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

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

internal class GjkEpaPenetrationDepthSolver : IConvexPenetrationDepthSolver
{
	public GjkEpaPenetrationDepthSolver()
	{
	} // for pool

	public virtual bool CalcPenDepth(ISimplexSolverInterface simplexSolver, ConvexShape convexA, ConvexShape convexB, ref IndexedMatrix transA, ref IndexedMatrix transB, ref IndexedVector3 v, ref IndexedVector3 wWitnessOnA, ref IndexedVector3 wWitnessOnB, IDebugDraw debugDraw)
	{
		//float radialmargin = 0f;
		IndexedVector3 guessVector = (transA._origin - transB._origin);
		GjkEpaSolver2Results results = new GjkEpaSolver2Results();
		if (GjkEpaSolver2.Penetration(convexA, ref transA, convexB, ref transB, ref guessVector, ref results))
		{
			//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
			//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
			wWitnessOnA = results.witnesses0;
			wWitnessOnB = results.witnesses1;
			v = results.normal;
			return true;
		}
		else
		{
			if (GjkEpaSolver2.Distance(convexA, ref transA, convexB, ref transB, ref guessVector, ref results))
			{
				wWitnessOnA = results.witnesses0;
				wWitnessOnB = results.witnesses1;
				v = results.normal;
				return false;
			}
		}

		return false;
	}
}