/*
 * C# / XNA  port of Bullet (c) 2011 Mark Neale <[email protected]>
 *
 * Bullet Continuous Collision Detection and Physics Library
 * Copyright (c) 2003-2008 Erwin Coumans  http://www.bulletphysics.com/
 *
 * This software is provided 'as-is', without any express or implied warranty.
 * In no event will the authors be held liable for any damages arising from
 * the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
// Adapted from BulletXNA 73b2e1b9: namespace isolation, no XNA rendering, one type per file.
#nullable disable
#pragma warning disable CS1591, CS0168, CS0219, CS0414, CS0660, CS0661, CS0659, CS0693, CS8981, CS0108, CS0114
using System.Diagnostics;
using HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath;
using HumanoidRetargeter.Core.Formats.Mmd.Bullet.BulletDynamics;
using System;

namespace HumanoidRetargeter.Core.Formats.Mmd.Bullet.BulletCollision;

internal class ClosestRayResultCallback : RayResultCallback, IDisposable
{
	public ClosestRayResultCallback()
	{
	} // for pool

	public ClosestRayResultCallback(IndexedVector3 rayFromWorld, IndexedVector3 rayToWorld)
	{
		m_rayFromWorld = rayFromWorld;
		m_rayToWorld = rayToWorld;
	}

	public ClosestRayResultCallback(ref IndexedVector3 rayFromWorld, ref IndexedVector3 rayToWorld)
	{
		m_rayFromWorld = rayFromWorld;
		m_rayToWorld = rayToWorld;
	}

	public void Initialize(IndexedVector3 rayFromWorld, IndexedVector3 rayToWorld)
	{
		m_rayFromWorld = rayFromWorld;
		m_rayToWorld = rayToWorld;
		m_closestHitFraction = 1f;
		m_collisionObject = null;
	}

	public void Initialize(ref IndexedVector3 rayFromWorld, ref IndexedVector3 rayToWorld)
	{
		m_rayFromWorld = rayFromWorld;
		m_rayToWorld = rayToWorld;
		m_closestHitFraction = 1f;
		m_collisionObject = null;
	}

	//public void Initialize(Vector3 rayFromWorld, Vector3 rayToWorld)
	//{
	//    m_rayFromWorld = rayFromWorld;
	//    m_rayToWorld = rayToWorld;
	//}
	public IndexedVector3 m_rayFromWorld; //used to calculate hitPointWorld from hitFraction
	public IndexedVector3 m_rayToWorld;
	public IndexedVector3 m_hitNormalWorld;
	public IndexedVector3 m_hitPointWorld;
	public override float AddSingleResult(ref LocalRayResult rayResult, bool normalInWorldSpace)
	{
		//caller already does the filter on the m_closestHitFraction
		//btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
		m_closestHitFraction = rayResult.m_hitFraction;
		m_collisionObject = rayResult.m_collisionObject;
		if (normalInWorldSpace)
		{
			m_hitNormalWorld = rayResult.m_hitNormalLocal;
		}
		else
		{
			m_hitNormalWorld = m_collisionObject.GetWorldTransform()._basis * rayResult.m_hitNormalLocal;
		}

		m_hitPointWorld = MathUtil.Interpolate3(ref m_rayFromWorld, ref m_rayToWorld, rayResult.m_hitFraction);
		return rayResult.m_hitFraction;
	}

	public void Dispose()
	{
		Cleanup();
		BulletGlobals.ClosestRayResultCallbackPool.Free(this);
	}
}