#ifndef CUSTOM_MULTIBODY_CALLBACK_H
#define CUSTOM_MULTIBODY_CALLBACK_H

#ifdef USE_EIGEN
	typedef Eigen::Quaternion<double> QuaternionType;
	typedef Eigen::Vector3d<double> Vector3dType;
	typedef double ScalarType;
#else
	typedef btQuaternion QuaternionType;
	typedef btVector3 Vector3dType;
	typedef btScalar	ScalarType;
#endif

class CustomMultiBodyCreationCallback
{
    
public:

	virtual ~CustomMultiBodyCreationCallback() {}

    enum {
        RevoluteJoint=1,
        PrismaticJoint,
        FixedJoint,
    };
 
    virtual int allocateMultiBodyBase(int urdfLinkIndex, int totalNumJoints,ScalarType baseMass, const Vector3dType& localInertiaDiagonal, bool isFixedBase) const =0;

    virtual void addLinkAndJoint(int jointType, int linkIndex,            // 0 to num_links-1
                       int parentIndex,
                       double mass,
                       const Vector3dType&	inertia,
                       const QuaternionType &rotParentFrameToLinkFrame,  // rotate points in parent frame to this frame, when q = 0
                       const Vector3dType&	jointAxisInLinkFrame,    // in Link frame
                       const Vector3dType&	parentComToThisJointOffset,    // vector from parent COM to joint frame, in Parent frame
                       const Vector3dType&	thisJointToThisComOffset) = 0;       // vector from joint frame to my COM, in Link frame);
                 
// @todo: Decide if we need this link mapping? 
// virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) const = 0;
};

#endif //CUSTOM_MULTIBODY_CALLBACK_H