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+/*
+* Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
+*
+* 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 B2_JOINT_H
+#define B2_JOINT_H
+
+#include "Box2D/Common/b2Math.h"
+
+class b2Body;
+class b2Joint;
+struct b2SolverData;
+class b2BlockAllocator;
+
+enum b2JointType
+{
+	e_unknownJoint,
+	e_revoluteJoint,
+	e_prismaticJoint,
+	e_distanceJoint,
+	e_pulleyJoint,
+	e_mouseJoint,
+	e_gearJoint,
+	e_wheelJoint,
+    e_weldJoint,
+	e_frictionJoint,
+	e_ropeJoint,
+	e_motorJoint
+};
+
+enum b2LimitState
+{
+	e_inactiveLimit,
+	e_atLowerLimit,
+	e_atUpperLimit,
+	e_equalLimits
+};
+
+struct b2Jacobian
+{
+	b2Vec2 linear;
+	float32 angularA;
+	float32 angularB;
+};
+
+/// A joint edge is used to connect bodies and joints together
+/// in a joint graph where each body is a node and each joint
+/// is an edge. A joint edge belongs to a doubly linked list
+/// maintained in each attached body. Each joint has two joint
+/// nodes, one for each attached body.
+struct b2JointEdge
+{
+	b2Body* other;			///< provides quick access to the other body attached.
+	b2Joint* joint;			///< the joint
+	b2JointEdge* prev;		///< the previous joint edge in the body's joint list
+	b2JointEdge* next;		///< the next joint edge in the body's joint list
+};
+
+/// Joint definitions are used to construct joints.
+struct b2JointDef
+{
+	b2JointDef()
+	{
+		type = e_unknownJoint;
+		userData = nullptr;
+		bodyA = nullptr;
+		bodyB = nullptr;
+		collideConnected = false;
+	}
+
+	/// The joint type is set automatically for concrete joint types.
+	b2JointType type;
+
+	/// Use this to attach application specific data to your joints.
+	void* userData;
+
+	/// The first attached body.
+	b2Body* bodyA;
+
+	/// The second attached body.
+	b2Body* bodyB;
+
+	/// Set this flag to true if the attached bodies should collide.
+	bool collideConnected;
+};
+
+/// The base joint class. Joints are used to constraint two bodies together in
+/// various fashions. Some joints also feature limits and motors.
+class b2Joint
+{
+public:
+
+	/// Get the type of the concrete joint.
+	b2JointType GetType() const;
+
+	/// Get the first body attached to this joint.
+	b2Body* GetBodyA();
+
+	/// Get the second body attached to this joint.
+	b2Body* GetBodyB();
+
+	/// Get the anchor point on bodyA in world coordinates.
+	virtual b2Vec2 GetAnchorA() const = 0;
+
+	/// Get the anchor point on bodyB in world coordinates.
+	virtual b2Vec2 GetAnchorB() const = 0;
+
+	/// Get the reaction force on bodyB at the joint anchor in Newtons.
+	virtual b2Vec2 GetReactionForce(float32 inv_dt) const = 0;
+
+	/// Get the reaction torque on bodyB in N*m.
+	virtual float32 GetReactionTorque(float32 inv_dt) const = 0;
+
+	/// Get the next joint the world joint list.
+	b2Joint* GetNext();
+	const b2Joint* GetNext() const;
+
+	/// Get the user data pointer.
+	void* GetUserData() const;
+
+	/// Set the user data pointer.
+	void SetUserData(void* data);
+
+	/// Short-cut function to determine if either body is inactive.
+	bool IsActive() const;
+
+	/// Get collide connected.
+	/// Note: modifying the collide connect flag won't work correctly because
+	/// the flag is only checked when fixture AABBs begin to overlap.
+	bool GetCollideConnected() const;
+
+	/// Dump this joint to the log file.
+	virtual void Dump() { b2Log("// Dump is not supported for this joint type.\n"); }
+
+	/// Shift the origin for any points stored in world coordinates.
+	virtual void ShiftOrigin(const b2Vec2& newOrigin) { B2_NOT_USED(newOrigin);  }
+
+protected:
+	friend class b2World;
+	friend class b2Body;
+	friend class b2Island;
+	friend class b2GearJoint;
+
+	static b2Joint* Create(const b2JointDef* def, b2BlockAllocator* allocator);
+	static void Destroy(b2Joint* joint, b2BlockAllocator* allocator);
+
+	b2Joint(const b2JointDef* def);
+	virtual ~b2Joint() {}
+
+	virtual void InitVelocityConstraints(const b2SolverData& data) = 0;
+	virtual void SolveVelocityConstraints(const b2SolverData& data) = 0;
+
+	// This returns true if the position errors are within tolerance.
+	virtual bool SolvePositionConstraints(const b2SolverData& data) = 0;
+
+	b2JointType m_type;
+	b2Joint* m_prev;
+	b2Joint* m_next;
+	b2JointEdge m_edgeA;
+	b2JointEdge m_edgeB;
+	b2Body* m_bodyA;
+	b2Body* m_bodyB;
+
+	int32 m_index;
+
+	bool m_islandFlag;
+	bool m_collideConnected;
+
+	void* m_userData;
+};
+
+inline b2JointType b2Joint::GetType() const
+{
+	return m_type;
+}
+
+inline b2Body* b2Joint::GetBodyA()
+{
+	return m_bodyA;
+}
+
+inline b2Body* b2Joint::GetBodyB()
+{
+	return m_bodyB;
+}
+
+inline b2Joint* b2Joint::GetNext()
+{
+	return m_next;
+}
+
+inline const b2Joint* b2Joint::GetNext() const
+{
+	return m_next;
+}
+
+inline void* b2Joint::GetUserData() const
+{
+	return m_userData;
+}
+
+inline void b2Joint::SetUserData(void* data)
+{
+	m_userData = data;
+}
+
+inline bool b2Joint::GetCollideConnected() const
+{
+	return m_collideConnected;
+}
+
+#endif