/*
 *
 * C# / XNA  port of Bullet (c) 2011 Mark Neale <[email protected]>
 *
This source file is part of GIMPACT Library.

For the latest info, see http://gimpact.sourceforge.net/

Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: [email protected]


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.
*/
/*! \file btQuantization.h
*\author Francisco Len Nßjera

*/
/*
This source file is part of GIMPACT Library.

For the latest info, see http://gimpact.sourceforge.net/

Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: [email protected]


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 HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath;

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

internal class GImpactQuantization
{
	public static void CalcQuantizationParameters(out IndexedVector3 outMinBound, out IndexedVector3 outMaxBound, out IndexedVector3 bvhQuantization, ref IndexedVector3 srcMinBound, ref IndexedVector3 srcMaxBound, float quantizationMargin)
	{
		//enlarge the AABB to avoid division by zero when initializing the quantization values
		IndexedVector3 clampValue = new IndexedVector3(quantizationMargin);
		outMinBound = srcMinBound - clampValue;
		outMaxBound = srcMaxBound + clampValue;
		IndexedVector3 aabbSize = outMaxBound - outMinBound;
		bvhQuantization = new IndexedVector3(65535.0f) / aabbSize;
	}

	public static void QuantizeClamp(out UShortVector3 output, ref IndexedVector3 point, ref IndexedVector3 min_bound, ref IndexedVector3 max_bound, ref IndexedVector3 bvhQuantization)
	{
		IndexedVector3 clampedPoint = point;
		MathUtil.VectorMax(ref min_bound, ref clampedPoint);
		MathUtil.VectorMin(ref max_bound, ref clampedPoint);
		IndexedVector3 v = (clampedPoint - min_bound) * bvhQuantization;
		output = new UShortVector3();
		output[0] = (ushort)(v.X + 0.5f);
		output[1] = (ushort)(v.Y + 0.5f);
		output[2] = (ushort)(v.Z + 0.5f);
	}

	public static IndexedVector3 Unquantize(ref UShortVector3 vecIn, ref IndexedVector3 offset, ref IndexedVector3 bvhQuantization)
	{
		IndexedVector3 vecOut = new IndexedVector3((float)(vecIn[0]) / (bvhQuantization.X), (float)(vecIn[1]) / (bvhQuantization.Y), (float)(vecIn[2]) / (bvhQuantization.Z));
		vecOut += offset;
		return vecOut;
	}
}