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#ifndef PX_CONE_LIMITED_CONSTRAINT_H
#define PX_CONE_LIMITED_CONSTRAINT_H

/** \addtogroup physics
@{
*/

#include "foundation/PxVec3.h"
#include "foundation/PxVec4.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

/**
\brief A constraint descriptor for limiting movement to a conical region.
*/
struct PxConeLimitedConstraint
{
	PxConeLimitedConstraint()
	{
		mAxis = PxVec3(0.f, 0.f, 0.f);
		mAngle = 0.f;
		mLowLimit = 0.f;
		mHighLimit = 0.f;
	}

	PxVec3 mAxis;  //!< Axis of the cone in the actor space of the rigid body
	PxReal mAngle; //!< Opening angle in radians
	PxReal mLowLimit; //!< Minimum distance
	PxReal mHighLimit; //!< Maximum distance
};

/**
\brief Compressed form of cone limit parameters
@see PxConeLimitedConstraint
*/
PX_ALIGN_PREFIX(16)
struct PxConeLimitParams
{
	PxVec4 lowHighLimits; // [lowLimit, highLimit, unused, unused]
	PxVec4 axisAngle; // [axis.x, axis.y, axis.z, angle]
}PX_ALIGN_SUFFIX(16);

#if !PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif