/***************************************************************************
 *   Copyright (c) 2023 Ondsel, Inc.                                       *
 *                                                                         *
 *   This file is part of OndselSolver.                                    *
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
 
#pragma once

#include <cstdint>

#include "ScrewConstraintIqcJc.h"

namespace MbD {
    class ScrewConstraintIqcJqc : public ScrewConstraintIqcJc
    {
        //pGpXJ pGpEJ ppGpEIpXJ ppGpEIpEJ ppGpEJpEJ iqXJ iqEJ 
    public:
		ScrewConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj);

		void initzIeJeIe() override;
		void initthezIeJe() override;
		void calc_pGpEJ();
		void calc_pGpXJ();
		void calc_ppGpEIpEJ();
		void calc_ppGpEIpXJ();
		void calc_ppGpEJpEJ();
		void calcPostDynCorrectorIteration() override;
		void fillAccICIterError(FColDsptr col) override;
		void fillPosICError(FColDsptr col) override;
		void fillPosICJacob(SpMatDsptr mat) override;
		void fillPosKineJacob(SpMatDsptr mat) override;
		void fillVelICJacob(SpMatDsptr mat) override;
		void init_zthez() override;
		void useEquationNumbers() override;
		std::string constraintSpec() override;

		FRowDsptr pGpXJ, pGpEJ;
		FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ;
		size_t iqXJ = SIZE_MAX, iqEJ = SIZE_MAX;


    };
}

