/*
 * 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;
using HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath;

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

internal abstract class CollisionShape
{
	public CollisionShape()
	{
		m_shapeType = BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE;
		m_userPointer = null;
	}

	public virtual void Cleanup()
	{
	}

	public virtual void GetAabb(IndexedMatrix t, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		// t isn't assigned to as we're just getting the bounds.
		GetAabb(ref t, out aabbMin, out aabbMax);
	}

	public abstract void GetAabb(ref IndexedMatrix t, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax);
	public virtual void GetBoundingSphere(out IndexedVector3 center, out float radius)
	{
		IndexedMatrix tr = IndexedMatrix.Identity;
		IndexedVector3 aabbMin;
		IndexedVector3 aabbMax;
		GetAabb(ref tr, out aabbMin, out aabbMax);
		radius = (aabbMax - aabbMin).Length() * 0.5f;
		center = (aabbMin + aabbMax) * 0.5f;
	}

	public virtual float GetAngularMotionDisc()
	{
		IndexedVector3 center;
		float disc;
		GetBoundingSphere(out center, out disc);
		disc += (center).Length();
		return disc;
	}

	public virtual float GetContactBreakingThreshold(float defaultContactThreshold)
	{
		return GetAngularMotionDisc() * defaultContactThreshold;
	}

	public void CalculateTemporalAabb(ref IndexedMatrix curTrans, ref IndexedVector3 linvel, ref IndexedVector3 angvel, float timeStep, out IndexedVector3 temporalAabbMin, out IndexedVector3 temporalAabbMax)
	{
		//start with static aabb
		GetAabb(ref curTrans, out temporalAabbMin, out temporalAabbMax);
		float temporalAabbMaxx = temporalAabbMax.X;
		float temporalAabbMaxy = temporalAabbMax.Y;
		float temporalAabbMaxz = temporalAabbMax.Z;
		float temporalAabbMinx = temporalAabbMin.X;
		float temporalAabbMiny = temporalAabbMin.Y;
		float temporalAabbMinz = temporalAabbMin.Z;
		// add linear motion
		IndexedVector3 linMotion = linvel * timeStep;
		if (linMotion.X > 0f)
			temporalAabbMaxx += linMotion.X;
		else
			temporalAabbMinx += linMotion.X;
		if (linMotion.Y > 0f)
			temporalAabbMaxy += linMotion.Y;
		else
			temporalAabbMiny += linMotion.Y;
		if (linMotion.Z > 0f)
			temporalAabbMaxz += linMotion.Z;
		else
			temporalAabbMinz += linMotion.Z;
		//add conservative angular motion
		float angularMotion = angvel.Length() * GetAngularMotionDisc() * timeStep;
		IndexedVector3 angularMotion3d = new IndexedVector3(angularMotion);
		temporalAabbMin = new IndexedVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
		temporalAabbMax = new IndexedVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
		temporalAabbMin -= angularMotion3d;
		temporalAabbMax += angularMotion3d;
	}

	public bool IsPolyhedral()
	{
		return BroadphaseProxy.IsPolyhedral(GetShapeType());
	}

	public bool IsConvex()
	{
		return BroadphaseProxy.IsConvex(GetShapeType());
	}

	public bool IsNonMoving()
	{
		return BroadphaseProxy.IsNonMoving(GetShapeType());
	}

	public bool IsConvex2d()
	{
		return BroadphaseProxy.IsConvex2d(GetShapeType());
	}

	public bool IsConcave()
	{
		return BroadphaseProxy.IsConcave(GetShapeType());
	}

	public bool IsCompound()
	{
		return BroadphaseProxy.IsCompound(GetShapeType());
	}

	public bool IsSoftBody()
	{
		return BroadphaseProxy.IsSoftBody(GetShapeType());
	}

	public bool IsInfinite()
	{
		return BroadphaseProxy.IsInfinite(GetShapeType());
	}

	// defining these as virtual rather then abstract as the whole impementation agains _SPU_ seems odd
	public virtual void SetLocalScaling(ref IndexedVector3 scaling)
	{
	}

	public virtual IndexedVector3 GetLocalScaling()
	{
		return new IndexedVector3(1);
	}

	public virtual void CalculateLocalInertia(float mass, out IndexedVector3 inertia)
	{
		inertia = IndexedVector3.Zero;
	}

	//debugging support
	public virtual String GetName()
	{
		return "Not-Defined";
	}

	public BroadphaseNativeTypes GetShapeType()
	{
		return m_shapeType;
	}

	public abstract void SetMargin(float margin);
	public abstract float GetMargin();
	public void SetUserPointer(Object userPtr)
	{
		m_userPointer = userPtr;
	}

	public Object GetUserPointer()
	{
		return m_userPointer;
	}

	protected BroadphaseNativeTypes m_shapeType;
	protected Object m_userPointer;
	public static float gContactThresholdFactor = 0.02f;
}