using Mujoco;
using UnityEngine;

namespace Fluctio.FluctioSim.Core.MujocoExtensions.MujocoDataProxy
{
	public class FreeJointData : JointData<MjFreeJoint>
	{
		
		public FreeJointData(MjFreeJoint component) : base(component) { }

		protected override int PosSize => 7;
		protected override int DofSize => 6;
		
		public unsafe Vector3 Position
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return MjEngineTool.UnityVector3(PosPointer + PosOffset);
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				MjEngineTool.SetMjVector3(PosPointer + PosOffset, value);
			}
		}
		
		public unsafe Quaternion Rotation
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return MjEngineTool.UnityQuaternion(PosPointer + PosOffset + 3);
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				MjEngineTool.SetMjQuaternion(PosPointer + PosOffset + 3, value);
			}
		}
		
		public unsafe Vector3 LinearVelocity
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return MjEngineTool.UnityVector3(VelPointer + DofOffset);
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				MjEngineTool.SetMjVector3(VelPointer + DofOffset, value);
			}
		}
		
		public unsafe Vector3 AngularVelocity
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return MjEngineTool.UnityVector3(VelPointer + DofOffset + 3);
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				MjEngineTool.SetMjVector3(VelPointer + DofOffset + 3, value);
			}
		}
		
		public unsafe Vector3 LinearAcceleration
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return MjEngineTool.UnityVector3(AccPointer + DofOffset);
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				MjEngineTool.SetMjVector3(AccPointer + DofOffset, value);
			}
		}
		
		public unsafe Vector3 AngularAcceleration
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return MjEngineTool.UnityVector3(AccPointer + DofOffset + 3);
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				MjEngineTool.SetMjVector3(AccPointer + DofOffset + 3, value);
			}
		}
		
	}
}