/*
 * 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 System.Collections.Generic;
using System.Diagnostics;
using HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath;

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

internal class ConvexPointCloudShape : PolyhedralConvexAabbCachingShape
{
	public ConvexPointCloudShape()
	{
		m_localScaling = new IndexedVector3(1);
		m_shapeType = BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
		m_unscaledPoints = null;
		m_numPoints = 0;
	}

	public ConvexPointCloudShape(IList<IndexedVector3> points, int numPoints, ref IndexedVector3 localScaling, bool computeAabb)
	{
		m_localScaling = localScaling;
		m_shapeType = BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
		m_unscaledPoints = points;
		m_numPoints = numPoints;
		if (computeAabb)
		{
			RecalcLocalAabb();
		}
	}

	public void SetPoints(IList<IndexedVector3> points, int numPoints, bool computeAabb)
	{
		IndexedVector3 localScaling = new IndexedVector3(1);
		SetPoints(points, numPoints, computeAabb, ref localScaling);
	}

	public void SetPoints(IList<IndexedVector3> points, int numPoints, bool computeAabb, ref IndexedVector3 localScaling)
	{
		m_unscaledPoints = points;
		m_numPoints = numPoints;
		m_localScaling = localScaling;
		if (computeAabb)
		{
			RecalcLocalAabb();
		}
	}

	public IList<IndexedVector3> GetUnscaledPoints()
	{
		return m_unscaledPoints;
	}

	public int GetNumPoints()
	{
		return m_numPoints;
	}

	public IndexedVector3 GetScaledPoint(int index)
	{
		return m_unscaledPoints[index] * m_localScaling;
	}

	public override IndexedVector3 LocalGetSupportingVertex(ref IndexedVector3 vec)
	{
		IndexedVector3 supVertex = LocalGetSupportingVertexWithoutMargin(ref vec);
		if (GetMargin() != 0f)
		{
			IndexedVector3 vecnorm = vec;
			if (vecnorm.LengthSquared() < (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON))
			{
				vecnorm = new IndexedVector3(-1f);
			}

			vecnorm.Normalize();
			supVertex += GetMargin() * vecnorm;
		}

		return supVertex;
	}

	public override IndexedVector3 LocalGetSupportingVertexWithoutMargin(ref IndexedVector3 vec0)
	{
		IndexedVector3 supVec = IndexedVector3.Zero;
		float newDot, maxDot = float.MinValue;
		IndexedVector3 vec = vec0;
		float lenSqr = vec.LengthSquared();
		if (lenSqr < 0.0001f)
		{
			vec = new IndexedVector3(1, 0, 0);
		}
		else
		{
			vec.Normalize();
		}

		for (int i = 0; i < m_numPoints; i++)
		{
			IndexedVector3 vtx = GetScaledPoint(i);
			newDot = IndexedVector3.Dot(vec, vtx);
			if (newDot > maxDot)
			{
				maxDot = newDot;
				supVec = vtx;
			}
		}

		return supVec;
	}

	public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(IndexedVector3[] vectors, IndexedVector4[] supportVerticesOut, int numVectors)
	{
		float newDot;
		//use 'w' component of supportVerticesOut?
		{
			for (int i = 0; i < numVectors; i++)
			{
				IndexedVector4 temp = supportVerticesOut[i];
				temp.W = float.MinValue;
				supportVerticesOut[i] = temp;
			}
		}

		for (int i = 0; i < m_unscaledPoints.Count; i++)
		{
			IndexedVector3 vtx = GetScaledPoint(i);
			for (int j = 0; j < numVectors; j++)
			{
				IndexedVector3 vec = vectors[j];
				newDot = IndexedVector3.Dot(vec, vtx);
				if (newDot > supportVerticesOut[j].W)
				{
					//WARNING: don't swap next lines, the w component would get overwritten!
					supportVerticesOut[j] = new IndexedVector4(vtx, newDot);
				}
			}
		}
	}

	//debugging
	public override String GetName()
	{
		return "ConvexPointCloud";
	}

	public override int GetNumVertices()
	{
		return m_unscaledPoints.Count;
	}

	public override int GetNumEdges()
	{
		return 0;
	}

	public override void GetEdge(int i, out IndexedVector3 pa, out IndexedVector3 pb)
	{
		{
		}

		pa = IndexedVector3.Zero;
		pb = IndexedVector3.Zero;
	}

	public override void GetVertex(int i, out IndexedVector3 vtx)
	{
		vtx = m_unscaledPoints[i] * m_localScaling;
	}

	public override int GetNumPlanes()
	{
		return 0;
	}

	public override void GetPlane(out IndexedVector3 planeNormal, out IndexedVector3 planeSupport, int i)
	{
		{
		}

		planeNormal = IndexedVector3.Zero;
		planeSupport = IndexedVector3.Zero;
	}

	public override bool IsInside(ref IndexedVector3 pt, float tolerance)
	{
		{
		}

		return false;
	}

	public override void SetLocalScaling(ref IndexedVector3 scaling)
	{
		m_localScaling = scaling;
		RecalcLocalAabb();
	}

	private IList<IndexedVector3> m_unscaledPoints;
	int m_numPoints;
}