#pragma once
struct cuVector3r {
	Real x;
	Real y;
	Real z;
};

struct cuMatrix3r {
	cuVector3r col0, col1, col2;
};

//struct cuMatrix4r {
//
//};

struct Particle {
	cuVector3r  pos;
	cuVector3r lastpos;
	cuVector3r v;
	cuVector3r a;
	Real mass, invMasses;

};
//rb1.getInvMass(),
//rb1.getPosition(),
//3*3
//rb1.getInertiaTensorInverseW(),
//rb1.getRotation(),
struct cuRigidBody {
	cuVector3r  pos;
	Real inertiaTensorInverseW[9];
	Real rotation[4];
	Real mass, invMasses;

};

struct cuDistanceConstraint {
	cuVector3r p0;
	cuVector3r p1;
	Real invMass0;
	Real invMass1;
	Real restLength;
	Real compressionStiffness;
	Real stretchStiffness;
};

struct cuDistanceConstraintAns {
	cuVector3r corr0;
	cuVector3r corr1;
	bool success;
};

struct cuVolumeConstraint {
	cuVector3r p0, p1, p2, p3;
	Real invMass0, invMass1, invMass2, invMass3;
	Real restVolume;
	Real negVolumeStiffness;
	Real posVolumeStiffness;
};

struct cuVolumeConstraintAns {
	cuVector3r corr0, corr1, corr2, corr3;
	bool success;
};


struct mtDistanceConstraint {
	int p0;
	int p1;
	int res0;
	int res1;
	Real restLength;
	int valid;
};

struct mtVolumeConstraint {
	int p0, p1, p2, p3;
	int res0, res1, res2, res3;
	Real restVolume;
	int valid;
};

struct mtDistanceConstraintAns {
	int p0, p1;
	cuVector3r corr0;
	cuVector3r corr1;
	bool success;

};

struct mtVolumeConstraintAns {
	int p0, p1, p2, p3;
	cuVector3r corr0, corr1, corr2, corr3;
	bool success;

};

// 与volume Constraint 内容相似，只是算法不同
struct mtDihedralConstraint {
	int p0, p1, p2, p3;
	int res0, res1, res2, res3;
	Real restAngle;
	int valid;
};

struct mtDihedralConstraintAns{
	int p0, p1, p2, p3;
	cuVector3r corr0, corr1, corr2, corr3;
	bool success;
	int valid;
};

// IsometricBendingConstraint
struct mtIsometricBendingConstraint {
	int p0, p1, p2, p3;
	int res0, res1, res2, res3;
	Real m_Q[16];
	int valid;
};

//TODO
// StrainTriangleConstraint
struct mtStrainTriangleConstraint {
	int p0, p1, p2;
	int res0, res1, res2;
	Real m_invRestMat[4];
	int valid;
};

// StrainTetraConstraint 
struct mtStrainTetraConstraint {
	int p0, p1, p2, p3;
	int res0, res1, res2, res3;
	Real m_invRestMat[9];
	int valid;
};

// EdgePointDistanceConstraint
struct mtEdgePointDistanceConstraint {
	int p, p0, p1;
	int res0, res1, res2;
	Real restDist;
	int valid;
};

struct mtTrianglePointDistanceConstraint {
	int p, p0, p1, p2;
	int res0, res1, res2, res3;
	Real restDist;
	int valid;
};

struct mtEdgeEdgeDistanceConstraint {
	int p0, p1, p2, p3;
	int res0, res1, res2, res3;
	Real restDist;
	int valid;
};

struct mtTetShapeMatchingConstraint {
	int p0, p1, p2, p3;
	int res0, res1, res2, res3;
	cuVector3r m_x0[4];
	int numClusters[4];
	cuVector3r m_restCm;
	Real m_invRestMat[9];
	int valid;
};

struct mtTriangleShapeMatchingConstraint {
	int p0, p1, p2;
	int res0, res1, res2;
	cuVector3r m_x0[3];
	int numClusters[3];
	cuVector3r m_restCm;
	Real m_invRestMat[9];
	int valid;
};

struct unifyRes{
	cuVector3r corr;
	bool success;
};