorTargetVelocityOnAxis(LinAxis) ) &&
                        LinearAxisNode.AppendAttribute("MotorEnabled").SetValue( this->GetLinearMotorEnabledOnAxis(LinAxis) ) )
                    {
                        continue;
                    }else{
                        SerializeError("Create XML Attribute Values",Generic6DofConstraint::GetSerializableName() + " Linear Axes",true);
                    }
                }

                XML::Node AngularAxesNode = PropertiesNode.AppendChild("AngularAxes");
                for( Integer AngAxis = Generic6DofConstraint::AngularStart ; AngAxis < Generic6DofConstraint::AngularEnd ; ++AngAxis )
                {
                    XML::Node AngularAxisNode = AngularAxesNode.AppendChild("AngularAxis");
                    if( AngularAxisNode.AppendAttribute("Version").SetValue("1") &&
                        AngularAxisNode.AppendAttribute("Axis").SetValue( ConvertFrom6AxisTo3Axis(AngAxis) ) &&
                        AngularAxisNode.AppendAttribute("LimitLower").SetValue( this->GetAngularLimitLowerOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("LimitUpper").SetValue( this->GetAngularLimitUpperOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("LimitMaxForce").SetValue( this->GetAngularLimitMaxForceOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("MotorTargetVelocity").SetValue( this->GetAngularMotorTargetVelocityOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("MotorMaxForce").SetValue( this->GetAngularMotorMaxForceOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("MotorDamping").SetValue( this->GetAngularMotorDampingOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("MotorRestitution").SetValue( this->GetAngularMotorRestitutionOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) &&
                        AngularAxisNode.AppendAttribute("MotorEnabled").SetValue( this->GetAngularMotorEnabledOnAxis( ConvertFrom6AxisTo3Axis(AngAxis) ) ) )
                    {
                        continue;
                    }else{
                        SerializeError("Create XML Attribute Values",Generic6DofConstraint::GetSerializableName() + " Angular Axes",true);
                    }
                }

                return;
            }else{
                SerializeError("Create XML Attribute Values",Generic6DofConstraint::GetSerializableName() + "Properties",true);
            }
        }

        void Generic6DofConstraint::ProtoDeSerializeProperties(const XML::Node& SelfRoot)
        {
            this->Constraint::ProtoDeSerializeProperties(SelfRoot);

            XML::Attribute CurrAttrib;
            XML::Node PropertiesNode = SelfRoot.GetChild( Generic6DofConstraint::GetSerializableName() + "Properties" );

            if( !PropertiesNode.Empty() ) {
                if( PropertiesNode.GetAttribute("Version").AsInt() == 1 ) {
                    CurrAttrib = PropertiesNode.GetAttribute("UseFrameOffset");
                    if( !CurrAttrib.Empty() )
                        this->SetUseFrameOffset( CurrAttrib.AsBool() );

                    CurrAttrib = PropertiesNode.GetAttribute("UseLinearReferenceFrameA");
                    if( !CurrAttrib.Empty() )
                        this->SetUseLinearReferenceFrameA( CurrAttrib.AsBool() );

                    CurrAttrib = PropertiesNode.GetAttribute("LinearLimitSoftness");
                    if( !CurrAttrib.Empty() )
                        this->SetLinearLimitSoftness( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("LinearLimitDamping");
                    if( !CurrAttrib.Empty() )
                        this->SetLinearLimitDamping( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("LinearLimitRestitution");
                    if( !CurrAttrib.Empty() )
                        this->SetLinearLimitRestitution( CurrAttrib.AsReal() );

                    XML::Node LinearAxesNode = PropertiesNode.GetChild("LinearAxes");
                    for( XML::NodeIterator LinearAxesNodeIt = LinearAxesNode.begin() ; LinearAxesNodeIt != LinearAxesNode.end() ; ++LinearAxesNodeIt )
                    {
                        if( !(*LinearAxesNodeIt).Empty() ) {
                            if( (*LinearAxesNodeIt).GetAttribute("Version").AsInt() == 1 ) {
                                Integer Axis = -1;

                                CurrAttrib = (*LinearAxesNodeIt).GetAttribute("Axis");
                                if( !CurrAttrib.Empty() )
                                    Axis = CurrAttrib.AsInt();

                                if( Axis < 0 || Axis > 2 )
                                    continue;

                                CurrAttrib = (*LinearAxesNodeIt).GetAttribute("LimitLower");
                                if( !CurrAttrib.Empty() )
                                    this->SetLinearLimitLowerOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*LinearAxesNodeIt).GetAttribute("LimitUpper");
                                if( !CurrAttrib.Empty() )
                                    this->SetLinearLimitUpperOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*LinearAxesNodeIt).GetAttribute("MotorMaxForce");
                                if( !CurrAttrib.Empty() )
                                    this->SetLinearMotorMaxForceOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*LinearAxesNodeIt).GetAttribute("MotorTargetVelocity");
                                if( !CurrAttrib.Empty() )
                                    this->SetLinearMotorTargetVelocityOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*LinearAxesNodeIt).GetAttribute("MotorEnabled");
                                if( !CurrAttrib.Empty() )
                                    this->SetLinearMotorEnabledOnAxis( CurrAttrib.AsReal(), Axis );
                            }
                        }
                    }

                    XML::Node AngularAxesNode = PropertiesNode.GetChild("AngularAxes");
                    for( XML::NodeIterator AngularAxesNodeIt = AngularAxesNode.begin() ; AngularAxesNodeIt != AngularAxesNode.end() ; ++AngularAxesNodeIt )
                    {
                        if( !(*AngularAxesNodeIt).Empty() ) {
                            if( (*AngularAxesNodeIt).GetAttribute("Version").AsInt() == 1 ) {
                                Integer Axis = -1;

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("Axis");
                                if( !CurrAttrib.Empty() )
                                    Axis = CurrAttrib.AsInt();

                                if( Axis < 0 || Axis > 5 )
                                    continue;

                                Axis = this->ConvertFrom6AxisTo3Axis(Axis);

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("LimitLower");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularLimitLowerOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("LimitUpper");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularLimitUpperOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("LimitMaxForce");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularLimitMaxForceOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("MotorTargetVelocity");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularMotorTargetVelocityOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("MotorMaxForce");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularMotorMaxForceOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("MotorDamping");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularMotorDampingOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("MotorRestitution");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularMotorRestitutionOnAxis( CurrAttrib.AsReal(), Axis );

                                CurrAttrib = (*AngularAxesNodeIt).GetAttribute("MotorEnabled");
                                if( !CurrAttrib.Empty() )
                                    this->SetAngularMotorEnabledOnAxis( CurrAttrib.AsReal(), Axis );
                            }
                        }
                    }
                }else{
                    MEZZ_EXCEPTION(ExceptionBase::INVALID_VERSION_EXCEPTION,"Incompatible XML Version for " + ( Generic6DofConstraint::GetSerializableName() + "Properties" ) + ": Not Version 1.");
                }
            }else{
                MEZZ_EXCEPTION(ExceptionBase::II_IDENTITY_NOT_FOUND_EXCEPTION,Generic6DofConstraint::GetSerializableName() + "Properties" + " was not found in the provided XML node, which was expected.");
            }
        }

        String Generic6DofConstraint::GetDerivedSerializableName() const
            { return Generic6DofConstraint::GetSerializableName(); }

        String Generic6DofConstraint::GetSerializableName()
            { return "Generic6DofConstraint"; }

        ///////////////////////////////////////////////////////////////////////////////
        // Internal

        btTypedConstraint* Generic6DofConstraint::_GetConstraintBase() const
            { return this->Generic6dof; }
    }//Physics
}//Mezzanine

#endif